Macro-micromanipulation platform for inner ear drug delivery

作者：Amokrane W; Belharet K^*; Souissi M; Grayeli A Bozorg; Ferreira A

来源：Robotics and Autonomous Systems, 2018, 107: 10-19.

DOI：10.1016/j.robot.2018.05.002

• Inner ear
• Drug delivery
• Serial manipulator
• Microrobots
• Permanent magnets

This paper describes the pulling and steering of magnetic therapeutic microparticles for drug delivery based on a macro-micromanipulator system. The macromanipulation system is composed of a 6 Degree Of Freedom (6 DOF) serial manipulator while a linear permanent-based actuator (1 DOF) is equipped at the end-effector as a micropart to precisely steer and pull magnetic microparticles. Using the classical mathematical tools of robotics, we developed the global kinematic model of the robot-device assembly, thus defining a reference trajectory to propel the microparticles. A novel actuator-based permanent magnet has been designed and realized as a robot micro end-effector to control the trajectory of a microparticle along a millimeter-sized workspace. Simulations and experiments were conducted to show the ability of the macro-micromanipulator system to steer particles on a viscous fluid simulating a biological media.

• 出版日期2018-9