Method and system for propelling and controlling displacement of a microrobot in a space having a wall

Abstract

A method and system for propelling and controlling displacement of a microrobot in a space having a wall, includes the steps of: forming the microrobot with a body containing a magnetic field-of-force responsive material, wherein, in response to a magnetic field of force, a force is applied to the material in a direction of the magnetic field of force; positioning the microrobot in the space for displacement in that space; and generating the magnetic field of force with a predetermined gradient and applying the magnetic field of force to the microrobot propelling the microrobot through the space in a direction of a field of force. Then, a sequence of field generating steps are executed, wherein each step includes calculating the direction, amplitude and spatial variation of the net field of force to control displacement of the microrobot in the space and against the wall from one equilibrium point to another.

Claims

1. A microrobot system, comprising: a microrobot for displacement through a space having a wall, the microrobot being formed with a body containing a magnetic field of force responsive material, wherein, in response to a magnetic field of force, a force is applied to the microrobot in a direction of the magnetic field of force; a magnetic field of force generator configured to generate the magnetic field of force such that the magnetic field of force has a predetermined direction, amplitude and spatial variation for application to the microrobot to propel the microrobot through the space in a direction of a net field of force; and a control unit connected to the magnetic field of force generator, said control unit being configured to calculate the direction, an amplitude, and a spatial variation of the net field of force acting on the microrobot, to control a displacement of the microrobot through the space and against the wall and to calculate an equilibrium point of the microrobot on the wall using data relating to an image of the space and the calculated direction, amplitude, and spatial variation of the net field of force, and to create a sequence of field generating steps executed one after the other, wherein at the equilibrium point, a sum of all forces parallel to a plane tangent to the equilibrium point is cancelled and a normal force applied at the equilibrium point on the microrobot is cancelled by a surface contact force, and each field generating step comprises providing the direction, the amplitude and the spatial variation of the net field of force for the displacement of the microrobot in the space and against the wall from a starting equilibrium point on the wall to another equilibrium point on the wall.

2. The microrobot system according to claim 1, wherein the magnetic field of force generator comprises a set of electromagnets.

3. The microrobot system according to claim 2, wherein the magnetic field of force generator comprises a magnetic resonance imaging system.

4. The microrobot system according to claim 1, wherein the magnetic field of force generator comprises a set of movable permanent magnets.

5. The microrobot system according to claim 1, wherein the microrobot is spheroidal.

6. The microrobot system according to claim 1, wherein the control unit is configured to execute the field generating steps at a frequency ranging from 0.2 Hz to 1000 Hz.

7. The microrobot system according to claim 1, wherein the control unit is configured to trigger the magnetic field of force generator to change the direction of the magnetic field in at least one field of force generating step.

8. The microrobot system according to claim 1, wherein the data relating to the image of the space are generated prior to an introduction of the microrobot into the space.

9. The microrobot system according to claim 1, wherein the data relating to the image of the space are generated for a local environment of the microrobot in real-time.

10. The microrobot system according to claim 1, wherein the control unit is configured to calculate the direction, the amplitude, and the spatial variation of the magnetic field of force prior to a predetermined number of all of the field generating steps of the sequence, or prior to all of the field generating steps.

11. The control unit for use in of the microrobot system according to claim 1, the control unit comprising a processor configured to carry out the steps of: obtaining the data relating to the image of the space having the wall from an imaging system; determining a first position of the microrobot in the space; calculating the direction, the amplitude, and the spatial variation of the net field of force applied on the microrobot corresponding to the direction, the amplitude, and the spatial variation of the magnetic field of force in the space; calculating the displacement of the microrobot through the space and against the wall, using the calculated direction, amplitude, and spatial variation of the net field of force and the data relating to the image of the space, from the first position to a second position of the microrobot on the wall under the net field of force; repeating the calculation for different magnetic fields of force in the space; selecting the magnetic field of force corresponding to an equilibrium position of the microrobot on the wall which can be used as the second position; and transferring the direction, the amplitude, and the spatial variation of the selected magnetic field of force in the space corresponding to the equilibrium point for the second position to the magnetic field of force generator configured to generate the magnetic field of force, and propelling the microrobot through the space in the direction of the net field of force from the first position to the second position.

12. The control unit according to claim 11, wherein the processor is configured to carry out the step of calculating a change of direction of the magnetic field necessary to rotate the microrobot.

