Navigation of mini swimmers in channel networks with magnetic fields

Controlled navigation of swimming micro robots inside fluid filled channels is necessary for applications in living tissues and vessels. Hydrodynamic behavior inside channels and interaction with channel walls need to be understood well for successful design and control of these surgical-tools-to-be. In this study, two different mechanisms are used for forward and lateral motion: rotation of helices in the direction of the helical axis leads to forward motion in the viscous fluid, and rolling due to wall traction results with the lateral motion near the wall. Experiments are conducted using a magnetic helical swimmer having 1.5 mm in length and 0.5 mm in diameter placed inside two different glycerol-filled channels with rectangular cross sections. The strength, direction and rotational frequency of the externally applied rotating magnetic field are used as inputs to control the position and direction of the micro swimmer in Y- and T-shaped channels

Design, characterization, visualization and navigation of swimming micro robots in channels

Recent advances in micro- and nano-technology and manufacturing systems enabled the development of small (1μm – 1 mm in length) robots that can travel inside channels of the body such as veins, arteries, similar channels of the central nervous system and other conduits in the body, by means of external magnetic fields. Bioinspired micro robots are promising tools for minimally invasive surgery, diagnosis, targeted drug delivery and material removal inside the human body. The motion of micro swimmers interacting with flow inside channels needs to be well understood in order to design and navigate micro robots for medical applications. This thesis emphasizes the in-channel swimming characteristics of robots with helical tails at low Reynolds number environment. Effects of swimming parameters, such as helical pitch, helical radius and the frequency of rotations as well as the effect of the radial position of the swimmer on swimming of the helical structures inside channels are analyzed by means of experiments and computational fluid dynamics (CFD) models using swimmers at different sizes. Micro particle image velocimetry (micro-PIV) experiments are performed to visualize the flow field in the cylindrical channel while micro robot has different angular velocities. The effects of solid plane boundaries on the motion of the micro swimmers are studied by experiments and modeling studies using micro robots placed inside rectangular channels. Controlled navigation of micro robots inside fluid-filled channel networks is performed using two different motion mechanism that are used for forward and lateral motion, and using the strength, direction and frequency of the externally applied magnetic field as control inputs. Lastly, position of the magnetic swimmers is detected using Hall-effect sensors by measuring the magnetic field strength

Magnetic micro-swimmers propelling through bio-rheological liquid bounded within an active channel

The dynamics of a micro-organism swimming through a channel with undulating walls subject to constant transverse applied magnetic field is investigated. The micro-organism is modeled as self-propelling undulating sheet which is out of phase with the channel waves while the electrically conducting biofluid (through which micro-swimmers propel) is characterized by the non-Newtonian shear-rate dependent Carreau fluid model. Creeping flow is mobilized in the channel due to the self-propulsion of the micro-organism and the undulatory motion of narrow gapped walls. Under these conditions the conservation equations are formulated under the long wavelength and low Reynolds number assumptions. The speed of the self-propelling sheet and the rate of work done at higher values of rheological parameters are obtained by using a hybrid numerical technique (MATLAB routine bvp-4c combined with a modified Newton-Raphson method). The results are validated through an alternative hybrid numerical scheme (implicit finite difference method (FDM) in conjunction with a modified Newton-Raphson method). The assisting role of magnetic field and rheological effects of the surrounding biofluid on the swimming mode are shown graphically and interpreted at length. The global behavior of biofluid is also expounded via visualization of the streamlines in both regions (above and below the swimming sheet) for realistic micro-organism speeds. The computations reveal that optimal swimming conditions for the micro-organism (i.e., greater speed with lower energy losses) are achievable in magnetohydrodynamic (MHD) environments including magnetic field-assisted cervical treatments. Keywords: Micro-organism; peristaltic (active) channel; Carreau fluid; Swimming speed; biomagnetohydrodynamics (bioMHD); Rate of work done; Hybrid numerical method, Newton-Raphson method; Cervical magnetic therap

Design and Implementation of Electromagnetic Actuation System to Actuate Micro/NanoRobots in Viscous Environment

