Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow
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arXiv
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| Autores principales: | , , , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866917380011065344 |
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| author | Bhattacharjee, Anuruddha Chen, Xinhao Mair, Lamar O. Raval, Suraj Diaz-Mercado, Yancy Krieger, Axel |
| author_facet | Bhattacharjee, Anuruddha Chen, Xinhao Mair, Lamar O. Raval, Suraj Diaz-Mercado, Yancy Krieger, Axel |
| contents | Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control framework enabling precise autonomous navigation of a magnetic millirobot in an in vitro heart phantom under physiologically relevant flow conditions. The system integrates UNet-based localization, A* path planning, and a sliding mode controller with a disturbance observer (SMC-DOB) designed for multi-coil electromagnetic actuation. Although drag forces are estimated using steady-state CFD simulations, the controller compensates for transient pulsatile disturbances during closed-loop operation. In static fluid, the SMC-DOB achieved sub-millimeter accuracy (root-mean-square error, RMSE = 0.49 mm), outperforming PID and MPC baselines. Under moderate pulsatile flow (7 cm/s peak, 20 cP), it reduced RMSE by 37% and peak error by 2.4$\times$ compared to PID. It further maintained RMSE below 2 mm (0.27 body lengths) under elevated pulsatile flow (10 cm/s peak, 20 cP) and under low-viscosity conditions (4.3 cP, 7 cm/s peak), where baseline controllers exhibited unstable or failed tracking. These results demonstrate robust closed-loop magnetic control under time-varying cardiac flow disturbances and support the feasibility of autonomous millirobot navigation for targeted drug delivery. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_01523 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow Bhattacharjee, Anuruddha Chen, Xinhao Mair, Lamar O. Raval, Suraj Diaz-Mercado, Yancy Krieger, Axel Robotics Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control framework enabling precise autonomous navigation of a magnetic millirobot in an in vitro heart phantom under physiologically relevant flow conditions. The system integrates UNet-based localization, A* path planning, and a sliding mode controller with a disturbance observer (SMC-DOB) designed for multi-coil electromagnetic actuation. Although drag forces are estimated using steady-state CFD simulations, the controller compensates for transient pulsatile disturbances during closed-loop operation. In static fluid, the SMC-DOB achieved sub-millimeter accuracy (root-mean-square error, RMSE = 0.49 mm), outperforming PID and MPC baselines. Under moderate pulsatile flow (7 cm/s peak, 20 cP), it reduced RMSE by 37% and peak error by 2.4$\times$ compared to PID. It further maintained RMSE below 2 mm (0.27 body lengths) under elevated pulsatile flow (10 cm/s peak, 20 cP) and under low-viscosity conditions (4.3 cP, 7 cm/s peak), where baseline controllers exhibited unstable or failed tracking. These results demonstrate robust closed-loop magnetic control under time-varying cardiac flow disturbances and support the feasibility of autonomous millirobot navigation for targeted drug delivery. |
| title | Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.01523 |