Collaborative Research: Integrated Swimming Microrobots for Intravascular Neuromodulation

通过血管对神经系统进行电刺激是一种新兴的技术，可以缓解许多慢性疾病，包括瘫痪、关节炎、帕金森病、肥胖等，而不需要大手术该技术仍处于起步阶段，使用连接到外部设备的刺激电极，这限制了对大脑和脊髓的更深入访问。相反，微型机器人，不连接到外部设备，通过远程指导和无线电源在血管中游泳，可以轻松进入人体内较难到达的区域，并执行刺激或输送药物。该奖项旨在研究利用声波在血管中移动微型机器人的可行性。特别是，该奖项将模拟利用声波来移动微型机器人，提供药物和收获能量的机制。如果可行的话，这些微型机器人将运送药物，并允许对身体深处的神经元进行无线电刺激。具有这些能力的微型机器人最终将使数百万患有上运动神经元病变或帕金森症、抑郁症、癫痫症等脑部疾病的人受益，而不需要进行昂贵的外科手术，从而最大限度地减少了由于突出的金属丝而引起的感染的风险。 拟议的研究计划还将在当地博物馆和天文馆开展推广活动。该项目将设计和验证具有游泳，远程药物输送和神经调节功能的微型机器人，以实现目标。该奖项的第一个目的是研究目前未知的声学机制，这些机制使用封装的气泡来实现微机器人在流体中的推进，远程药物释放和收获能量。第二个目标是创建数据驱动的模型，捕获移动性和刺激电流的声学机制。进一步的数据驱动控制器将被导出，以使微型机器人能够达到所需的目标。最后，在第三个目标中，微型机器人的游泳能力和血管内神经调节将在一个更大的动物模型中得到验证。这个奖项反映了NSF的法定使命，并被认为是值得通过使用基金会的智力价值和更广泛的影响审查标准进行评估的支持。

Electrical stimulation of nervous systems via blood vessels is an emerging technique to relieve many chronic conditions, including paralysis, arthritis, Parkinson’s disease, obesity, etc., without requiring major surgery. The technology is still in its infancy and uses stimulation electrodes attached to an external apparatus, which limits deeper access to the brain and spinal cord. Instead, microrobots, unattached to an external apparatus, swimming in blood vessels via remote guidance and wireless power may ease access to harder-to-reach areas in the human body and perform stimulation or deliver drugs. This award aims to study the feasibility of using sound waves to move microrobots in blood vessels. Especially, the award will model mechanisms of harnessing the sound waves to move the microrobots, deliver drugs, and harvest energy. If feasible, these microrobots would deliver drugs and allow wireless electrical stimulation of neurons deeper inside the body. Microrobots with these capabilities would eventually benefit millions of people who have upper motor neuron lesions or brain disorders such as Parkinson, depression, epilepsy, etc., without the need to undergo expensive surgery, and thus minimizing the risk of infections from protruding wires. The proposed research plan also integrates outreach activities at a local museum and a planetarium.The project will design and validate the microrobots with swimming, remote drug delivery, and neuromodulation capabilities to achieve the goal. The first aim of this award is to investigate currently unknown acoustic mechanisms that use encapsulated air bubbles to enable propulsion of the microrobot in a fluid, remote drug release, and harvest energy. The second aim will create data-driven models that capture the acoustic mechanisms of mobility and stimulation current. Further data-driven controllers will be derived to enable microrobots to reach desired targets. Finally, in third aim, the microrobot’s ability to swim to a target and intravascular neuromodulation in a larger animal model will be validated.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.