A Contactless and Biocompatible Approach for 3D Active Microrobotic Targeted Drug Delivery

Micromachines

Dennis Niehoff¹  Sumit Mohanty¹  Sarthak Misra¹  Federico Ongaro¹ 

[1] Surgical Robotics Laboratory, Departmen of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands;

关键词: microrobotics;    surgical robotics;    minimally-invasive surgery;    ultrasound tracking;    magnetic actuation;    targeted drug delivery;   

DOI  :  10.3390/mi10080504

来源: DOAJ

【 摘 要 】

As robotic tools are becoming a fundamental part of present day surgical interventions, microrobotic surgery is steadily approaching clinically-relevant scenarios. In particular, minimally invasive microrobotic targeted drug deliveries are reaching the grasp of the current state-of-the-art technology. However, clinically-relevant issues, such as lack of biocompatibility and dexterity, complicate the clinical application of the results obtained in controlled environments. Consequently, in this work we present a proof-of-concept fully contactless and biocompatible approach for active targeted delivery of a drug-model. In order to achieve full biocompatiblity and contacless actuation, magnetic fields are used for motion control, ultrasound is used for imaging, and induction heating is used for active drug-model release. The presented system is validated in a three-dimensional phantom of human vessels, performing ten trials that mimic targeted drug delivery using a drug-coated microrobot. The system is capable of closed-loop motion control with average velocity and positioning error of 0.3 mm/s and 0.4 mm, respectively. Overall, our findings suggest that the presented approach could augment the current capabilities of microrobotic tools, helping the development of clinically-relevant approaches for active in-vivo targeted drug delivery.

【 授权许可】

Unknown