QIANQIAN WANG is a Professor with the Department of Robotics, School of Mechanical Engineering, Southeast University, Nanjing, China.LI ZHANG is a Professor with the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong.TIANTIAN XU is a Professor at the Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences.MINGXUE CAI is an Associate Professor at the Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences.

• About the Authors xiiiPreface xvList of Acronyms xix1 Introduction to Mobile Magnetic Actuation System 11.1 Introduction 11.2 Magnetic Actuation Systems 41.3 Development of Magnetic Actuation Systems 171.4 Typical Applications of Magnetic Actuation Systems 241.5 Scope and Layout of the Book 322 Design and Real-time Optimization for a Magnetic Actuation System with Enhanced Flexibility 412.1 Introduction 412.2 System Design, Modeling, and Optimization 432.3 System Prototype and Validation 502.4 Autonomous Navigation of a Microrobot Under Ultrasound Doppler Imaging 562.5 Discussion and Conclusion 653 Deep Reinforcement Learning Framework-based System Control for Soft Microrobots 733.1 Introduction 733.2 System Design and Modeling 743.3 Construction of the Control Framework 793.4 Experimental Validation 843.5 Discussion and Conclusion 894 Reconfigurable Electromagnetic Actuation System and Robust Control in Fluid Environments 994.1 Introduction 994.2 System Design and Modeling 1014.3 Multi-objective Optimization Method for Coil Configuration Generation 1094.4 System Validation and Analysis 1134.5 Construction of Path Control Framework 1174.6 Experimental Validation and Results 1274.7 Discussion and Conclusion 1325 Performance-guided Optimization and Field-priority Force Control for Large Workspaces 1375.1 Introduction 1375.2 Performance-guided Rotating Field Control Method 1405.3 Field-priority Force Control Method 1465.4 Experimental Validation and Analysis 1525.5 Discussion and Conclusion 1626 Multimode Control and Optimal Design of a Parallel-mobile-coil System 1696.1 Introduction 1696.2 System Design and Modeling 1726.3 Multimode Control and Validation 1796.4 System Structure Design with Parameter Optimization 1836.5 Validation of Microrobotic Navigation Control 1886.6 Discussion and Conclusion 1977 Autonomous Microrobot Navigation Using Parallel-mobile-coil System 2017.1 Introduction 2017.2 Design of Motion Planner and Motion Controller 2057.3 Simulation and Experimental Validation 2167.4 Control Scheme and Environment Registration 2237.5 Experimental Navigation in Flowing Conditions 2347.6 Discussion and Conclusion 2388 Magnetically Controlled Guidewire Robotic System for Vascular Intervention 2498.1 Introduction 2498.2 Design of the MCGRS 2518.3 Modeling and Trajectory Planning 2548.4 Experimental Setup and Validations 2628.5 Strategy Design for Hard-to-reach Vessels 2698.6 In Vivo Validation of the Multistage Embolization Strategy 2728.7 Discussion and Conclusion 2789 Parallel-mobile-coil System for Wired Magnetic Microrobot 2839.1 Introduction 2839.2 Robotic Hardware and Control Framework 2869.3 Structure Design and Control Framework of WMM 2999.4 Experimental Results and Discussion 3089.5 Discussion and Conclusion 31810 Conclusion and Outlook 32910.1 Design of Magnetic Actuation System 32910.2 Integration Strategy of Imaging and Actuation System 33210.3 Application of Image-integrated Mobile Magnetic Actuation System 334References 337Index 341

QIANQIAN WANG is a Professor with the Department of Robotics, School of Mechanical Engineering, Southeast University, Nanjing, China.LI ZHANG is a Professor with the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong.TIANTIAN XU is a Professor at the Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences.MINGXUE CAI is an Associate Professor at the Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences.

