Planar Steering of a Single Ferrofluid Drop by Optimal Minimum Power Dynamic Feedback Control of Four Electromagnets at a Distance

A Cost-Effective Integrated Methodology for Electromagnetic Actuation via Visual Feedback

Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object's position and coil's current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuated vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remained within ±0.5 mm, with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

Learning to Control a Three-Dimensional Ferrofluidic Robot

In recent years, ferrofluids have found increased popularity as a material for medical applications, such as ocular surgery, gastrointestinal surgery, and cancer treatment, among others. Ferrofluidic robots are multifunctional and scalable, exhibit fluid properties, and can be controlled remotely; thus, they are particularly advantageous for such medical tasks. Previously, ferrofluidic robot control has been achieved via the manipulation of handheld permanent magnets or in current-controlled electromagnetic fields resulting in two-dimensional position and shape control and three-dimensional (3D) coupled position-shape or position-only control. Control of ferrofluidic liquid droplet robots poses a unique challenge where model-based control has been shown to be computationally limiting. Thus, in this study, a model-free control method is chosen, and it is shown that the task of learning optimal control parameters for ferrofluidic robot control can be performed using machine learning. Particularly, we explore the use of Bayesian optimization to find optimal controller parameters for 3D pose control of a ferrofluid droplet: its centroid position, stretch direction, and stretch radius. We demonstrate that the position, stretch direction, and stretch radius of a ferrofluid droplet can be independently controlled in 3D with high accuracy and precision, using a simple control approach. Finally, we use ferrofluidic robots to perform pick-and-place, a lab-on-a-chip pH test, and electrical switching, in 3D settings. The purpose of this research is to expand the potential of ferrofluidic robots by introducing full pose control in 3D and to showcase the potential of this technology in the areas of microassembly, lab-on-a-chip, and electronics. The approach presented in this research can be used as a stepping-off point to incorporate ferrofluidic robots toward future research in these areas.

Improved magnetic drug targeting with maximized magnetic forces and limited particle spreading

BACKGROUND

In magnetic drug targeting (MDT), micro- or nanoparticles are injected into the human body to locally deliver therapeutics. These magnetic particles can be guided from a distance by external magnetic fields and gradients from electromagnets.

PURPOSE

During the particles' movement through the vascular network, they are affected by magnetic forces, fluid (drag) forces, particle interactions, diffusion, etc. Adequate targeting is hindered when drag forces overcome the magnetic forces and particles present in vessels are carried away from the targeted region. Moreover, the magnetic force directions and diffusion mechanisms can cause particles to scatter, while they should remain together for an effective targeting performance. In this work, these adverse effects are tackled using optimization methods.

METHODS

We formulate an optimization problem with respect to the currents in surrounding electromagnets that aims to maximize the magnetic force on a particle along a predefined direction. A boundary on the magnetic force divergence is introduced as a constraint to limit particle spreading. We also consider particles to be moved from an initial to a target location in a finite-time interval. To this end dynamic optimization is applied.

RESULTS

Simulations for particles in a bifurcated vessel show an increase of particle speed by 20% and a successful movement towards the targeted regions without spreading. For the dynamic optimization, simulation results demonstrate that particle collections are accurately guided with 10 times less scattering and 10 times more particles at the target than without the divergence constraint.

CONCLUSIONS

The proposed methods significantly improve the steering and capturing of particles in a region of interest. They are applicable to any magnetic drug targeting configuration with electromagnets.

Enhanced Accuracy in Magnetic Actuation: Closed-loop Control of a Magnetic Agent with Low-Error Numerical Magnetic Model Estimation

Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools and may enable the next generation of ultra minimally invasive surgical robotic systems. Precise torque and force exertion are required for safe surgical operations and accurate state control. Dipole field estimation models perform well far from electromagnets but yield large errors near coils. Thus, manipulations near coils suffer from severe (10×) field modeling errors. We experimentally quantify closed-loop magnetic agent control performance by using both a highly erroneous dipole model and a more accurate numerical magnetic model to estimate magnetic forces and torques for any given robot pose in 2D. We compare experimental measurements with estimation errors for the dipole model and our finite element analysis (FEA) based model of fields near coils. With five different paths designed for this study, we demonstrate that FEA-based magnetic field modeling reduces positioning root-mean-square (RMS) errors by 48% to 79% as compared with dipole models. Models demonstrate close agreement for magnetic field direction estimation, showing similar accuracy for orientation control. Such improved magnetic modelling is crucial for systems requiring robust estimates of magnetic forces for positioning agents, particularly in force-sensitive environments like surgical manipulation.