13. A non-transitory computer readable medium storing thereon a program comprising instructions which, when the instructions are executed by the processor of the control unit claimed in claim 11, cause the processor to carry out the steps of: determining the first position of the microrobot in the space; calculating the direction, the amplitude, and the spatial variation of the net field of force applied on the microrobot corresponding to the direction, the amplitude, and the spatial variation of the magnetic field of force in the space; calculating the displacement of the microrobot through the space and against the wall, using the calculated direction, amplitude, and spatial variation of the net field of force and the data relating to the image of the space, from the first position to the second position of the microrobot on the wall under the net field of force; repeating the calculation for the different magnetic fields of force in the space; selecting the magnetic field of force corresponding to the equilibrium position of the microrobot on the wall which can be used as the second position; and transferring the direction, the amplitude, and the spatial variation of the selected magnetic field of force in the space corresponding to the equilibrium point for the second position to the magnetic field of force generator configured to generate the magnetic field of force, and propelling the microrobot through the space in the direction of the net field of force from the first position to the second position.

14. A method for propelling and controlling displacement of a microrobot in a space having a wall, comprising the steps of: forming the microrobot with a body containing a magnetic field of force responsive material, wherein a force is applied to the microrobot in response to a magnetic field of force in a direction of the magnetic field of force; positioning the microrobot in the space for displacement in that space; and generating the magnetic field of force with a predetermined spatial variation and applying the magnetic field of force to the microrobot to propel the microrobot through the space in a direction of a net field of force, wherein a sequence of field generating steps are provided, executed one after the other, wherein each field generating step comprises the step of providing the direction, an amplitude, and a spatial variation of the net field of force to control the displacement of the microrobot in the space and against the wall from a starting equilibrium point to another equilibrium point, and at each equilibrium point, a sum of all forces parallel to a plane tangent to the equilibrium point is cancelled and a normal force applied at the equilibrium point on the microrobot is cancelled by a surface contact force.

15. The method according to claim 14, wherein a subsequent field generating step is engaged when the other equilibrium point of a current field generating step is reached.

16. The method according to claim 14, wherein the step of providing the direction, the amplitude, and the spatial variation of the net field of force to control the displacement of the microrobot is performed for a predetermined number of all of the field generating steps of the sequence or for all of the field generating steps, prior to the execution of the predetermined number of all of the field generating steps or of all of the field generating steps, respectively.

17. The method according to claim 14, wherein the step of providing the direction, the amplitude, and the spatial variation of the net field of force to control the displacement of the microrobot for a specific field generating step comprises calculating said direction, said amplitude, and said spatial variation of the magnetic field of force at the beginning of said field generating step.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Preferred embodiments of the invention are described in the following with reference to the drawings, which are for the purpose of illustrating the present preferred embodiments of the invention and not for the purpose of limiting the same. In the drawings,

(2) FIG. 1 shows a schematic cross section view of a curved lumen portion with positions of a microrobot at different starting points moved using a method according to an embodiment of the invention;

(3) FIG. 2 shows a schematic cross section view of a straight lumen portion with positions of a microrobot at different starting points moved using the method as explained in connection with FIG. 1;

(4) FIG. 3 shows a schematic view of a partly flat wall boundary portion with positions of a microrobot at different starting points moved using the method as explained in connection with FIG. 1;

(5) FIG. 4 shows a schematic view of a partly open straight lumen portion with positions of a microrobot at different starting points moved using the method as explained in connection with FIG. 1;

(6) FIG. 5 shows a schematic view of a curved wall boundary portion with positions of a microrobot at different starting points moved using the method as explained in connection with FIG. 1;

(7) FIG. 6 shows a schematic view of a spiral lumen portion with ten positions of a microrobot at different equilibrium points moved using the method as explained in connection with FIG. 1;

(8) FIG. 7 shows the position against time curve of the movement of the microrobot in the spiral lumen of FIG. 6;

(9) FIG. 8 shows a Circle of Willis, i.e. a circulatory anastomose in the brain, as example for a lumen having bifurcations;

(10) FIG. 9 shows the movement of a microrobot in a straight lumen as represented in FIG. 2;

(11) FIG. 10 shows a block diagram of a method to move a microrobot in a lumen according to FIG. 1; and

(12) FIG. 11 show a block diagram similar to the method of FIG. 10 with operative imaging.

