Endovascular Micro-Robotics & Targeted Therapeutics

SurgiSwarm Magnetic Steering & Micro-Agent Architecture

Robotics Core: Micro-Swarm Core — Magnetic Gradient & OCT Tracking

Autonomous Robotics Nodes & SLAM Controllers

• Helmholtz 8-Coil Array
• Optical Coherence Tomography
• Hydrodynamic Drag Solver
• Targeted Thrombolysis Pod
• Biocompatibility Watchdog

Architectural Layers & Navigation Stacks

• Layer 1: Perception & SLAM Subsystem (3D LiDAR / RealSense RGB-D / Fast-LIO2 / Cartographer): High-frequency point cloud acquisition, IMU tightly-coupled pre-integration, and sub-centimeter real-time localization in dynamic environments.
• Layer 2: Local Navigation & Model Predictive Control (TEB Local Planner / Timed-Elastic Band / Pure Pursuit): Real-time obstacle evasion, non-holonomic kinematic trajectory optimization, and dynamic ISO 3691-4 safety field switching.
• Layer 3: Interoperability, Middleware & Fleet Bus (VDA 5050 v2.1 / ROS 2 Jazzy / Eclipse Zenoh / CycloneDDS): Standardized JSON/MQTT order ingestion, zero-copy intra-node IPC, and deterministic low-latency state reporting across multi-vendor fleets.
• Layer 4: Swarm Orchestration & Traffic Optimization (Conflict-Based Search (CBS-MAPF) / Dynamic Block Reservation): Centralized or decentralized conflict-free multi-agent path finding, automated opportunity battery charging, and bottleneck mitigation.

Telemetry & Compliance: ±5 mm (Positioning Accuracy) | <8 ms (Fleet Dispatch Latency) | <12 ms (Safety Stop Reaction) | VDA 5050 v2.1 (Open Fleet Standard)