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用于靶向给药的磁驱动微型机器人的性能评估

Performance Evaluation of a Magnetically Driven Microrobot for Targeted Drug Delivery.

作者信息

Cai Zhuocong, Fu Qiang, Zhang Songyuan, Fan Chunliu, Zhang Xi, Guo Jian, Guo Shuxiang

机构信息

Intelligent Robot Laboratory, Tianjin University of Technology, Tianjin 300380, China.

Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Tianjin International Joint Research and Development Center, Tianjin University of Technology, Tianjin 300380, China.

出版信息

Micromachines (Basel). 2021 Oct 3;12(10):1210. doi: 10.3390/mi12101210.

DOI:10.3390/mi12101210
PMID:34683261
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8541632/
Abstract

Given that the current microrobot cannot achieve fixed-point and quantitative drug application in the gastrointestinal (GI) tract, a targeted drug delivery microrobot is proposed, and its principle and characteristics are studied. Through the control of an external magnetic field, it can actively move to the affected area to realize the targeted drug delivery function. The microrobot has a cam structure connected with a radially magnetized permanent magnet, which can realize two movement modes: movement and targeted drug delivery. Firstly, the magnetic actuated capsule microrobotic system (MACMS) is analyzed. Secondly, the dynamic model and quantitative drug delivery model of the targeted drug delivery microrobot driven by the spiral jet structure are established, and the motion characteristics of the targeted drug delivery microrobot are simulated and analyzed by the method of Computational Fluid Dynamics (CFD). Finally, the whole process of the targeted drug delivery task of the microrobot is simulated. The results show that the targeted drug delivery microrobot can realize basic movements such as forward, backward, fixed-point parking and drug delivery through external magnetic field control, which lays the foundation for gastrointestinal diagnosis and treatment.

摘要

鉴于当前的微型机器人无法在胃肠道中实现定点定量给药，提出了一种靶向给药微型机器人，并对其原理和特性进行了研究。通过外部磁场控制，它可以主动移动到患处，实现靶向给药功能。该微型机器人具有与径向磁化永磁体相连的凸轮结构，可实现两种运动模式：移动和靶向给药。首先，对磁驱动胶囊微型机器人系统（MACMS）进行了分析。其次，建立了由螺旋喷射结构驱动的靶向给药微型机器人的动力学模型和定量给药模型，并采用计算流体动力学（CFD）方法对靶向给药微型机器人的运动特性进行了模拟分析。最后，对微型机器人靶向给药任务的全过程进行了模拟。结果表明，靶向给药微型机器人通过外部磁场控制可实现前进、后退、定点停车和给药等基本运动，为胃肠道诊断和治疗奠定了基础。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/90856218e045/micromachines-12-01210-g015a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/98a552f8b119/micromachines-12-01210-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/ba502b7d9f14/micromachines-12-01210-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/fdf15e5a80ce/micromachines-12-01210-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/3ca7b83dbed6/micromachines-12-01210-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/397f7226973a/micromachines-12-01210-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/579beae3572e/micromachines-12-01210-g006a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/f2f2755c1aa1/micromachines-12-01210-g007a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/801dd1c30b16/micromachines-12-01210-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/d4dc7d4609f4/micromachines-12-01210-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/ce0cbc329cb0/micromachines-12-01210-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/4b03001f07fa/micromachines-12-01210-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/dc2543e5e87e/micromachines-12-01210-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/6a9a3ffff967/micromachines-12-01210-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/a4ea31ee8d24/micromachines-12-01210-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/90856218e045/micromachines-12-01210-g015a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/98a552f8b119/micromachines-12-01210-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/ba502b7d9f14/micromachines-12-01210-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/fdf15e5a80ce/micromachines-12-01210-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/3ca7b83dbed6/micromachines-12-01210-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/397f7226973a/micromachines-12-01210-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/579beae3572e/micromachines-12-01210-g006a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/f2f2755c1aa1/micromachines-12-01210-g007a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/801dd1c30b16/micromachines-12-01210-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/d4dc7d4609f4/micromachines-12-01210-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/ce0cbc329cb0/micromachines-12-01210-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/4b03001f07fa/micromachines-12-01210-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/dc2543e5e87e/micromachines-12-01210-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/6a9a3ffff967/micromachines-12-01210-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/a4ea31ee8d24/micromachines-12-01210-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/23bf/8541632/90856218e045/micromachines-12-01210-g015a.jpg

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