Patent ID: 11938629
Assignee: JIANGNAN UNIVERSITY
Field: Medical technology (Instruments)
Classification: CPC A  B  H | IPC B

Claim 9:
10. The micro-robot control method based on double closed loop three-dimensional path tracking according to claim 5, wherein the curve coordinate system of the desired tracking path is established with the desired position point as the origin, a tangential direction, a primary normal direction, and a secondary normal direction of the desired position point as coordinate axes, the tangential direction is the desired direction of movement, and a conversion relationship between the actual axial direction of the magnetic micro-robot and a first direction angle and a first pitch angle is obtained by the following formula:, X
   B
  
  =
  
   
    [
    
     
      
       
        cos
        ⁢
        
         θ
         i
        
        ⁢
        cos
        ⁢
        
         θ
         d
        
       
      
     
     
      
       
        cos
        ⁢
        
         θ
         i
        
        ⁢
        sin
        ⁢
        
         θ
         d
        
       
      
     
     
      
       
        sin
        ⁢
        
         θ
         i
        
       
      
     
    
    ]
   
   .