DESCRIPTION OF PREFERRED EMBODIMENTS

(13) The method according to the embodiment as shown in FIG. 1 is based on the assumption that the microrobot is moved in a three-dimensional tubular geometry, i.e. a lumen, such as the brain vascular system or the inner ear cochlea.

(14) FIG. 1 shows a schematic cross section view of a curved lumen portion 205 with positions of a microrobot 100 at different starting points 101 moved using a method according to an embodiment of the invention towards an equilibrium position 102.

(15) This method is different to other methods to control microrobots floating without contact with a solid structure, since such methods usually use fluid with a high viscosity to dampen their motion.

(16) To navigate a microrobot 100 within a space having a wall in the form of a blood vessel, e.g. a lumen with curved portions 205 and straight portions 206 as shown in FIG. 2 or partly open space with a wall 207 as in FIG. 3, as shown here, requires that the microrobot 100 is positioned in the space, i.e. introduced in the space in a position which can be an equilibrium position or an initial position from which the microrobot will move to a next equilibrium position, and controlled in a low viscosity liquid (3 cP to 4 cP).

(17) The microrobot 100 is formed with a body containing a magnetic field of force responsive material in the form of a magnetic material. The body of the microrobot 100 can also contain other material and/or substance like therapeutics.

(18) Without damping, the microrobot 100 is rapidly pulled by the magnetic force and can easily exhibit unstable motion. However, an advantage of operating a microrobot 100 in the brain vascular system or cochlea is the absence of open space (in the sense that any portion of open space is limited by a wall 207) and the presence of tortuous paths as shown in FIG. 8.

(19) The net force 300 is used to pull the microrobot 100 until it reaches a stable position 102 against the internal wall 201 of the lumen. By varying the direction 302, amplitude 301, and spatial variation of the force field, which can be a magnetic force field, the microrobot 100 moves between different stable positions 102 that can be predetermined within the network of the lumen. The direction of motion depends on the net field of force which is the sum of all the forces acting on the microrobot; these additional forces include e.g. the gravity field of force and additional forces acting on the microrobot. Therefore, the term field of force has to be understood as net field of force.

(20) Here, stable positions 102 of the microrobot 100 are shown as full circles and non-stable positions 101 are shown as empty circles.

(21) Predetermining stable positions within the method can be achieved in at least two ways. FIG. 10 shows a block diagram of a method to move a microrobot 100 in a space 200, especially a lumen with full prior knowledge of the environment where the microrobot 100 moves. A full prior determination is made, when the data relating to an image of the lumen is generated prior to the introduction of the microrobot 100, i.e. when the image of the lumen like in FIG. 8 is pregenerated by e.g. Mill or other imaging methods, so that the lumen portions 205, 206 and wall portions 201, 207 can be calculated in advance. This is shown as preoperative imaging 110. It is also possible to follow the microrobot 100 on the fly and generate the data image of the local environment where the microrobot 100 is moving in real-time, which is shown in FIG. 11.

(22) Such a real-time monitoring as e.g. closed-loop control with fluoroscopy as feedback and operative imaging 120 which implies continuous irradiation of the patient, however, is not required. Such continuous feedback is not necessary using the present method using magnetic gradient inhomogeneity. X-ray images is only favorable to be acquired at the ends of motion sequences to confirm that the robot reached the desired target position.

(23) To represent a lumen 205, the control unit 112 can be adapted and configured to use the centerline r(s) along the lumen axis with s parameterizing the displacement along the centerline. Motion is constrained along the radial direction by the lumen wall 201 or 207 and unconstrained along the axial direction

(24) $\frac{\partial r (s)}{\partial s} .$
To represent a complex structure such as the brain vascular system, each blood vessel segment 205, 206, 207 is represented by one centerline. The intersections at bifurcations 202 as shown in FIG. 8 between centerlines are stored in a connection graph that can be used for path planning. Centerlines can be extracted prior to microrobot navigation by processing preoperative imaging data obtained through preoperative imaging 110.

(25) Microrobot propulsion can use a gradient pulling in which magnetic field gradients are generated by a magnetic resonance imaging machine (MM) acting as a field of force generator 114. The gradient required to move a microrobot with a magnetic field gradient in the vascular system is quite high and magnetic gradients of 0.4 T/m were used to move microrobot against blood flow but especially steering them at arterial junctions.

