Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 7, Issue 2, Pages 3578-3583Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3146522
Keywords
Magnetic fields; Robots; Magnetic nanoparticles; Tumors; Photothermal effects; Magnetic resonance imaging; Sociology; Micro; nano robots; swarm robotics; medical robots and systems
Categories
Funding
- National Key R&D Program of China [2019YFB1309700]
- Beijing Nova Program of Science and Technology [Z191100001119003]
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This study proposes a clustering control strategy for magnetic nanoparticles to form vortex-like swarms and chain-like ones, enabling precise navigation and targeted tumor therapy. The vortex-swarm robots can adapt to different environments, overcome obstacles, and kill cancer cells with the photothermal effect of magnetic nanoparticles.
Micro-nano robots with low invasiveness and high drug utilization are considered a promising approach for tumor therapy. However, individual micro-nano robots are limited in terms of motility, drug-carrying capacity, and environmental adaptability. This study proposes a clustering control strategy for magnetic nanoparticles that enables individual loose particles to be organized into vortex-like swarms and chain-like ones with rapid transitions across them. The vortex-like swarm of microrobots can be precisely navigated through a visual feedback mechanism. The positions error of their movements can be controlled under 22 mu m. We constructed a tumor microenvironment. The vortex-swarm robots can easily adapt to undulating terrains, overcome the obstruction of flowing blood and a massive number of blood cells, and propel itself at an overall speed of faster than 170 mu m/s. In addition, the vortex-swarm robots can navigate through magnetic fields to reach the tumor location in an arbitrary area and kill cancer cells precisely with the photothermal effect of magnetic nanoparticles, resulting in a cancer cell viability rate of 1.65%. The cluster-based precision control of micro-nano robots will deliver significant advantages for targeted tumor therapy in the future.
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