Abstract
Swarm magnetic control is a promising technology for use in nanorobotics. However, automated control schemes for small and large populations of nanoparticles are not effective due to the complexity of real blood vessels, the lack of technologies for motion control feedback of individual particles, and the inaccuracy of the mathematical models. It is quite difficult to control unexpected magnetic particle movements in a real vessel. Specifically, when magnets are used to guide the particles, the sticking of particles to vessel walls causes the dispersion of particles, which is the main reason for low steering efficiency that may cause the occurrence of side effects in non-targeted areas. In addition, when the aggregation of particles occurs inside the vessels, it can cause clogging of the vessel and the randomness of aggregation makes it difficult for the user to control the particles precisely. In the presented work, we suggest a novel intuitive shared guidance scheme for 3D steering of magnetic nanoparticles (MNPs) in a realistic vessel model. We have performed simulation based user studies with different guidance modes (visual feedback (V), shared control (S), shared control and forbidden region mode (S-F), shared control and adaptive forbidden region mode (S-AF)). The results of these studies show that the suggested S-AF mode can significantly ( ${p}$ -value ${p}$ -value < 0.01) reducing the sticking rate of MNPs inside the vessel. The proposed intelligent navigation scheme for MNPs can in the future be combined with real-time magnetic particle imaging (MPI) for targeted drug delivery.
Highlights
Nanoparticles have attracted extensive attention due to their great promise for biomedicine applications such as high precision targeted delivery and nano-manipulation [1]–[4]
Due to the use of magnetic fields that can penetrate deep tissues and even at relatively high intensities can be considered safe for living beings, magnetic targeted delivery (MTD) using nanoparticles is considered advantageous as compared to the various other targeted delivery approaches [4]–[10]
We have proposed a novel intelligent shared swarm guidance scheme of magnetic nanoparticles (MNPs) that combines an automatic positioning control for simplification of MNP guidance in a realistic 3-D blood vessel with an adaptive forbidden region (AF) to aid the operator by adjusting the forbidden region based on the amount of aggregation of MNPs inside the blood vessel
Summary
Nanoparticles have attracted extensive attention due to their great promise for biomedicine applications such as high precision targeted delivery and nano-manipulation [1]–[4]. In contemporary medical service robotics, it is considered beneficial to have a human operator in the control loop, such as in the teleoperation control approach used in the da Vinci surgical robot [25] Based on this observation, we previously developed a system utilizing a haptic human interface device for the guidance of MNPs for targeted drug delivery in a simulated 2-D vessel environment, which showed improvement in the targeting ratio [26]. We have proposed a novel intelligent shared swarm guidance scheme of MNPs that combines an automatic positioning control for simplification of MNP guidance in a realistic 3-D blood vessel with an adaptive forbidden region (AF) to aid the operator by adjusting the forbidden region based on the amount of aggregation of MNPs inside the blood vessel.
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