Abstract
Magnetic drug targeting is a promising technique that can deliver drugs to the diseased region, while keeping the drug away from healthy parts of body. Introducing a human in the control loop of a targeted drug delivery system and using inherent bilateralism of a haptic device at the same time can considerably improve the performance of targeted drug delivery systems. In this paper, we suggest a novel intelligent haptic guidance scheme for steering a number of magnetic nanoparticles (MNPs) using forbidden region virtual fixtures and a haptic rendering scheme with multi particles. Forbidden region virtual fixtures are a general class of guidance modes implemented in software, which help a human-machine collaborative system accomplish a specific task by constraining a movement into limited regions. To examine the effectiveness of our proposed scheme, we implemented a magnetic guided drug delivery system in a virtual environment using a physics-based model of targeted drug delivery including a multi-branch blood vessel and realistic blood dynamics. We performed user studies with different guidance modes: unguided, semi virtual fixture and full virtual fixture modes. We found out that the efficiency of targeting was significantly improved using the forbidden region virtual fixture and the proposed haptic rendering of MNPs. We can expect that using intelligent haptic feedback in real targeted drug delivery systems can improve the targeting efficiency of MNPs in multi-branch vessels.
Highlights
Magnetic drug targeting has gained noteworthy interest among scientists and researchers during the last two decades due to a potential increase in the amount of medicine intake in order to substantially improve therapy efficiency
In order to avoid some region inside the blood vessel in steering of magnetic nanoparticles (MNPs), the concept of forbidden region virtual fixtures seems to be well-suited to the targeted drug delivery applications for combining a haptic feedback scheme
To examine the efficiency of the proposed scheme, we developed a virtual environment using a physics-based model of a targeted drug delivery system, performed user studies with the different assistance modes and investigated the effects of haptic feedback and virtual fixture for guidance of MNPs
Summary
Magnetic drug targeting has gained noteworthy interest among scientists and researchers during the last two decades due to a potential increase in the amount of medicine intake in order to substantially improve therapy efficiency. In order to avoid some region inside the blood vessel in steering of MNPs, the concept of forbidden region virtual fixtures seems to be well-suited to the targeted drug delivery applications for combining a haptic feedback scheme. The main contributions of this paper are adding a human operator to the control system of a targeted drug delivery system using a haptic device and proposing a new scheme for haptic rendering of multi particles to calculate force feedback to the user and utilizing a virtual fixture for more efficient steering of MNPs inside a blood vessel. To examine the efficiency of the proposed scheme, we developed a virtual environment using a physics-based model of a targeted drug delivery system, performed user studies with the different assistance modes and investigated the effects of haptic feedback and virtual fixture for guidance of MNPs
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