Comparison, optimization, and limitations of magnetic manipulation systems

Magnetic Microrobots for In Vivo Cargo Delivery: A Review

Magnetic microrobots, with their small size and agile maneuverability, are well-suited for navigating the intricate and confined spaces within the human body. In vivo cargo delivery within the context of microrobotics involves the use of microrobots to transport and administer drugs and cells directly to the targeted regions within a living organism. The principal aim is to enhance the precision, efficiency, and safety of therapeutic interventions. Despite their potential, there is a shortage of comprehensive reviews on the use of magnetic microrobots for in vivo cargo delivery from both research and engineering perspectives, particularly those published after 2019. This review addresses this gap by disentangling recent advancements in magnetic microrobots for in vivo cargo delivery. It summarizes their actuation platforms, structural designs, cargo loading and release methods, tracking methods, navigation algorithms, and degradation and retrieval methods. Finally, it highlights potential research directions. This review aims to provide a comprehensive summary of the current landscape of magnetic microrobot technologies for in vivo cargo delivery. It highlights their present implementation methods, capabilities, and prospective research directions. The review also examines significant innovations and inherent challenges in biomedical applications.

Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets

Magnetic motion control has been actively studied mainly for the purpose of biomedical applications. However, in many cases, many actuator magnets surround a small magnet to be moved, and they consume large electric power. In some cases, complex calculations are required to estimate the control input of the actuator magnets. This study proposes a simple method to move a small magnet to the desired positions. For this, three cylindrical permanent magnets magnetized in the radial direction were positioned as the sides of a triangle; these actuator magnets were rotated using motors. By monitoring the position of the small magnet and through simple feedback control based on the angles of the three actuator magnets, the untethered small magnet could be moved along arbitrary three-dimensional (3D) paths. The control principle was established by calculating the magnetic force and torque acting on the small magnet for some sets of actuator-magnet angles.

Magnetic Nanoparticles Mediated Thrombolysis-A Review

Nanoparticles containing thrombolytic medicines have been developed for thrombolysis applications in response to the increasing demand for effective, targeted treatment of thrombosis disease. In recent years, there has been a great deal of interest in nanoparticles that can be navigated and driven by a magnetic field. However, there are few review publications concerning the application of magnetic nanoparticles in thrombolysis. In this study, we examine the current state of magnetic nanoparticles in the application of in vitro and in vivo thrombolysis under a static or dynamic magnetic field, as well as the combination of magnetic nanoparticles with an acoustic field for dual-mode thrombolysis. We also discuss four primary processes of magnetic nanoparticles mediated thrombolysis, including magnetic nanoparticle targeting, magnetic nanoparticle trapping, magnetic drug release, and magnetic rupture of blood clot fibrin networks. This review will offer unique insights for the future study and clinical development of magnetic nanoparticles mediated thrombolysis approaches.

Magnetic Soft Helical Manipulators with Local Dipole Interactions for Flexibility and Forces

Magnetic continuum manipulators (MCMs) are a class of continuum robots that can be actuated without direct contact by an external magnetic field. MCMs operating in confined workspaces, such as those targeting medical applications, require flexible magnetic structures that contain combinations of magnetic components and polymers to navigate long and tortuous paths. In cylindrical MCM designs, a significant trade-off exists between magnetic moment and bending flexibility as the ratio between length and diameter decreases. In this study, we propose a new MCM design framework that enables increasing diameter without compromising on flexibility and magnetic moment. Magnetic soft composite helices constitute bending regions of the MCM and are separated by permanent ring magnets. Local dipole interactions between the permanent magnets can reduce bending stiffness, depending on their size and spacing. For the particular segment geometry presented herein, the local dipole interactions result in a 31% increase in angular deflection of composite helices inside an external magnetic field, compared to helices without local interactions. In addition, we demonstrate fabrication, maneuverability, and example applications of a multisegment MCM in a phantom of the abdominal aorta, such as passing contrast dye and guidewires.

