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Analytical solution of a microrobot-blood vessel interaction model
Gengxiang Wang1,2, Andrew Bickerdike1, Yang Liu1
1Exeter Small-Scale Robotics Laboratory, Engineering Department, University of Exeter, Exeter, EX4 4QF UK.
Nonlinear Dynamics
|December 16, 2024
Summary
This study models microrobot dynamics in blood vessels for cancer metastasis detection. Findings reveal how damping and frequency affect microrobot-vessel interactions, crucial for developing diagnostic tools.
Area of Science:
- Biomedical Engineering
- Robotics
- Computational Mechanics
Background:
- Early cancer metastasis detection is critical for patient outcomes.
- Microrobots offer a promising tool for minimally invasive diagnostics within the bloodstream.
- Understanding microrobot dynamics in complex biological environments is essential for their effective deployment.
Purpose of the Study:
- To develop and validate a dynamics model for microrobots vibrating in blood vessels.
- To analyze the influence of various parameters on microrobot motion and vessel wall interactions.
- To provide a theoretical basis for control strategies in microrobot-based cancer detection.
Main Methods:
- Derivation of an analytical solution for microrobot motion, incorporating vessel wall interactions (spring-dashpot) and blood viscosity (damping).
- Modeling of instantaneous state transitions, including wall contact and free fluid motion.
- Validation of the analytical solution using experimental data and simulation of parameter influences.
Main Results:
- The contact force is inversely related to the damping ratio and sensitive to the frequency ratio.
- Resonance phenomena at a frequency ratio of 1 are significantly influenced by damping, with lower damping increasing amplitude.
- Multi-periodic motions and 'fake collisions' were observed, minimally affected by vessel wall stiffness but significantly by fluid and vessel wall damping.
Conclusions:
- The developed dynamics model accurately predicts microrobot behavior in blood vessels.
- Parameter analysis provides critical insights into controlling microrobot-vessel interactions for diagnostic purposes.
- This research lays a foundation for advanced control strategies for microrobots in cancer metastasis detection.
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