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

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.