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.

该项目将证明使用旋转磁场来推动和转向磁性微晶状体，以进行药物输送等医疗应用。与以前在该领域的工作不同，该项目考虑了数量的微武器而不是单车，并且允许具有非理想行为特征的流体，例如粘液。将使用可控的合成生物流体对结果进行实验验证。结果将指导微型机构控制系统的未来开发，并在体内迈向实际可控制的磁性微晶状体。免费的外展计划将为K-12，本科生和研究生提供独特的，跨学科的培训环境，利用醒目的微武器控制，药物输送和触觉设备。该项目是基于该演示的，通过在随机微分方程的设置中制定运动控制问题，以创建一个随机控制系统，用于3D运动和对磁性Microswimmers的群体控制。 Microswimmers的运动控制是通过磁控制和计算机视觉反馈完成的。值得注意的是，将利用各个微晶状体的物理参数的变化来解决流体环境中的不确定性。该方法将使用运动计划和控制框架，以解决可控性和最佳性等问题的框架，用于在异质2D和3D工作区中运动的控制和协调方案。结果将在非牛顿流体中进行实验验证，并具有可控参数，以模拟生物学环境。