研究磁力驱动微机器人穿越脑部血管分叉的导航机制
Analysis of the navigation of magnetic microrobots through cerebral bifurcations
- 通过数值模拟分析微机器人在脑血管分叉中的运动规律
- 给出不同场景下实现精准导航所需的磁梯度数据
- 为医疗磁控系统设计提供可量化指导，适合介入治疗研究者
缺血性中风的局部溶栓治疗可加速血栓溶解并恢复血流，同时减少全身给药的副作用。将医用微机器人注入血液后，可通过磁力导航精准送达血栓位置进行药物递送。磁控导航效果受微机器人尺寸、血流速度及施加磁梯度等多种因素影响。本文采用数值模拟研究磁控微机器人在典型脑部血管分叉处的运动行为，预测从注射点到靶点所需磁梯度。模型经多组独立解析与实验结果验证后，生成了不同工况下的磁梯度地图及预测方程，提供了定量导航参数。该成果对磁导航系统的设计、操作与优化具有关键指导意义。
原文摘要 · Abstract (English)
Local administration of thrombolytics in ischemic stroke could accelerate clot lysis and the ensuing reperfusion while minimizing the side effects of systemic administration. Medical microrobots could be injected into the bloodstream and magnetically navigated to the clot for administering the drugs directly to the target. The magnetic manipulation required to navigate medical microrobots will depend on various parameters such as the microrobots size, the blood velocity, and the imposed magnetic field gradients. Numerical simulation was used to study the motion of magnetically controlled microrobots flowing through representative cerebral bifurcations, for predicting the magnetic gradients required to navigate the microrobots from the injection point until the target location. Upon thorough validation of the model against several independent analytical and experimental results, the model was used to generate maps and a predictive equation providing quantitative information on the required magnetic gradients, for different scenarios. The developed maps and predictive equation are crucial to inform the design, operation and optimization of magnetic navigation systems for healthcare applications.
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