University of Twente Student Theses


Advancing Control Methods for Biohybrid Microrobots : A Focus on Vertical Rolling Locomotion

Mijle Meijer, Joep K. van der (2024) Advancing Control Methods for Biohybrid Microrobots : A Focus on Vertical Rolling Locomotion.

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Abstract:The field of Biomedical Engineering has given high praise to the research topic of microrobots and biohybrid types in particular. Their promising application in targeted drug delivery for cancer treatments fuels the search for the optimal design. Currently, magnetic biohybrid microrobots receive a lot of attention. This paper will investigate magnetically actuated nanoparticle-coated sperm cell clusters or IRONSperm. The control of IRONSperm clusters has been researched in multiple studies, showing an excellent response to a rotating permanent magnet. Vertical locomotion has not yet been explored and would frame the potential of IRONSperm for clinical use. This paper thus researched the differences between ceiling- and side-rolling of vertical rolling locomotion for IRONSperm. A negligible effect was found of the inclination angle upon the speed of the cluster. Increasing actuation distance resulted in slightly lower velocities of the cluster until it was not able to follow. Ceiling rolling was found to perform quicker in a positively inclined situation while side rolling proved to be the most appropriate method for horizontal and descending trajectories. Using these two methods, the IRONSperm cluster was successfully able to navigate through all branches of a trifurcation phantom. This result was also validated with successful trajectories through an anatomically accurate phantom of the female reproductive tract. These experiments proved the potential of RPM-actuated control of IRONSperm clusters in closed vessels. Further research should focus on methods to overcome the short actuation distance problem and closed-loop control schemes.
Item Type:Essay (Bachelor)
Faculty:TNW: Science and Technology
Subject:30 exact sciences in general, 44 medicine, 50 technical science in general, 51 materials science
Programme:Biomedical Technology BSc (56226)
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