Electrical Optimization Method Based on a Novel Arrangement of the Magnetic Navigation System with Gradient and Uniform Saddle Coils

The magnetic navigation system (MNS) with gradient and uniform saddle coils is an effective system for manipulating various medical magnetic robots because of its compact structure and the uniformity of its magnetic field and field gradient. Since each coil of the MNS was geometrically optimized to generate strong uniform magnetic field or field gradient, it is considered that no special optimization is required for the MNS. However, its electrical characteristics can be still optimized to utilize the maximum power of a power supply unit with improved operating time and a stronger time-varying magnetic field. Furthermore, the conventional arrangement of the coils limits the maximum three-dimensional (3D) rotating magnetic field. In this paper, we propose an electrical optimization method based on a novel arrangement of the MNS. We introduce the objective functions, constraints, and design variables of the MNS considering electrical characteristics such as resistance, current density, and inductance. Then, we design an MNS using an optimization algorithm and compare it with the conventional MNS; the proposed MNS generates a magnetic field or field gradient 22% stronger on average than that of the conventional MNS with a sevenfold longer operating time limit, and the maximum three-dimensional rotating magnetic field is improved by 42%. We also demonstrate that the unclogging performance of the helical robot improves by 54% with the constructed MNS.

Magnetic Soft Materials and Robots

In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique advantages and potential for many important applications. However, the field of magnetic soft robots is still in its infancy and requires further advancements in terms of design principles, fabrication methods, control mechanisms, and sensing modalities. Successful future development of magnetic soft robots would require a comprehensive understanding of the fundamental principle of magnetic actuation, as well as the physical properties and behavior of magnetic soft materials. In this review, we discuss recent progress in the design and fabrication, modeling and simulation, and actuation and control of magnetic soft materials and robots. We then give a set of design guidelines for optimal actuation performance of magnetic soft materials. Lastly, we summarize potential biomedical applications of magnetic soft robots and provide our perspectives on next-generation magnetic soft robots.

MagWorm: A Biomimetic Magnet Embedded Worm-Like Soft Robot

Emerging worm-like soft robots with various soft materials and different actuation mechanism have been frequently discussed. It is very challenging for soft robots in realizing a fast and untethered crawling. In this article, a biomimetic magnet embedded worm-like robot (shorted as "MagWorm") in the size of centimeter level is designed and investigated. The actuation of the MagWorm is achieved by housing permanent magnetic patches in its soft body, which interact with an external moving drive-magnet system. A dynamic model is established, coupling the discrete elastic rod model with magnetic actuation. The driving mechanism is then numerically studied. Quantitative comparisons between the numerical solution and experiment results show reasonable agreement. It is shown that the MagWorm can deform part of its body into a "Ω" shape and generate biomimetic crawling locomotion. The crawling speed of the robot is studied experimentally with different sizes. Some potential applications are also proposed and demonstrated. The MagWorm represents compact and low-cost solutions that use permanent magnets for remote actuation of soft robot and can be continuously operated during long procedures.

MagnetoSuture: Tetherless Manipulation of Suture Needles

This paper demonstrates the feasibility of ligation and tissue penetration for surgical suturing tasks using magnetically actuated suture needles. Manipulation of suture needles in minimally invasive surgery involves using articulated manual/robotic tools for needle steering and controlling needle-tissue or thread-tissue interactions. The large footprints of conventional articulated surgical tools significantly increase surgical invasiveness, potentially leading to longer recovery times, tissue damage, scarring, or associated infections. Aiming to address these issues, we investigate the feasibility of using magnetic fields to tetherlessly steer suture needles. The primary challenge of such a concept is to provide sufficient force for tissue penetration and ligation. In this work, we demonstrate proof-of-concept capabilities using the MagnetoSuture™ system, performing tissue penetration and ligation tasks using ex vivo tissues, customized NdFeB suture needles with attached threads, and remote-controlled magnetic fields. To evaluate the system performance, we conducted experiments demonstrating tetherless recreation of a purse string suture pattern, ligation of an excised segment of a rat intestine, and penetration of rat intestines.

