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Permanent magnet array-driven navigation of wireless millirobots inside soft tissues.

Donghoon Son1,2, Musab Cagri Ugurlu1, Metin Sitti1,3,4

  • 1Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.

Science Advances
|October 20, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a wireless magnetic millirobot system for navigating soft human tissues. The novel system uses a permanent magnet array for precise remote control, enabling advanced medical procedures.

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Medical Devices

Background:

  • Wireless milliscale robots face challenges in propulsion and power for in-body navigation.
  • Limited onboard capacity hinders the development of effective medical micro-robots for soft tissue applications.

Purpose of the Study:

  • To develop a remotely propelled millirobot system for navigating soft human tissues.
  • To overcome limitations in onboard propulsion and power for medical micro-robotics.

Main Methods:

  • A permanent magnet array system was designed to remotely control a cylindrical magnetic millirobot.
  • A magnetic force trap with gradients up to 7 T/m was created for passive robot centralization.
  • The system integrated a motion stage and fluoroscopic X-ray imaging for navigation and control.

Main Results:

  • The magnetic millirobot successfully navigated soft tissues via continuous penetration.
  • Precise path following with sub-millimeter accuracy was achieved in an ex vivo porcine brain model.
  • The robot demonstrated navigation through extreme curvatures, showcasing system efficacy.

Conclusions:

  • The proposed system enables wireless, remotely controlled millirobot navigation in soft tissues.
  • This technology supports future medical applications such as targeted drug delivery, biopsy, and neuronal stimulation.
  • The system offers a promising platform for minimally invasive surgical procedures.