Tele-Guidance of a Soft Magnetic Microrobot Transported by a Fluid in a Vascular Network

Abstract

Electromagnetic actuation represents a novel wireless control approach utilized for the manipulation of magnetic microrobots, particularly in the context of diverse minimally invasive therapeutic applications. This study presented contributions relating to the integration of a human operator into the control system of an electromagnetic actuation framework through haptic assistance. The intervention of a human operator serves multiple purposes, encompassing the safe piloting of the microrobot during the procedure and the utilization of the doctor’s expertise. Consequently, this human-in-the-loop approach not only ensures heightened safety but also enhances public acceptability, particularly in the realm of drug delivery within the human body. To facilitate these objectives, a haptic device was proposed to propel and orient the microrobots within blood vessels, thereby enabling their targeted delivery. Additionally, a novel magnetic guidance strategy was introduced, relying on the utilization of two magnetic forces to simplify and optimize the guidance process. The electromagnetic actuation system, developed in our research laboratory, offers a comprehensive workspace that has been obtained through analytical and quantitative modeling of the magnetic field generated by the system. With an accessible workspace encompassing a cubic volume of 70 mm in length, the system facilitates easy access from all four lateral sides. Such an architectural design allows for efficient manipulation of microparticles within a significantly larger 3D workspace, surpassing the limitations imposed by traditional systems primarily confined to a small central area, as observed in existing literature. Experimental evaluations encompassing both 2D and 3D scenarios were conducted to validate the efficacy of the magnetic navigation platform.