Image-Guided Corridor-Based Motion Planning and Magnetic Control of Microrotor in Dynamic Environments

Cao, Hui; Liang, Xizhuang; Mo, Hangjie; Li, Dongfang; Sun, Dong

doi:10.1109/tmech.2022.3181588

Cited by 8 publications

(8 citation statements)

References 35 publications

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“…It is explained as follows: On top of that, considering F DC , deviation that occurs due to large F Inertia can be overcome more quickly. According to (19) and (22), F Inertia can be increased by disturbance. Most of these disturbances are inconsequential, but inappropriate control input or rapid fluid flow can occasionally substantially impact micronavigation.…”

Section: B Control Of Ffp According To the Situation Of The Microrobotmentioning

confidence: 99%

“…Due to the challenges associated with directly and accurately measuring disturbances in moving fluid in micro navigation, previous micro navigation techniques are highly susceptible to their influence [23], [24]. As a result, there are deviation increases that are proportional to the magnitude of the disturbance [19]. Nevertheless, our navigation system is designed for microrobot propulsion, leveraging various disturbances like moving fluids.…”

Section: B Control Of Ffp According To the Situation Of The Microrobotmentioning

confidence: 99%

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Automatic Navigation Scheme for Micro-Robot Using Magnetic Potential Field Through Field Free Point

Kim,

Park,

Lee

et al. 2024

IEEE Access

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Magnetic actuation is particularly useful due to its deep penetration and safety to control microrobots for biomedical purposes. This paper proposes an automatic navigation algorithm using a magnetic potential field in the form of a Field Free Point (FFP). The FFP is a powerful tool for magnetic actuation because of its efficiency and versatility, and it can also be used in Magnetic Particle Imaging (MPI).The FFP provides efficiency and versatility in imaging and actuation and the ability to perform both functions on a single device without additional hardware. We suggest a novel navigation scheme based on FFP and Magnetic Potential Field (MPF) to achieve automatic navigation. It consists of a modified attractive field with velocity-based disturbance cancellation and a repulsive field to avoid collision. The suggested algorithm, leveraging microrobot movements and effectively addressing disturbance as inertia, is characterized by its capability to reduce deviations. Thus, simulations were conducted to tune the parameters and evaluate the proposed actuation scheme's effectiveness. Also, the entire algorithm's performance was verified through experiments in a dynamic environment with moving fluid and obstacles. The results demonstrated the proposed navigation system's robustness in reaching the micro-robot to its destination even in an environment with a peak fluid velocity of 80 mm/s.INDEX TERMS Micro-manipulation, automatic navigation, field free point, microrobot.

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Section: B Control Of Ffp According To the Situation Of The Microrobotmentioning

confidence: 99%

Section: B Control Of Ffp According To the Situation Of The Microrobotmentioning

confidence: 99%

Automatic Navigation Scheme for Micro-Robot Using Magnetic Potential Field Through Field Free Point

Kim,

Park,

Lee

et al. 2024

IEEE Access

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“…Different kinds of materials and power types have been applied, such as magnetic fields [ 3 , 4 , 5 ], optical fields [ 6 ], and electrical fields [ 7 ]. Although large amounts of microrobots are developed for biomedical applications [ 8 , 9 , 10 , 11 ], the issue of biodegradation remains to be investigated [ 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 ]. After microrobots complete their in vivo tasks, e.g., targeted drug delivery, thrombolysis, and hyperthermia, they are left in the body, which could be cytotoxic and may induce unexpected harmful results [ 20 , 21 ].…”

Section: Introductionmentioning

confidence: 99%

Biodegradable Microrobots and Their Biomedical Applications: A Review

2023

Nanomaterials

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During recent years, microrobots have drawn extensive attention owing to their good controllability and great potential in biomedicine. Powered by external physical fields or chemical reactions, these untethered microdevices are promising candidates for in vivo complex tasks, such as targeted delivery, imaging and sensing, tissue engineering, hyperthermia, and assisted fertilization, among others. However, in clinical use, the biodegradability of microrobots is significant for avoiding toxic residue in the human body. The selection of biodegradable materials and the corresponding in vivo environment needed for degradation are increasingly receiving attention in this regard. This review aims at analyzing different types of biodegradable microrobots by critically discussing their advantages and limitations. The chemical degradation mechanisms behind biodegradable microrobots and their typical applications are also thoroughly investigated. Furthermore, we examine their feasibility and deal with the in vivo suitability of different biodegradable microrobots in terms of their degradation mechanisms; pathological environments; and corresponding biomedical applications, especially targeted delivery. Ultimately, we highlight the prevailing obstacles and perspective solutions, ranging from their manufacturing methods, control of movement, and degradation rate to insufficient and limited in vivo tests, that could be of benefit to forthcoming clinical applications.

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“…Previous works decipher the drug delivery mechanisms and address the drug targeting challenge mainly from two ways. 1) For an open-loop control system of magnets, numerical models are performed to optimize the properties of particles and magnets; The design of drug delivery systems are verified by both in-vitro and animal experiments [25][26][27][28][29]; 2) Advanced control and navigation strategies guided by the real-time imaging of particle locations and environmental conditions are included to improve the targeting accuracy [30][31][32][33].…”

Section: Introductionmentioning

confidence: 99%

“…Nevertheless, the imaging feedback control is limited by the imaging resolution and the low frame rates. Particles less than 100 µm can hardly be recognized by most imaging techniques [33], though they are widely used in MDT because the small size facilitate circulating without causing blockage. In addition, the imaging frame rate is usually lower than 50 Hz , so drug particles can easily swim out of the view field and get lost between two consecutive frames, especially in the fast and heterogeneous flow conditions [42].…”

Section: Introductionmentioning

confidence: 99%

An efficient stochastic steering strategy of magnetic particles in vascular networks

Chen

Zhou

Dong

et al. 2023

Preprint

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One of the primary challenges of magnetic drug targeting is to achieve efficient and accurate delivery of drug particles to the desired sites in complex physiological conditions. Though a majority of drugs are delivered through intravenous administration, until now, the kinematics and dynamics of drug particles influenced by the magnetic field, vascular topology and blood flows are still less understood. In this work, a multi-physics dynamical model which captures transient particle motions in both artificial and in vivo-like 3D vascular networks manipulated by the timevarying magnetic field is developed. Based on the model, it is found that particles which perform a random walk with correlated speed and persistence (RWSP motion) inspired by the migratory motion of immune and metastasis cells have higher mobility and navigation ability in both 2D and 3D tree-like and web-like networks. Moreover, to steer particles to perform the efficient RWSP motion, a stochastic magnetic steering strategy which uses time-varying gradient magnetic field is proposed. Parameters of the steering strategy is optimized and the capability of controlling particles to achieve fast spreading and transport in the vascular networks is demonstrated. In addition, the influence of heterogeneous flows in the vascular networks on the particle steering efficiency is discussed. Overall, the numerical model and the magnetic steering strategy can be widely used in the drug delivery systems for precise medicine research.

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Image-Guided Corridor-Based Motion Planning and Magnetic Control of Microrotor in Dynamic Environments

Cited by 8 publications

References 35 publications

Automatic Navigation Scheme for Micro-Robot Using Magnetic Potential Field Through Field Free Point

Automatic Navigation Scheme for Micro-Robot Using Magnetic Potential Field Through Field Free Point

Biodegradable Microrobots and Their Biomedical Applications: A Review

An efficient stochastic steering strategy of magnetic particles in vascular networks

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