(26) An alternative to MM is to steer microrobots using a magnetic navigation system (MNS) designed for catheter steering as shown in C. Chautems, B. Zeydan, S. Charreyron, G. Chatzipirpiridis, S. Pané, and B. J. Nelson, “Magnetically powered microrobots: A medical revolution underway?” European Journal of Cardio-thoracic Surgery, vol. 51, no. 3, pp. 405-407, 2017. The magnetic gradient generated by a magnetic navigation system can be higher than for Mill, and an x-ray imaging system can be integrated for position feedback.

(27) An integrated system of magnetic microrobots, a magnetic navigation system with multiple electromagnets, and an x-ray navigation system is an alternative to MRI with the potential to achieve microrobot control in the brain vascular system or the inner ear. It is possible to navigate a microrobot on the surface (=wall 205, 206, 207) of a three-dimensional volume, i.e. space 200, within an eight-electromagnet magnetic navigation system while exploiting magnetic gradient inhomogeneity to effect this microrobot actuation method.

(28) A microrobot can be inserted via the round window and navigated inside the cochlea spiral for targeted delivery of a therapeutic. FIG. 6 shows in a schematic way like an x-ray image from a fluoroscopy system could monitor the microrobot 100, where all full black dots are showing a specific image of the microrobot 100 at various subsequently reached equilibrium positions 102 inside the spiral of the image.

(29) In this context it can be referred again to FIG. 1 where a homogeneous magnetic force (since all arrows have equal length and identical direction), e.g. a field of force 116 generated by the field of force generator 114 controlled by the control unit 112 acting on data obtained by preoperative imaging 110, can pull the microrobot 100 toward a specific wall 201 portion, or a spatial variation of the magnetic force can create a stable equilibrium at one specific location as shown in FIG. 2 and FIG. 3, ending one movement step in a microrobot stable position 118.

(30) FIG. 2 shows a schematic cross section view of a straight lumen portion 206 with positions of a microrobot 100 at different starting points 101 moving towards an equilibrium position 102 using the method as explained in connection with FIG. 1. FIG. 3 shows a schematic view of a partly flat wall boundary portion 207 with positions of a microrobot 100 at different starting points 101 moved using the method as explained in connection with FIG. 1—Here the directions 302 are converging below the wall portion 207 and finally the microrobot will move along the wall surface 107 towards the equilibrium position 102.

(31) Similar wall surfaces are shown in FIG. 4 for a side open sleeve and FIG. 5 for a dish-like side of an open space. Same reference numerals indicated identical or similar features throughout the specification.

(32) The magnetic force imposes a constraint on microrobot size since the pulling force is dependent on both the magnetic volume and microrobot magnetization. Soft magnetic material can achieve higher magnetization but requires a non-zero magnetic field in order to be magnetized. In case of soft magnetic material, the microrobot will align with the magnetic field if he has a principal magnetization axis due to its shape, anisotropy in the material responsive to the magnetic field, or inhomogeneous distribution of the material responsive to the magnetic field. Some soft magnetic materials (e.g. FeCo/single-graphitic shell nanocrystals) have the advantage of being biocompatible. Iron-cobalt nanoparticles of diameter between 10 and 50 micrometer have been steered by an MM with additional gradient coils (0.4 T/m).

(33) The magnetic force on small nanoparticles is too low to actuate them against the flow, and magnetic force is only used to steer them at a junction or bifurcation 202. An advantage of the present invention is that small nanoparticles can also be actuated if there is no flow or only a low flow in the space.

(34) As opposed to Mill, a magnetic navigation system does not require a constant and uniform magnetic field direction. Therefore, in a magnetic navigation system, soft magnetic materials do not reach their saturation magnetization, which results in lower magnetic forces acting on the soft magnetic materials.

(35) To operate with low magnetic fields requiring smaller electromagnets, microrobots made of a hard magnetic material (NdFeB) were chosen. These microrobots can be coated for biocompatibility but should be retrieved at the end of the procedure. The x-ray imaging resolution of 200 micrometer results in a constraint in terms of microrobot size (Ziehm Vision, Ziehm Imaging Inc.) of approximately 200 micrometer. A benefit of larger microrobots is that they require smaller magnetic gradients to swim against blood flow.

