Magnetic Microrobot Delivery With Imaging Feedback for Deep Endoluminal Access

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Solution Overview

Problem

Existing microrobot delivery methods struggle to access hard-to-reach and hard-to-see regions within the human body, particularly small cavities and ducts, due to limitations in navigation and control.

Innovation Solution

An integrated robotic system combining magnetic actuation, multiple imaging devices, and delivery devices, such as ultrasound imaging, fluoroscopy, and endoscopy, to enable precise and rapid delivery of soft magnetic microrobots to targeted locations.

Engineering Contradictions & Design Principles

VSEngineering 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 travel distance

Engineering Contradiction:

Improvenavigation precisionVSAvoiddelivery time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The delivery process is segmented into two distinct phases: (1) rapid transport phase using endoscope to deliver microrobots to a region near the target, and (2) precision navigation phase using magnetic actuation to guide microrobots to the exact target location. This segmentation allows each method to operate in its optimal performance range.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The endoscope performs preliminary long-distance transport of microrobots to a region proximal to the target site before magnetic actuation takes over for fine-positioning. This preliminary action reduces the remaining distance that requires time-consuming magnetic navigation.

Inventive Principle:

Principle #10Preliminary action

2Speed

If conventional endoscope is used for long-distance and rapid deployment, then delivery speed is improved, but accessibility to deep interior regions in tortuous ducts is limited

Engineering Contradiction:

Improvedelivery speedVSAvoidaccessibility to deep interior regions

Core Design Contradiction:

SpeedVSAdaptability or versatility

Solution Approach 1:

Magnetic fields serve as an intermediary mechanism that enables microrobots to navigate tortuous ducts and deep interior regions that are inaccessible to conventional endoscopes. The magnetic actuation provides the adaptability needed to access these hard-to-reach areas while the endoscope provides the rapid initial delivery.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Adaptability or versatility

If microrobots are delivered to hard-to-reach regions, then accessibility is improved, but visibility and control become difficult

Engineering Contradiction:

Improveaccessibility to hard-to-reach regionsVSAvoidvisibility and control

Core Design Contradiction:

Adaptability or versatilityVSDifficulty of detecting and measuring

Solution Approach 1:

The system incorporates imaging devices that provide real-time feedback on microrobot location and status, enabling visualization and control even in deep and narrow spaces where direct observation would be difficult. This feedback loop allows operators to monitor and adjust microrobot delivery to hard-to-reach regions.

Inventive Principle:

Principle #23Feedback

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

Enables rapid and precise delivery of microrobots to deep and narrow spaces within the body, overcoming navigation challenges and extending the reach of conventional endoscopes and medical robots.

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

Methodology Applied

Scientific EffectMagnetic field actuation: Magnetic Field

Implementation Method 2

The magnetic actuation device comprises a permanent magnet or an electromagnetic coil system, and a controller, for controlling the magnetic device

Methodology Applied

Scientific EffectMagnetic force: Lorentz Force

Implementation Method 3

The plurality of imaging devices comprises two or more selected from an endoscopy, a ultrasound imaging

Methodology Applied

Scientific EffectUltrasound imaging: Ultrasound

Implementation Method 4

a fluoroscopy, a magnetic resonance imaging, a positron emission tomography, a X-ray computed tomography

Methodology Applied

Scientific EffectFluoroscopy: X-Ray

Data Source

PatentUS20250366945A1Integrated robotic system for rapid endoluminal delivery of miniature robots

Publication Date: 2025.12.04 MULTI SCALE MEDICAL ROBOTICS CENTER LIMITED

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.