Safety-Enhanced Navigation Planning for Magnetic Microrobots
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Notice bibliographique
Résumé
Magnetic microrobots demonstrate significant potential in medical applications by providing innovative solutions for precise treatment through targeted drug delivery, minimally invasive surgery, and vascular cleaning. However, within biological organisms, there are various complex obstacle environments that require a navigation technology prioritizing safety and emphasizing smoothness. This paper proposes a safety-enhanced navigation planning (SENP) algorithm to achieve multiple objectives such as safety, path smoothness, and short distance, enabling collision-free navigation in complex medical environments. Unlike traditional methods that require multiple heuristic cost functions to guide the navigation planning algorithm, our approach leverages the safety-enhancing features of the safe artificial potential field (SAPF) to promote collision-free navigation in complex medical environments. By adopting a goal-biased strategy to guide the generation of random sampling points, the number of iterations is reduced, and the convergence speed of the algorithm is improved. In addition, the traditional artificial potential field planning method often leads to the oscillation of the corridor, our method effectively addresses this issue along with the uncertainty in the quality of the initial path and the lengthy convergence time to the optimal path. Comparative analysis with various algorithms in different environments shows that our proposed method excels in terms of smoothness and path length under the premise of safety, making it suitable for magnetic microrobots in complex environments. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —The motivation for this work lies in advancing safe, efficient, and rapid navigation strategies for magnetic microrobots in medical applications. While significant progress has been made in the development of magnetic microrobots, navigating through complex environments such as human blood vessels remains a substantial challenge. The ability to perform safe and effective motion planning within narrow and intricate channels is crucial for medical applications. In response to this need, we propose a path planning method specifically designed for magnetically actuated microrobots, based on SENP. Our approach emphasizes achieving a path that is not only short and smooth but also prioritizes safety throughout the navigation process. Compared to traditional sampling-based algorithms, our method effectively overcomes limitations such as initial path quality uncertainty and prolonged convergence to optimal paths. This allows for the rapid generation of a high-quality initial path with a focus on safety while significantly accelerating convergence. Moreover, our approach provides a robust solution for navigating narrow channels, making it highly suitable for challenging medical environments.
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Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découle