Modeling and Characterization of Deformable Soft Magnetic Microrobot for Targeted Therapy

Mellal, Lyes; Folio, David; Belharet, Karim; Ferreira, Antoine

doi:10.1109/lra.2021.3107102

Cited by 3 publications

(2 citation statements)

References 25 publications

(51 reference statements)

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“…For potential biomedical applications, carrier liquids containing a certain density of magnetic microrobots can be injected into blood vessels, and then the microrobots are steered by applying an external magnetic field gradient or rotating magnetic field. [27,28] Although the investigation of individual or doublet microrobots is beneficial for understanding their swimming behaviors in physiologically relevant flow conditions, single or doublet microrobots are not sufficient for targeted cargo delivery due to their limited payload capability. [29,30] Moreover, it is not easy to obtain single or doublet microrollers due to the aggregation of magnetic microrobots after injection into the biofluids.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Mobile Microrobots for Upstream and Downstream Navigation in Biofluids with Variable Flow Rate

Zhang

et al. 2022

Advanced Intelligent Systems

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Magnetic mobile microrobots navigating biofluids with both upstream and downstream locomotion provide a promising solution to targeted drug delivery for precision medicine. However, the biofluid environment in blood vessels is complicated due to variations in flow rate and direction. It is still unknown how to make magnetic microrobots resist the variable flow rate in biofluids with both upstream and downstream locomotion. Herein, magnetic microrobots with various shapes and sizes have been controlled to navigate diverse biofluids under different flow rates and directions. Simulation and experimental studies have been conducted to analyze the influences of microrobot size and shape on translational velocity in confined microchannels filled with biofluids. A strategy is proposed to choose the optimized parameters of rotating magnetic field actuation for precise delivery of microrobots in a microfluidic chip, which contains a complex biofluid environment with variable flow rate and direction. The results are validated using various microrobots navigating the microfluidic chip and the yolks of zebrafish larvae in vivo. This work provides a guideline for selecting desirable microrobot dimensions and magnetic field actuation parameters for controllable navigation of magnetic mobile microrobots in complex biofluid flows.

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Section: Introductionmentioning

confidence: 99%

Magnetic Mobile Microrobots for Upstream and Downstream Navigation in Biofluids with Variable Flow Rate

Zhang

et al. 2022

Advanced Intelligent Systems

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“…There are interesting applications of soft magnetic properties utilized in recent developments. The underlying actuation principle of most of the microrobots has been soft magnetism in both microfluidic and dry environments [8,[23][24][25]. Especially, a linear microactuator that can provide an untethered actuation scheme for swimming microrobots is an interesting route.…”

Section: Introductionmentioning

confidence: 99%

Design and Simulation of a Novel Magnetic Microactuator for Microrobots in Lab-On-a-Chip Applications

Kankanige

Appuhamilage²,

Dodampegama

et al. 2022

Adv. Technol.

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This article presents the design of a magnetic microactuator comprising soft magnetic material blocks and flexible beams. The modular layout of the proposed microactuator promotes scalability towards different microrobotic applications using low magnetic fields. The presented microactuator consists of three soft magnetic material (Ni-Fe 4750) blocks connected together via two Polydimethylsiloxane (PDMS) semi-circular beams. A detailed design approach is highlighted giving considerations toward compactness, range of motion and force characteristics of the actuator. The actuator displacement and force characteristics are approximately linear in the magnetic field strength range of 80-160 kA/m. It can achieve maximum displacements of 111.6 µm (at 160 kA/m) during extension and 10.7 µm (at 80 kA/m) during contraction under no-load condition. The maximum force output of the microactuator, computed through a contact simulation, was 404.3 nN at a magnetic field strength of 160 kA/m. The microactuator achieved stroke angles up to 18.4 in a study where the microactuator was integrated with a swimming microrobot executing rowing motion using an artificial appendage, providing insight into the capabilities of actuating untethered microrobots.

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Towards a Robust Steerability Magnetic Catheter with Haptic Force Feedback and Virtual Reality

Elfakir¹,

Amari²,

Attou³

et al. 2022

2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Modeling and Characterization of Deformable Soft Magnetic Microrobot for Targeted Therapy

Cited by 3 publications

References 25 publications

Magnetic Mobile Microrobots for Upstream and Downstream Navigation in Biofluids with Variable Flow Rate

Magnetic Mobile Microrobots for Upstream and Downstream Navigation in Biofluids with Variable Flow Rate

Design and Simulation of a Novel Magnetic Microactuator for Microrobots in Lab-On-a-Chip Applications

Towards a Robust Steerability Magnetic Catheter with Haptic Force Feedback and Virtual Reality

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