Ultrasound Doppler Imaging and Navigation of Collective Magnetic Cell Microrobots in Blood
Refereed conference paper presented and published in conference proceedings
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摘要We propose ultrasound Doppler imaging and magnetic navigation of collective cell microrobots in whole blood. Cell microrobots are cultured using stem cells and iron microparticles, they have spheroidal structures and can be actuated under external magnetic fields. A collective of cell microrobots can be reversibly gathered and spread due to the tunable magnetic interaction, and are able to exhibit collective motion in whole blood under rotating magnetic fields. Simulation results indicate that the induced blood flow around the collective pattern affects the motion of red blood cells (RBCs), and experimental results show that Doppler signals are observed when emitting ultrasound waves to the microrobots. The induced Doppler signals are affected by the input field frequency and the ultrasound parameters (pulse repetition frequency). Due to the induced three-dimensional blood flow, Doppler signals can be observed when the imaging plane is above the collective microrobots, which enables indirect localization when performing navigation on an uneven surface. Our study investigates a strategy for pattern formation and navigation of collective microrobots under ultrasound Doppler imaging, demonstrating that the integration of collective control approach and medical imaging holds great potential for real-time active delivery tasks.
著者Wang QQ, Tian Y, Du XZ, Chan KF, Zhang L
會議名稱2021 IEEE International Conference on Robotics and Automation (ICRA)
會議開始日30.05.2021
會議完結日05.06.2021
會議地點Xi'an, China
會議國家/地區中國
期刊名稱IEEE International Conference on Robotics and Automation
會議論文集題名2021 IEEE International Conference on Robotics and Automation (ICRA)
出版作品名稱2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
出版年份2021
月份10
出版社IEEE
頁次693 - 699
國際標準書號1050-4729
電子國際標準書號978-1-7281-9077-8
國際標準期刊號1050-4729
語言英式英語
關鍵詞Microrobotics, collective behavior, ultrasound imaging, stem cell microrobot, bio-fluids
Web of Science 學科類別Automation & Control Systems;Robotics;Automation & Control Systems;Robotics