(36) Magnetic force are used to control the net force to pull a microrobot 100 along a curved lumen 205. The forces acting on the microrobot 100, including gravitation force F.sub.grav, buoyancy force F.sub.buo, and drag force F.sub.drag(s), should be compensated by an opposing magnetic force. The buoyancy force and the gravitational force are constant along the path. The drag force acts opposite to the relative motion of the microrobot 100 and is oriented along the lumen axis in a constant diameter lumen. Turbulent flow and wall effects can make it challenging to estimate drag force. The net force F.sub.net(s) can be decomposed using the scalar product into
F.sub.ax(s)=F.sub.net(s).Math.{circumflex over (v)}
where {circumflex over (v)} is the unit vector in the axial direction 302 given by

(37) $\frac{\partial r (s)}{\partial s},$
and
F.sub.rad(s)=F.sub.net(s)−F.sub.ax(s)
where F.sub.ax(s) is the axial force collinear to the lumen centerline and F.sub.rad(s) is the radial force perpendicular to the centerline.

(38) The required magnetic force F.sub.mag(s.sub.0) to provide an axial force F.sub.ax(s.sub.0) at the microrobot location s.sub.0 is given by
F.sub.mag(s|.sub.0)=−F.sub.ax(s.sub.0)−F.sub.grav−F.sub.buo−F.sub.drag(s.sub.0).

(39) As the microrobot 100 moves along the lumen, the orientation relative to the lumen orientation varies. Therefore, the net force must also have a radial component. The radial force pulls the microrobot against the lumen wall and is balanced with a contact force normal to the wall. Contact with the wall 201 results in a friction force opposing the axial force. Determining when the axial force overcomes friction leads, since static friction is usually higher than kinetic friction, in a stepwise motion (stepwise movement 51 from position 50 to a further position 50 as shown in FIG. 7) and limits precise position control of the microrobot 100. Using a uniform magnetic gradient that creates a magnetic force greater than opposing forces allows navigation of the microrobot 100 along a curved path without knowing the exact magnitude of all the forces or the exact microrobot location.

(40) The limitation of this approach is that stable positions 102 only exist at curved locations along the lumen 205, i.e. the microrobot 101 cannot be controlled along a straight lumen segment 206. This limitation is part of the insight for the present navigation method of using magnetic force inhomogeneity.

(41) One limitation of using the magnetic gradient for microrobot navigation is its rapid decay with distance from the electromagnets. However, by exploiting magnetic gradient inhomogeneity, stable microrobot positions can be realized without relying on lumen curvature for providing stability. Equilibrium positions 102 can be achieved when the net force is equal to zero at the desired target location. Lumen geometry prevents motion in two directions. Therefore, an equilibrium position is stable if motion is prevented along the axial direction. A stable position is present at a location s.sub.i and if F.sub.net(s.sub.i)=0 and

(42) $\frac{\partial F_{a x} (s_{i})}{\partial s} < 0.$

(43) If the second condition is fulfilled, the microrobot 100 is pulled toward the stable equilibrium position 102. If the axial net force increases along the motion direction, the previously stable equilibrium becomes unstable. With the equilibrium condition, the required magnetic force at a target location is calculated as
F.sub.mag(s.sub.0)=−F.sub.grav−F.sub.buo−F.sub.drag(s.sub.0)

(44) The stability criteria is verified, calculating the net force along the path to obtain

(45) $\frac{\partial F_{net} (s)}{\partial s} = \frac{\partial F_{mag} (s)}{\partial s} + \frac{\partial F_{drag} (s)}{\partial s}$

(46) The derivative of the net force is then decomposed into its radial and axial components. Fiction force has a large effect on microrobot motion toward a stable equilibrium position 102. For small offsets from such a stable equilibrium position 102, net forces are too low to overcome the friction.

(47) A spherical microrobot was used to obtain the curves of FIG. 7 and FIG. 9. Such a spherical microrobot aligns with the magnetic field, which results in the dipole moment and the magnetic field having the same orientation.

(48) The magnetic force is dependent on the magnetic gradient and the dipole orientation. Therefore, the control of the magnetic field is crucial even if control of microrobot orientation is not required. For obtaining the results as shown in FIGS. 7 and 9 the magnetic gradient is controlled with a magnetic navigation system with eight electromagnets located around the workspace center. Navigating a spherical hard magnetic microrobot within a magnetic navigation system is an over-actuated system. The number of required controllable electromagnet currents is greater than the three components of the resulting magnetic force. To compute the eight electromagnet currents, a matrix containing the contribution of each electromagnet to the magnetic field and the aligned magnetic gradient is inverted. Then, controlling only the magnetic force requires the selection of an arbitrary magnetic dipole orientation and the corresponding magnetic field orientation.