Synthetic and living micropropellers for convection-enhanced nanoparticle transport

Nanoparticles (NPs) have emerged as an advantageous drug delivery platform for the treatment of various ailments including cancer and cardiovascular and inflammatory diseases. However, their efficacy in shuttling materials to diseased tissue is hampered by a number of physiological barriers. One hurdle is transport out of the blood vessels, compounded by difficulties in subsequent penetration into the target tissue. Here, we report the use of two distinct micropropellers powered by rotating magnetic fields to increase diffusion-limited NP transport by enhancing local fluid convection. In the first approach, we used a single synthetic magnetic microrobot called an artificial bacterial flagellum (ABF), and in the second approach, we used swarms of magnetotactic bacteria (MTB) to create a directable "living ferrofluid" by exploiting ferrohydrodynamics. Both approaches enhance NP transport in a microfluidic model of blood extravasation and tissue penetration that consists of microchannels bordered by a collagen matrix.

A Capsule-Type Microrobot with Pick-and-Drop Motion for Targeted Drug and Cell Delivery

A capsule-type microrobot exhibits "pick-and-drop" (P&D) motion to hold a particle within a confined volume and transports it via a corkscrewing motion. The P&D motion is possible because the capsule-type microrobot has two parts: a plunger and a cap. The fabricated microrobots are wirelessly controlled by a magnetic manipulator. Drugs or cells can be encapsulated in the container of the capsule-type microrobot by the P&D motion or attached to the surface of the cap, which can be used as a supporting structure. Therefore, the capsule-type microrobot can deliver suspended or adherent cells. The drug or cells are minimally exposed or not completely exposed to the surrounding fluid and do not experience shear force when encapsulated in the container. As a proof-of-concept, secure transportation of microparticles in the confined volume of the capsule via P&D motion is demonstrated. In addition, the cap is used as a scaffold for neuronal cell culture on a rat brain slice to demonstrate its biocompatibility and feasibility for targeted cell delivery. The proposed capsule-type microrobot is suitable for diverse applications, as it protects the encapsulated materials.

Magnetometry of Individual Polycrystalline Ferromagnetic Nanowires

Ferromagnetic nanowires are finding use as untethered sensors and actuators for probing micro- and nanoscale biophysical phenomena, such as for localized sensing and application of forces and torques on biological samples, for tissue heating through magnetic hyperthermia, and for microrheology. Quantifying the magnetic properties of individual isolated nanowires is crucial for such applications. Dynamic cantilever magnetometry is used to measure the magnetic properties of individual sub-500 nm diameter polycrystalline nanowires of Ni and Ni₈₀ Co₂₀ fabricated by template-assisted electrochemical deposition. The values are compared with bulk, ensemble measurements when the nanowires are still embedded within their growth matrix. It is found that single-particle and ensemble measurements of nanowires yield significantly different results that reflect inter-nanowire interactions and chemical modifications of the sample during the release process from the growth matrix. The results highlight the importance of performing single-particle characterization for objects that will be used as individual magnetic nanoactuators or nanosensors in biomedical applications.

Fabrication and wireless micromanipulation of magnetic-biocompatible microrobots using microencapsulation for microrobotics and microfluidics applications

It is important to fabricate biocompatible and chemical-resistant microstructures that can be powered and controlled without a tether in fluid environment for applications when contamination must be avoided, like cell manipulation, and applications where connecting the power source to the actuator would be cumbersome, like targeted delivery of chemicals. In this work, a novel fabrication method was described to encapsulate magnetic composite into pure SU-8 structures, enabling the truly microscale ferromagnetic microrobots biocompatible and chemical resistant. The microrobots were developed using the simple multilayer photolithography that allows us to mass produce and were actuated contact-free by external magnetic field to complete micromanipulations of micro-objects. The microrobots were actuated moving along a preplanned path to transport a glass microsphere object at an approximately average speed of 1.1 mm/sec and can be operated to rotate, aim at targets and collect objects.