Magnetic Microbot Design Framework for Antiangiogenic Tumor Therapy

Lyès Mellal (1) , David Folio (1) , Karim Belharet (1) , Antoine Ferreira (1)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

This paper presents an optimal design strategy for magnetic targeting of therapeutic drugs. In this study, to maximize the effect of the treatment and minimize adverse effects on the patient, a mathematical model have been developed to find the number and the size of the boluses with respect to the growth of a tumor. Using these models, control strategies are developed to establish a schedule that allows the physician to administer the medication while respecting borne by the patient doses. To transport the drugs, we use therapeutic magnetic boluses composed of magnetic particles aggregates as navigable agents controlled by magnetic gradients. Based on the optimal design of the bolus, an experimental investigation is carried out in millimeter-sized fluidic artery vessels to demonstrate the steerability of the magnetic bolus under different velocity, shear-stress and trajectory constraints with a laminar viscous fluidic environment.

Mots clés: Tumor Model; Optimal Control; Microrobot; Magnetic Microrobot Navigating; Coils; Micromagnetics

Domaines: Automatique / Robotique

Lyès Mellal, David Folio, Karim Belharet, Antoine Ferreira. Magnetic Microbot Design Framework for Antiangiogenic Tumor Therapy. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2015), Sep 2015, Hamburg, Germany. pp.6. ⟨hal-01212140⟩