(49) To obtain a stable equilibrium at a location along the path, the contribution matrix representing the contribution of electromagnet currents to the magnetic field is extended with a row representing the contribution of the electromagnet currents to the aligned magnetic gradient derivative along the lumen axis.

(50) However, linearization at one location for one dipole orientation and one lumen orientation is not sufficient when the direction of the force changes quickly. Therefore, the stability condition is evaluated for a range of axial lumen locations around a target position. To identify which electromagnet current vector to select to move the microrobot to a desired stable position, initially the current vectors are considered that result in zero force on the microrobot 100.

(51) For an arbitrary magnetic field orientation and magnetic field magnitude, custom character B,G is decomposed into B,G=UΣV.sup.T, with

(52) $[\begin{matrix} ℬ (P) \\ 𝒢 (P, M) \end{matrix}] [\begin{matrix} i_{1} \\ .Math. \\ i_{n} \end{matrix}] = 𝒜_{B, G,} (P, M) I$
with custom character (P) representing the contribution of the electromagnet currents i.sub.1 to i.sub.n to the magnetic field and (P,M) representing the aligned magnetic gradient contribution, using singular value decomposition. V contains the singular current vectors. The seventh and eighth singular current vectors describe the null space. Adding these two current vectors to the current vector computed with

(53) $I = {𝒜_{B, G,} (P, M)}^{†} [\begin{matrix} B_{des} \\ G_{des} \end{matrix}]$
where custom character is related to the pseudoinverse does not change the magnetic force at a particular location along the path. However, this does change the magnetic force around this location. Therefore, an unstable location can become stable. The overall current vector that provides improved stability at a target location can be determined by repeating this for a set of magnetic field orientations.

(54) To estimate the capability of the known 8 magnets magnetic navigation system to navigate a microrobot, an arbitrary magnetic field magnitude of 20 mT, an aligned magnetic gradient magnitude of 0.2 T/m, and ensured that the eight currents were within the linear region of the magnetization curves of all eight electromagnets. The selected magnetic field magnitude is more than sufficient to orient a microrobot 100, and the magnetic gradient results in a magnetic force 150% higher than the gravitational force on a pure NdFeB microrobot. The limit for the linear range is defined by a 10% decrease in the ratio between magnetic field measured and the magnetic field predicted for one electromagnet. The magnetic field orientation and dipole orientation is discretized into 37 azimuthal angles and 37 inclination angles. For each combination the maximum electromagnet current is computed. This results in a four-dimensional array with 37 elements in each dimension. From this multidimensional array, the minimal current required to generate a magnetic in any direction is extracted. Optimal dipole orientations can exhibit discontinuities in terms of magnetic field direction. An alternative is to use a constant dipole orientation with the advantage of keeping the magnetic field orientation constant.

(55) FIG. 6 shows a schematic view of a spiral lumen portion with ten positions of a microrobot 100 at different equilibrium points 102 moved using the method as explained in connection with FIG. 1. A spherical NdFeB magnet with a diameter of 1 mm is inserted into a transparent lumen with an internal diameter of 2 mm and a length of 180 mm. The lumen is shaped into a spiral 210 with a geometry similar to the cochlea spiral and positioned inside the magnetic navigation system in a vertical plane. The lumen is filled with low-viscosity air, making the navigation problem more challenging. The magnetic force must be sufficiently high to compensate gravity (i.e. for NdFeB a magnetic gradient of 0.08 T/m is required). The magnetic gradient is then used to move the microrobot from one spiral extremity to the next extremity by rotating the magnetic gradient and maintaining a fixed dipole orientation. The microrobot 100 moves from proximal to distal ends in ten seconds. The composite image represents the microrobot 100 at each second during the forward motion, and the graph shows the position along the lumen during forward and backward motion. Once the microrobot 100 has reached the distal end of the 180 mm lumen, the direction is inverted to retrieve the microrobot 100 at the proximal end.

(56) For different magnetic field magnitudes, gradient magnitudes, and gradient rotation speeds, the microrobot's ability to move from the proximal extremity of the spiral to the distal extremity and then back were evaluated. The tests were successful for magnetic field magnitudes of 5 mT, 10 mT and 20 mT. Achieving a positive result for a magnetic field magnitude of 2.5 mT was more challenging. This is expected as the larger magnetic gradient required for a field magnitude of 2.5 mT resulted in a faster change in the magnetic field direction. Precisely controlling a microrobot 100 with a low magnetic field magnitude requires position feedback and an extremely precise magnetic field model.

