Controlled Locomotion of IRONSperm Clusters: Evaluating Maneuverability with X-Ray-Guided Magnetic Fields

Joep K. van der Mijle Meijer, Iris Mulder , Leendert-Jan Wouter Ligtenberg, H. Remco Liefers, Veronika Magdanz, Islam S.M. Khalil

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

This study focuses on controlling and navigating IRONSperm (i.e., nanoparticle-coated sperm cells) clusters, highlighting their exceptional three-dimensional control capabilities using X-ray-guided magnetic fields. Through thorough exploration of inclination angles within the horizontal plane and actuation distances utilizing a permanent magnet actuator, the study uncovers IRONSperm’s resilience to slope angles and its nuanced relationship with actuation distances. A detailed comparison of side and ceiling rolling illustrates the superiority of ceiling rolling on upwardly inclined surfaces, while side rolling excels in maneuverability on descending or horizontal branches. Experimental validation in a trifurcation phantom confirms these findings, emphasizing superior locomotion speed with ceiling rolling. Furthermore, it underscores successful
navigation control in different directions, showcasing the potential for open-loop control within enclosed lumens and cavities. Additionally, the study accentuates the groundbreaking ability to localize and control IRONSperm clusters using X-rayguided magnetic fields, marking a pivotal advancement for microrobotics for biomedical applications.
Original languageEnglish
Title of host publication2024 10th IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE
Pages883-888
Number of pages6
ISBN (Electronic)9798350386523
ISBN (Print)979-8-3503-8652-3
DOIs
Publication statusPublished - 23 Oct 2024

Keywords

  • 2024 OA procedure

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