The navigation of Micro/Nanorobots (MNRs) with the ability to track a selected trajectory accurately holds significant promise for different applications in biomedicine, providing methods for diagnoses and treatments inside the human body. The critical challenge is ensuring that the required power can be generated within the MNR. Furthermore, ensuring that it is feasible for the robot to travel inside the human body with the necessary power availability. Currently, MNRs are widely driven either by exogenous power sources (light energy, magnetic fields, electric fields, acoustics fields, etc.) or by endogenous energy sources, such as chemical interaction energy. Various driving techniques have been established, including piezoelectric as a driving source, thermal driving, electro-osmotic force driven by biological bacteria, and micro-motors powered by chemical fuel. These driving techniques have some restrictions, mainly when used in biomedicine. External magnetic fields are another potential power source of MNRs. Magnetic fields can permeate deep tissues and be safe for human organisms. As a result, magnetic fields’ magnetic forces and moments can be applied to MNRs without affecting biological fluids and tissues. Due to their features and characteristics of magnetic fields in generating high power, they are naturally suited to control the electromagnetically actuated MNRs in inaccessible locations due to their ability to go through tiny spaces. From the literature, it can be inferred from the available range of actuation technologies that magnetic actuation performs better than other technologies in terms of controllability, speed, flexibility of the working environment, and far less harm may cause to people. Also, electromagnetic actuation systems may come in various configurations that offer many degrees of freedom, different working mediums, and controllability schemes. Although this is a promising field of research, further simulation studies, and analysis, new smart materials, and the development and building of new real systems physically, and testing the concepts under development from different aspects and application requirements are required to determine whether these systems could be implemented in natural clinical settings on the human body. Also, to understand the latest development in MNRs and the actuation techniques with the associated technologies. Also, there is a need to conduct studies and comparisons to conclude the main research achievements in the field, highlight the critical challenges waiting for answers, and develop new research directions to solve and improve the performance. Therefore, this thesis aims to model and analyze, simulate, design, develop, and implement (with complete hardware and software integration) an electromagnetic actuation (EMA) system to actuate MNRs in the sixdimensional (6D) motion space inside a relatively large region of interest (ROI). The second stage is a simulation; simulation and finite element analysis were conducted. COMSOL multi-physics software is used to analyze the performance of different coils and coil pairs for Helmholtz and Maxwell coil configurations and electromagnetic actuation systems. This leads to the following.: • Finite element analysis (FEA) demonstrates that the Helmholtz coils generate a uniform and consistent magnetic field within a targeted ROI, and the Maxwell coils generate a uniform magnetic gradient. • The possibility to combine Helmholtz and Maxwell coils in different space dimensions. With the ability to actuate an MNR in a 6D space: 3D as a position and 3D as orientation. • Different electromagnetic system configurations are proposed, and their effectiveness in guiding an MNR inside a mimicked blood vessel environment was assessed. • Three pairs of Helmholtz coils and three pairs of coils of Maxwell coils are combined to actuate different size MNRs inside a mimicked blood vessel environment and in 6D. Based on the modeling results, a magnetic actuation system prototype that can control different sizes MNRs was conceived. A closed-loop control algorithm was proposed, and motion analysis of the MNR was conducted and discussed for both position and orientation. Improved EMA location tracking along a chosen trajectory was achieved using a PID-based closed-loop control approach with the best possible parameters. Through the model and analysis stage, the developed system was simulated and tested using open- and closed-loop circumstances. Finally, the closedloop controlled system was concluded and simulated to verify the ability of the proposed EMA to actuate an MN under different trajectory tracking examples with different dimensionality and for different sizes of MNRs. The last stage is developing the experimental setup by manufacturing the coils and their base in-house. Drivers and power supplies are selected according to the specifications that actuate the coils to generate the required magnetic field. Three digital microscopes were integrated with the electromagnetic actuation system to deliver visual feedback aiming to track in real-time the location of the MNR in the 6D high viscous fluidic environment, which leads to enabling closed-loop control. The closed-loop control algorithm is developed to facilitate MNR trajectory tracking and minimize the error accordingly. Accordingly, different tests were carried out to check the uniformity of the magnetic field generated from the coils. Also, a test was done for the digital microscope to check that it was calibrated and it works correctly. Experimental tests were conducted in 1D, 2D plane, and 3D trajectories with two different MNR sizes. The results show the ability of the proposed EMA system to actuate the two different sizes with a tracking error of 20-45 µm depending on the axis and the size of the MNR. The experiments show the ability of the developed EMA system to hold the MNR at any point within the 3D fluidic environment while overcoming the gravity effects. A comparison was made between the results achieved (in simulation and physical experiments) and the results deduced from the literature. The comparison shows that the thesis’s outcomes regarding the error and MNR size used are significant, with better performance relative to the MNR size and value of the error

Micro/nanoscale magnetic robots for biomedical applications

Magnetic small-scale robots are devices of great potential for the biomedical field because of the several benefits of this method of actuation. Recent work on the development of these devices has seen tremendous innovation and refinement toward ​improved performance for potential clinical applications. This review briefly details recent advancements in small-scale robots used for biomedical applications, covering their design, fabrication, applications, and demonstration of ability, and identifies the gap in studies and the difficulties that have persisted in the optimization of the use of these devices. In addition, alternative biomedical applications are also suggested for some of the technologies that show potential for other functions. This study concludes that although the field of small-scale robot research is highly innovative ​there is need for more concerted efforts to improve functionality and reliability of these devices particularly in clinical applications. Finally, further suggestions are made toward ​the achievement of commercialization for these devices

Biological interactions between carreau fluid and micro-swimmers in a complex wavy canal with MHD effects

The efficient magnetic swimming of actual or mechanically designed micro-swimmers within bounded regions is reliant on several factors. Few of which are: the actuation of these swimmers via magnetic field, rheology of surrounding liquid (with dominant viscous forces), nature of medium (either porous or non-porous), position (either straight, inclined or declined) and state (either active or passive) of the narrow passage. To witness these interactions, we utilize Carreau fluid with Taylor swimming sheet model under magnetic and porous effects. Moreover, the cervical canal is approximated as a two-dimensional complex wavy channel inclined at certain angle with the horizontal. The momentum equations are reduced by means of lubrication assumption, which finally leads to a fourth order differential equation. MATLAB's built-in bvp4c function is employed to solve the resulting boundary value problem (BVP). The solution obtained via bvp4c is further verified by finite difference method (FDM). In both these methods, the refined values of flow rate and cell speed are computed by utilizing modified Newton-Raphson method. These realistic pairs are further utilized, to calculate the energy delivered by the micro-swimmer. The numerical results are plotted and discussed at the end of the article. Our study explains that the optimum speed of the micro-organism can be achieved by means of exploiting the fluid rheology and with the suitable application of the magnetic field. The peristaltic nature of the channel walls and porous medium may also serve as alternative factors to control the speed of the propeller