(57) There is a coupling between the gradient magnitude and the maximum gradient rotation frequency. With a gradient magnitude of 0.2 T/m, moving in the spiral was successful with a rotation period as low as 4 s. With a gradient magnitude of 0.15 T/m the task required a period of at least 8 s.

(58) The task of navigating the microrobot 100 in a two-and-a half turn spiral forward and backward is achieved in twenty seconds with a total travel distance of 360 mm. Similar results can be expected for this microrobot size inside a liquid with low viscosity, i.e. below 10 cP, because the main limiting factor is the slow dynamics of the human scale magnetic navigation system. These slow dynamics are a result of unavoidable magnetic induction in the electromagnets.

(59) Here, FIG. 6 shows a sequence of stable positions 102 which can be achieved by running the method of FIG. 10 where one time the preoperative imaging 110 is obtained and then the control unit 112 achieves a sequence of microrobot stable positions 118 through generating (114) a net field of force 116 to move the microrobot. It is also possible that the different stable positions 118 as shown in FIG. 6 are controlled through operative imaging 120 and provide input to the control unit 112 to adapt the movement to the next intended and calculated stable position 118.

(60) In order to show magnetic gradient control with junctions or bifurcations, a labyrinth with dimensions 60 mm by 60 mm was used in which the metal bead is replaced with a magnetic bead (NdFeB) with a diameter of 3 mm. Then bifurcations 202 are present like in the Circle of Willis, i.e. a circulatory anastomose in the brain as shown in FIG. 8. A large magnetic bead is selected to facilitate visualization. The same result can be obtained with a 1 mm diameter magnetic bead. The magnetic force direction and magnitude at the center of the workspace was controlled remotely by a user with visual feedback. Navigation between two faces of the labyrinth from a start position to a goal position was executed a number of times with a mean execution time of 109s and a standard deviation of 30s. It was possible to accomplish the navigation by varying the orientation of the magnetic force. Some challenging junctions required that the magnetic gradient magnitude is varied to obtain different dynamic trajectories of the bead and create additional stable positions using magnetic gradient inhomogeneity. The execution speed is primarily limited by the user who decides the direction of the next motion and then inputs the command to the system. Improvements in term of user interface, user training, and task automation can significantly reduce the above-mentioned execution time. Despite the complex path with a large number of junctions and linear segments, the navigation of the magnet did not present major challenges. This demonstrates the potential to navigate inside complex geometries such as of the Circle of Willis as shown in FIG. 8.

(61) Finally, FIG. 9 shows the movement of a microrobot in a straight lumen 206 as in FIG. 2. The magnetic gradient control in a straight lumen uses magnetic gradient inhomogeneity, wherein a 1 mm microrobot 100 is inserted into a vertical lumen with an internal diameter of 2 mm and with magnetic force decreasing in the vertical direction. By changing the profile of the magnetic force, the microrobot moves to different locations along the lumen. All tests were performed open-loop, and evaluation of the results was limited to the relative motion of the microrobot. To evaluate absolute position accuracy requires implementation of closed-loop control to correct errors in the microrobot parameters, magnetic navigation system calibration, and position registration of the different system (e.g. camera, x-ray, lumen geometry, magnetic navigation system). Therefore, relative motion is the preferred metric to evaluate navigation capabilities as the relative motion is less dependent on offset errors or control parameters and is the manner in which the system will be used clinically.

(62) FIG. 9 shows a microrobot being moved inside a straight vertical lumen by translating the stable equilibrium location along the lumen. The microrobot vertical position is represented when moving the stable equilibrium location vertically with a speed of 1 mm/s and 10 mm/s. In both cases the microrobot robot moves at the desired speed.

(63) In a first experiment, the stable equilibrium point is moved in the vertical direction with a speed of 1 mm/s. The microrobot follows a vertical path with an average step size of less than 1 mm. These steps were empirically selected based on friction between the microrobot and the lumen and did not require significant tuning.