Optimal transport and control of active drops

Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here, we use optimal control theory to pose the problem of transporting a slender drop of an active fluid and determine the dynamical profile of the active stresses to move it with minimal viscous dissipation. By parametrizing the position and size of the drop using a low-order description based on lubrication theory, we uncover a natural "gather-move-spread" strategy that leads to an optimal bound on the maximum achievable displacement of the drop relative to its size. In the continuum setting, the competition between passive surface tension and active controls generates richer behavior with futile oscillations and complex drop morphologies that trade internal dissipation against the transport cost to select optimal strategies. Our work combines active hydrodynamics and optimal control in a tractable and interpretable framework and begins to pave the way for the spatiotemporal manipulation of active matter.

Droplet Manipulation under a Magnetic Field: A Review

The magnetic manipulation of droplets is one of the emerging magnetofluidic technologies that integrate multiple disciplines, such as electromagnetics, fluid mechanics and so on. The directly driven droplets are mainly composed of ferrofluid or liquid metal. This kind of magnetically induced droplet manipulation provides a remote, wireless and programmable approach beneficial for research and engineering applications, such as drug synthesis, biochemistry, sample preparation in life sciences, biomedicine, tissue engineering, etc. Based on the significant growth in the study of magneto droplet handling achieved over the past decades, further and more profound explorations in this field gained impetus, raising concentrations on the construction of a comprehensive working mechanism and the commercialization of this technology. Current challenges faced are not limited to the design and fabrication of the magnetic field, the material, the acquisition of precise and stable droplet performance, other constraints in processing speed and so on. The rotational devices or systems could give rise to additional issues on bulky appearance, high cost, low reliability, etc. Various magnetically introduced droplet behaviors, such as deformation, displacement, rotation, levitation, splitting and fusion, are mainly introduced in this work, involving the basic theory, functions and working principles.

Magnetic Guiding with Permanent Magnets: Concept, Realization and Applications to Nanoparticles and Cells

The idea of remote magnetic guiding is developed from the underlying physics of a concept that allows for bijective force generation over the inner volume of magnet systems. This concept can equally be implemented by electro- or permanent magnets. Here, permanent magnets are in the focus because they offer many advantages. The equations of magnetic fields and forces as well as velocities are derived in detail and physical limits are discussed. The special hydrodynamics of nanoparticle dispersions under these circumstances is reviewed and related to technical constraints. The possibility of 3D guiding and magnetic imaging techniques are discussed. Finally, the first results in guiding macroscopic objects, superparamagnetic nanoparticles, and cells with incorporated nanoparticles are presented. The constructed magnet systems allow for orientation, movement, and acceleration of magnetic objects and, in principle, can be scaled up to human size.

Model-based optimized steering and focusing of local magnetic particle concentrations for targeted drug delivery

Magnetic drug targeting (MDT) is an application in the field of targeted drug delivery in which magnetic (nano)particles act as drug carriers. The particles can be steered toward specific regions in the human body by adapting the currents of external (electro)magnets. Accurate models of particle movement and control algorithms for the electromagnet currents are two of the many requirements to ensure effective drug targeting. In this work, a control approach for the currents is presented, based on an underlying physical model that describes the dynamics of particles in a liquid in terms of their concentration in each point in space. Using this model, the control algorithm determines the currents generating the magnetic fields that maximize the particle concentration in spots of interest over a period of time. Such an approach is computationally only feasible thanks to our innovative combination of model order reduction with the method of direct multiple shooting. Simulation results of an in-vitro targeting setup demonstrated that a particle collection can be successfully guided toward the targeted spot with limited dispersion through a surrounding liquid. As now present and future particle behavior can be taken into account, and non-stationary surrounding liquids can be dealt with, a more precise and flexible targeting is achieved compared to existing MDT methods. This proves that the presented methodology can bring MDT closer to its clinical application. Moreover, the developed model is compatible with state-of-the-art imaging methods, paving the way for theranostic platforms that combine both therapy as well as diagnostics.

Contactless Nanoparticle-Based Guiding of Cells by Controllable Magnetic Fields

Controlled and contactless movements of magnetic nanoparticles are crucial for fundamental biotechnological and clinical research (eg, cell manipulation and sorting, hyperthermia, and magnetic drug targeting). However, the key technological question, how to generate suitable magnetic fields on various length scales (µm-m), is still unsolved. Here, we present a system of permanent magnets which allows for steering of iron oxide nanoparticles (SPIONs) on arbitrary trajectories observable by microscopy. The movement of the particles is simply controlled by an almost force-free rotation of cylindrical arrangements of permanent magnets. The same instrument can be used to move suspended cells loaded with SPIONs along with predetermined directions. Surprisingly, it also allows for controlled movements of intracellular compartments inside of individual cells. The exclusive use of permanent magnets simplifies scaled up versions for animals or even humans, which would open the door for remotely controlled in vivo guidance of nanoparticles or micro-robots.

