Integrated Magnetic Microrobot Delivery for Deep Endoluminal Access
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing microrobot delivery methods struggle to access hard-to-reach and hard-to-see regions within the human body, such as small cavities and tortuous ducts, due to limitations in navigation precision and efficiency, especially in complex and dynamic in vivo environments.
Innovation Solution
An integrated robotic system combining magnetic actuation, multiple imaging devices, and delivery devices like endoscopes or catheters, enabling long-range and precise magnetic actuation of soft magnetic microrobots, guided by dual imaging systems for real-time tracking and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If magnetic actuation is used for high-precision navigation of microrobots, then navigation precision is improved, but delivery time increases due to long-distance travel
Solution Approach 1:
The delivery process is divided into two distinct phases: a rapid transport phase using endoscope/catheter for long-distance delivery to regions near the target, and a precision positioning phase using magnetic actuation for final high-precision delivery to the deep and narrow target space. This segmentation allows each method to optimize its strengths while compensating for weaknesses.
Solution Approach 2:
The system merges endoscopic/catheter-based mechanical delivery with magnetic field actuation into an integrated hybrid delivery system. The endoscope/catheter provides rapid long-range transport capability, while the magnetic actuation unit provides high-precision local positioning, combining both methods to achieve efficient and accurate delivery.
2Speed
If endoscopy is used for long-distance and rapid deployment, then delivery speed is improved, but accessibility to deep interior regions within tortuous ducts is limited
Solution Approach 1:
Magnetic field actuation serves as an intermediary mechanism that enables microrobots to navigate complex tortuous ducts and deep interior regions after being delivered by the endoscope/catheter. The magnetic field provides remote control capability that overcomes the physical limitations of endoscope access, allowing deployment in regions that are difficult to reach mechanically.
Solution Approach 2:
The delivery system segments the task between the endoscope (for rapid long-distance transport through accessible pathways) and the magnetic actuation system (for navigating complex tortuous ducts and positioning in deep interior regions). This division allows each component to perform its optimal function within its capability range.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Facilitates rapid and high-precision delivery of microrobots to inaccessible and invisible regions, enhancing accessibility and therapeutic capabilities in minimally invasive procedures.
Implementation Method 1
Magnetic field actuated microrobots, in particular, offer an optimal option towards in vivo applications due to their deep penetration and safe feature compared with other types of actuation modes
Implementation Method 2
The magnetic actuation device comprises a permanent magnet or an electromagnetic coil system, and a controller, for controlling the magnetic device
Implementation Method 3
The plurality of imaging devices comprises two or more selected from an endoscopy, a ultrasound imaging, a fluoroscopy, a magnetic resonance imaging, a positron emission tomography, a X-ray computed tomography
Implementation Method 4
The plurality of imaging devices comprises two or more selected from an endoscopy, a ultrasound imaging
Implementation Method 5
When being compressed, the soft magnetic microrobot recovers to original shapes and structures after the compression is retracted
Implementation Method 6
After the magnetic device is delivered to at the targeted location, the magnetic device is fixed to the targeted location against a fluid flow of up to about 108 mm/s
Data Source
AI summary
An integrated robotic system and methods for delivery and on-demand tasks of magnetic devices in a body for different clinical applications are provided. The integrated robotic system includes a magnetic actuation device, a plurality of imaging devices, a delivery device, and at least one magnetic device. The magnetic actuation device includes a permanent magnet or an electromagnetic coil system, and a controller for controlling the magnetic device. The plurality of imaging devices include two or more imaging modalities for capturing images of the magnetic device and tracking locations of the magnetic device in the body. The magnetic device includes one or more selected from a millimeter-sized robot, a microrobot, a nanorobot, a microrobotic swarm, and particles or drugs that respond to a magnetic field and small enough to be delivered by the delivery device.