Abstract
Given that the current microrobot cannot achieve fixed-point and quantitative drug application in the gastrointestinal (GI) tract, a targeted drug delivery microrobot is proposed, and its principle and characteristics are studied. Through the control of an external magnetic field, it can actively move to the affected area to realize the targeted drug delivery function. The microrobot has a cam structure connected with a radially magnetized permanent magnet, which can realize two movement modes: movement and targeted drug delivery. Firstly, the magnetic actuated capsule microrobotic system (MACMS) is analyzed. Secondly, the dynamic model and quantitative drug delivery model of the targeted drug delivery microrobot driven by the spiral jet structure are established, and the motion characteristics of the targeted drug delivery microrobot are simulated and analyzed by the method of Computational Fluid Dynamics (CFD). Finally, the whole process of the targeted drug delivery task of the microrobot is simulated. The results show that the targeted drug delivery microrobot can realize basic movements such as forward, backward, fixed-point parking and drug delivery through external magnetic field control, which lays the foundation for gastrointestinal diagnosis and treatment.
Highlights
Microrobots have been widely studied because of their promising application in GI diagnosis and treatment [1,2,3]
We propose a novel targeted drug delivery microrobot, which can actively move to the lesion position controlled by the external magnetic field, and quantitatively control the drug release through a drug application mechanism fixed by the internal single permanent magnet and cam structure
The operator controls the whole system through the main control system, and directly controls the targeted drug delivery microrobot from the slave treatment system to carry out the GI-targeted drug delivery task
Summary
Microrobots have been widely studied because of their promising application in GI diagnosis and treatment [1,2,3]. Le et al proposed a drug delivery microrobot in which the drug delivery module is driven by a precisely controlled external magnetic field. The drug delivery module is opened by repulsion between two radially magnetized soft magnetic rings, and the encapsulated drug can be released to achieve drug treatment at the lesion location [16] These studies did not provide a detailed analysis of the targeted drug application process. We propose a novel targeted drug delivery microrobot, which can actively move to the lesion position controlled by the external magnetic field, and quantitatively control the drug release through a drug application mechanism fixed by the internal single permanent magnet and cam structure.
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