(64) In a second experiment, the static equilibrium point is moved in the vertical direction with a speed of 10 mm/s forward and backward. This experiment is repeated with a net force pulling the microrobot to the left, to the front, and to the right of the lumen. The net force pulling the microrobot toward the corresponding lumen wall is shown for each experiment. The microrobot stops for 1s when the motion direction is reversed. The damping of the motion is due to friction and the limited dynamics of the magnetic navigation system which does not reach a steady state before the motion direction is reversed.

(65) FIG. 12 shows a schematic cross section view of a straight lumen portion at three successive times t1, t2 and t3 corresponding to three successive field generating steps, wherein each time the microrobot 100 is stabilized at a different equilibrium position against the wall 201, illustrated by reference 102 at t1, 102′ at t2 and 102″ at t3, on the wall 201 of the lumen under the action of the net field of force F1 at t1, F2 at t2 and F3 at t3. In the present embodiment, the microrobot 100 has a circular cross section at least in the plane of the cross section and can be of an essentially spherical or cylindrical form. The microrobot 100 includes a magnetic material forming a magnet with a north magnetic pole N and south magnetic pole S, each illustrated schematically as shaded halves of the cross section.

(66) At t1, the magnetic field B1 is directed in the direction represented by the dotted arrow B1, presently essentially parallel to the straight lumen portion for the sake of simplicity only, and the magnet has its north and south poles aligned with the magnetic field B1. The net field of force F1 represented by the arrows in the lumen is the sum of all the forces acting on the microrobot, including the magnetic field of force related to the magnetic field B1, the gravity field of force, the buoyancy force and additional forces acting on the microrobot.

(67) In the field generating step implemented after t1, the direction of the magnetic field B1 is changed, presently after a counterclockwise rotation, to the direction B2 and the microrobot 100 rotates counterclockwise under the action of the torque acting on the microrobot to align its north and south poles with the direction of the magnetic field B2. Under the action of the net field of force F2 represented by the arrows in the lumen, the microrobot 100 moves to and is kept at the new equilibrium position 102′ against the wall 201. In the present case, the displacement of the microrobot 100 corresponds to the combination of the rotation due to the change of direction of the magnetic field B1 and a translation along the wall 201 under the action of the net field of force F2.

(68) In the field generating step implemented after t2, the direction of the magnetic field B2 is changed, presently after a further counterclockwise rotation, to the direction B3 and the microrobot 100 rotates counterclockwise under the action of the torque acting on the microrobot to align its north and south poles with the direction of the magnetic field B3. Under the action of the net field of force F3 represented by the arrows in the lumen, the microrobot 100 moves to and is kept at the new equilibrium position 102″ against the wall 201.

LIST OF REFERENCE SIGNS

(69) TABLE-US-00001 50 stop at equilibrium point 51 movement between equilibrium points 52 innermost point of travel 53 displacement 70 position (from starting point) 80 time (after start) 100 microrobot 101 microrobot at non equilibrium point 102 microrobot at equilibrium point 110 preoperative imaging 112 control unit 114 field of force generator 116 field of force 118 micro robot stable position 120 operative imaging 200 space 201 wall 202 bifurcation 205 curved lumen portion 206 straight lumen portion 207 flat wall 208 side open straight lumen portion 209 dish like space portion 210 hollow spiral 220 Circle of Willis 300 field of force 301 force value 302 direction of the net force

Method and system for propelling and controlling displacement of a microrobot in a space having a wall

Assignee

Inventors

Cpc classification

Classification Explorer

A61B2017/00004

HUMAN NECESSITIES

Classification Explorer

A61B2017/00876

HUMAN NECESSITIES

Classification Explorer

G06T7/0002

PHYSICS

Classification Explorer

A61B34/72

HUMAN NECESSITIES

Classification Explorer

A61B2034/107

HUMAN NECESSITIES

Classification Explorer

A61B34/73

HUMAN NECESSITIES

Classification Explorer

A61B2017/00345

HUMAN NECESSITIES

Classification Explorer

A61B2090/376

HUMAN NECESSITIES

Classification Explorer

G06T2207/10088

PHYSICS

Classification Explorer

G05D1/0212

PHYSICS

Classification Explorer

A61B2018/00446

HUMAN NECESSITIES

Classification Explorer

A61B2034/105

HUMAN NECESSITIES

Classification Explorer

A61B2018/00404

HUMAN NECESSITIES

Classification Explorer

A61B2090/374

HUMAN NECESSITIES

International classification

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G06T7/00

PHYSICS

Classification Explorer

G05D1/02

PHYSICS

Abstract

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Description