Control and Localization of Magnetic Nanorobot Swarms in Human-Sized Vascular Phantom
Shengyuan Wang, Zaiyang Chen, Zijin Zeng, Yunhan Hu, Hongyan Sun, Chan Li, Chutian Wang, Lin Feng
Abstract
Magnetically controlled micro-nano robots hold revolutionary significance in the clinical targeted treatment of brain tumors. Imaging and tracking miniature robots can provide feedback for precise magnetic field control. The cooperation among micro-nano robots, magnetic field control system, and imaging system is a significant challenge for transitioning micro-nano robots from laboratory research to clinical applications. This study explores the control and spatial localization of magnetic nanorobot swarms in a highly realistic, human-sized vascular phantom which is manufactured using the raw CT scan images. The cerebral arterial vessels are the key focus area with four main inlets and twenty-six branch outlets. The simulation results show that, under the influence of a magnetic field, the nanorobots can accumulate at the target tumor site. The Kernelized Correlation Filter (KCF) algorithm was employed to achieve single-plane tracking of nanorobots. Furthermore, based on a biplanar imaging system, three-dimensional spatial trajectory tracking of nanorobots was realized. This study provides a reference for in vivo spatial localization and imaging of magnetic nanorobot swarms (MNRS) transported through vascular system.
BibTeX
@inproceedings{iros2025_controlandlocali,
title = {Control and Localization of Magnetic Nanorobot Swarms in Human-Sized Vascular Phantom},
author = {Shengyuan Wang and Zaiyang Chen and Zijin Zeng and Yunhan Hu and Hongyan Sun and Chan Li and Chutian Wang and Lin Feng},
booktitle = {IROS 2025},
year = {2025}
}