• About the Authors xiiiPreface xvList of Acronyms xix1 Introduction to Mobile Magnetic Actuation System 11.1 Introduction 11.2 Magnetic Actuation Systems 41.3 Development of Magnetic Actuation Systems 171.4 Typical Applications of Magnetic Actuation Systems 241.5 Scope and Layout of the Book 322 Design and Real-time Optimization for a Magnetic Actuation System with Enhanced Flexibility 412.1 Introduction 412.2 System Design, Modeling, and Optimization 432.3 System Prototype and Validation 502.4 Autonomous Navigation of a Microrobot Under Ultrasound Doppler Imaging 562.5 Discussion and Conclusion 653 Deep Reinforcement Learning Framework-based System Control for Soft Microrobots 733.1 Introduction 733.2 System Design and Modeling 743.3 Construction of the Control Framework 793.4 Experimental Validation 843.5 Discussion and Conclusion 894 Reconfigurable Electromagnetic Actuation System and Robust Control in Fluid Environments 994.1 Introduction 994.2 System Design and Modeling 1014.3 Multi-objective Optimization Method for Coil Configuration Generation 1094.4 System Validation and Analysis 1134.5 Construction of Path Control Framework 1174.6 Experimental Validation and Results 1274.7 Discussion and Conclusion 1325 Performance-guided Optimization and Field-priority Force Control for Large Workspaces 1375.1 Introduction 1375.2 Performance-guided Rotating Field Control Method 1405.3 Field-priority Force Control Method 1465.4 Experimental Validation and Analysis 1525.5 Discussion and Conclusion 1626 Multimode Control and Optimal Design of a Parallel-mobile-coil System 1696.1 Introduction 1696.2 System Design and Modeling 1726.3 Multimode Control and Validation 1796.4 System Structure Design with Parameter Optimization 1836.5 Validation of Microrobotic Navigation Control 1886.6 Discussion and Conclusion 1977 Autonomous Microrobot Navigation Using Parallel-mobile-coil System 2017.1 Introduction 2017.2 Design of Motion Planner and Motion Controller 2057.3 Simulation and Experimental Validation 2167.4 Control Scheme and Environment Registration 2237.5 Experimental Navigation in Flowing Conditions 2347.6 Discussion and Conclusion 2388 Magnetically Controlled Guidewire Robotic System for Vascular Intervention 2498.1 Introduction 2498.2 Design of the MCGRS 2518.3 Modeling and Trajectory Planning 2548.4 Experimental Setup and Validations 2628.5 Strategy Design for Hard-to-reach Vessels 2698.6 In Vivo Validation of the Multistage Embolization Strategy 2728.7 Discussion and Conclusion 2789 Parallel-mobile-coil System for Wired Magnetic Microrobot 2839.1 Introduction 2839.2 Robotic Hardware and Control Framework 2869.3 Structure Design and Control Framework of WMM 2999.4 Experimental Results and Discussion 3089.5 Discussion and Conclusion 31810 Conclusion and Outlook 32910.1 Design of Magnetic Actuation System 32910.2 Integration Strategy of Imaging and Actuation System 33210.3 Application of Image-integrated Mobile Magnetic Actuation System 334References 337Index 341

QIANQIAN WANG is a Professor with the Department of Robotics, School of Mechanical Engineering, Southeast University, Nanjing, China.LI ZHANG is a Professor with the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong.TIANTIAN XU is a Professor at the Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences.MINGXUE CAI is an Associate Professor at the Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences.

• About the Authors xiiiPreface xvList of Acronyms xix1 Introduction to Mobile Magnetic Actuation System 11.1 Introduction 11.2 Magnetic Actuation Systems 41.3 Development of Magnetic Actuation Systems 171.4 Typical Applications of Magnetic Actuation Systems 241.5 Scope and Layout of the Book 322 Design and Real-time Optimization for a Magnetic Actuation System with Enhanced Flexibility 412.1 Introduction 412.2 System Design, Modeling, and Optimization 432.3 System Prototype and Validation 502.4 Autonomous Navigation of a Microrobot Under Ultrasound Doppler Imaging 562.5 Discussion and Conclusion 653 Deep Reinforcement Learning Framework-based System Control for Soft Microrobots 733.1 Introduction 733.2 System Design and Modeling 743.3 Construction of the Control Framework 793.4 Experimental Validation 843.5 Discussion and Conclusion 894 Reconfigurable Electromagnetic Actuation System and Robust Control in Fluid Environments 994.1 Introduction 994.2 System Design and Modeling 1014.3 Multi-objective Optimization Method for Coil Configuration Generation 1094.4 System Validation and Analysis 1134.5 Construction of Path Control Framework 1174.6 Experimental Validation and Results 1274.7 Discussion and Conclusion 1325 Performance-guided Optimization and Field-priority Force Control for Large Workspaces 1375.1 Introduction 1375.2 Performance-guided Rotating Field Control Method 1405.3 Field-priority Force Control Method 1465.4 Experimental Validation and Analysis 1525.5 Discussion and Conclusion 1626 Multimode Control and Optimal Design of a Parallel-mobile-coil System 1696.1 Introduction 1696.2 System Design and Modeling 1726.3 Multimode Control and Validation 1796.4 System Structure Design with Parameter Optimization 1836.5 Validation of Microrobotic Navigation Control 1886.6 Discussion and Conclusion 1977 Autonomous Microrobot Navigation Using Parallel-mobile-coil System 2017.1 Introduction 2017.2 Design of Motion Planner and Motion Controller 2057.3 Simulation and Experimental Validation 2167.4 Control Scheme and Environment Registration 2237.5 Experimental Navigation in Flowing Conditions 2347.6 Discussion and Conclusion 2388 Magnetically Controlled Guidewire Robotic System for Vascular Intervention 2498.1 Introduction 2498.2 Design of the MCGRS 2518.3 Modeling and Trajectory Planning 2548.4 Experimental Setup and Validations 2628.5 Strategy Design for Hard-to-reach Vessels 2698.6 In Vivo Validation of the Multistage Embolization Strategy 2728.7 Discussion and Conclusion 2789 Parallel-mobile-coil System for Wired Magnetic Microrobot 2839.1 Introduction 2839.2 Robotic Hardware and Control Framework 2869.3 Structure Design and Control Framework of WMM 2999.4 Experimental Results and Discussion 3089.5 Discussion and Conclusion 31810 Conclusion and Outlook 32910.1 Design of Magnetic Actuation System 32910.2 Integration Strategy of Imaging and Actuation System 33210.3 Application of Image-integrated Mobile Magnetic Actuation System 334References 337Index 341