3D Motion and Swarm Control of Magnetically Propelled Microrobots for in vivo Particulate Drug Delivery

用于体内颗粒药物输送的磁力驱动微型机器人的 3D 运动和群体控制

• 批准号: 1634726
• 负责人: MinJun Kim
• 金额: $ 28.94万
• 依托单位: Drexel University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-09-01 至 2017-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1634726&HistoricalAwards=false
• 关键词: 3D; Motion; Swarm; Control; Magnetically

This project will demonstrate the use of rotating magnetic fields to propel and steer magnetic microswimmers for medical applications such as drug delivery. Unlike previous work in this area, this project considers swarms of microswimmers instead of single vehicles, and allows fluids with non-ideal behavior characteristic of, for example, mucus. The results will be experimentally validated using a controllable synthetic biofluid. The results will guide future development of control systems for microrobotics, and advance towards practically controllable magnetic microswimmers in vivo. A complimentary outreach program will provide and cultivate a unique, interdisciplinary training environment for K-12, undergraduate and graduate students, exploiting eye-catching microswimmer control, drug delivery, and haptic devices.The PI has recently demonstrated that achiral magnetic rigid geometries are capable of propulsion when rotated by a magnetic field. This project builds upon that demonstration, by formulating the motion control problem in the setting of stochastic differential equations, in order to create a stochastic control system for 3D motion and swarm control of magnetic microswimmers. Motion control of microswimmers is accomplished with magnetic control and computer vision feedback. Notably, variations in the physical parameters of the individual microswimmers will be leveraged to address uncertainty in the fluid environment. The approach will be used to formulate control and coordination schemes for the motion of a large number of microswimmers in heterogeneous 2D and 3D workspaces, using motion planning and control frameworks that address issues such as controllability and optimality. The results will be experimentally validated in a non-Newtonian fluid with controllable parameters that simulates a biological environment.

该项目将展示使用旋转磁场来推动和引导磁性微泳者用于药物输送等医疗应用。与该领域以前的工作不同，该项目考虑了成群的微型游泳者而不是单个车辆，并允许具有非理想行为特征的流体，例如粘液。将使用可控合成生物流体对结果进行实验验证。研究结果将指导未来微机器人控制系统的发展，并朝着实际可控的磁微游泳者在体内。一个免费的推广计划将提供和培养一个独特的，跨学科的培训环境，为K-12，本科生和研究生，利用引人注目的microswimmer控制，药物输送和触觉设备。PI最近已经证明，非手性磁性刚性几何形状能够推进时，由磁场旋转。该项目建立在该演示的基础上，通过在随机微分方程的设置中制定运动控制问题，以创建用于磁性微型游泳者的3D运动和群体控制的随机控制系统。微型游泳器的运动控制是通过磁控制和计算机视觉反馈来实现的。值得注意的是，个体微泳者的物理参数的变化将被用来解决流体环境中的不确定性。该方法将被用来制定控制和协调计划的大量的microswimmer在异构的2D和3D运动，使用运动规划和控制框架，解决问题，如可控性和最优性。结果将在具有可控参数的非牛顿流体中进行实验验证，该流体模拟生物环境。