This MSc project focuses on developing advanced motion control strategies for IRONSperm clusters to navigate the complex and dynamic environment of the reproductive tract. IRONSperm are biohybrid microrobots driven by external magnetic fields, designed to mimic natural sperm motion for potential applications in targeted drug delivery or fertility treatments. The goal of this research is to achieve precise, real-time control of IRONSperm clusters to improve maneuverability, stability, and targeting within the reproductive tract.
The project will involve the following key tasks:
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Magnetic Field Control Design: Design and optimize magnetic field configurations using a robotic manipulator to control the motion of IRONSperm clusters with high precision in 3D space.
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Path Planning and Obstacle Navigation: Develop path-planning algorithms to navigate complex anatomical structures, taking into account the curvilinear and variable-width pathways typical of the reproductive tract.
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Real-Time Imaging and Feedback Control: Integrate imaging systems, such as X-ray fluoroscopy or ultrasound, to provide real-time feedback on IRONSperm position. Implement closed-loop control algorithms to adjust motion in response to feedback, enhancing accuracy and stability.
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Simulation and Experimental Validation: Utilize simulation tools to model the reproductive tract and test motion control algorithms. Conduct in vitro experiments using phantoms to validate the control strategies and assess performance.
This project aims to lay the groundwork for reliable navigation of microrobot clusters in biological environments, contributing to the development of minimally invasive medical interventions in reproductive health.