A Shapeshifting Ferrofluidic Robot

To create a miniature shapeshifting robot capable of controlled movement, subdivision, regeneration, passage through small channels, engulfment of particles, object manipulation, and flow manipulation, a droplet of magnetically responsive ferrofluid is used. The ferrofluidic robot can achieve the aforementioned functions when both its position and shape are controlled using a custom electromagnetic field generation system. It is demonstrated that the proposed robot can perform these functions with submillimeter and subdegree error. A robot having these capabilities can remotely perform medical and microassembly tasks requiring fine dexterity that are currently difficult or impossible.

Pushing of Magnetic Microdroplet Using Electromagnetic Actuation System

Treatment of certain diseases requires the administration of drugs at specific areas of tissues and/or organs to increase therapy effectiveness and avoid side effects that may harm the rest of the body. Drug targeting is a research field that uses various techniques to administrate therapies at specific areas of the body, including magnetic systems able to drive nano “vehicles”, as well as magnetically labeled molecules, in human body fluids and tissues. Most available actuation systems can only attract magnetic elements in a relatively small workspace, limiting drug target applications to superficial tissues, and leaving no alternative cases where deep targeting is necessary. In this paper, we propose an electromagnetic actuation system able to push and deflect magnetic particles at distance of ~10 cm, enabling the manipulation of magnetic nano- and microparticles, as well as administration of drugs in tissues, which are not eligible for localized drug targeting with state-of-the-art systems. Laboratory experiments and modeling were conducted to prove the effectiveness of the proposed system. By further implementing our device, areas of the human body that previously were impossible to treat with magnetically labeled materials such as drugs, cells, and small molecules can now be accessible using the described system.

Flexible Ferrofluids: Design and Applications

Ferrofluids, also known as ferromagnetic particle suspensions, are materials with an excellent magnetic response, which have attracted increasing interest in both industrial production and scientific research areas. Because of their outstanding features, such as rapid magnetic reaction, flexible flowability, as well as tunable optical and thermal properties, ferrofluids have found applications in various fields, including material science, physics, chemistry, biology, medicine, and engineering. Here, a comprehensive, in-depth insight into the diverse applications of ferrofluids from material fabrication, droplet manipulation, and biomedicine to energy and machinery is provided. Design of ferrofluid-related devices, recent developments, as well as present challenges and future prospects are also outlined.

A review of magnet systems for targeted drug delivery

Magnetic drug targeting is a method by which magnetic drug carriers in the body are manipulated by external magnetic fields to reach the target area. This method is potentially promising in applications for treatment of diseases like cancers, nervous system diseases, sudden sensorineural hearing loss, and so on, due to the advantages in that it can improve efficacy, reduce drug dosage and side effects. Therefore, it has received extensive attention in recent years. Successful magnetic drug targeting requires a good magnet system to guide the drug carriers to the target site. Up to date there have been many efforts to design the magnet systems for targeted drug delivery. However, there are few comprehensive reviews on these systems. Here we review the progresses made in this field. We summarized the systems already developed or proposed, and categorized them into two groups: static field magnet systems and varying field magnet systems. Based on the requirements for more powerful targeting performance, the prospects and the future research directions in this field are anticipated.

Mapping the Brain's electric fields with Magnetoelectric nanoparticles

Background

Neurodegenerative diseases are devastating diagnoses. Examining local electric fields in response to neural activity in real time could shed light on understanding the origins of these diseases. To date, there has not been found a way to directly map these fields without interfering with the electric circuitry of the brain. This theoretical study is focused on a nanotechnology concept to overcome the challenge of brain electric field mapping in real time. The paper shows that coupling the magnetoelectric effect of multiferroic nanoparticles, known as magnetoelectric nanoparticles (MENs), with the ultra-fast and high-sensitivity imaging capability of the recently emerged magnetic particle imaging (MPI) can enable wirelessly conducted electric-field mapping with specifications to meet the requirements for monitoring neural activity in real time.

Methods

The MPI signal is numerically simulated on a realistic human brain template obtained from BrainWeb, while brain segmentation was performed with BrainSuite software. The finite element mesh is generated with Computer Geometry Algorithm Library. The effect of MENs is modeled through local point magnetization changes according to the magnetoelectric effect.

Results

It is shown that, unlike traditional magnetic nanoparticles, MENs, when coupled with MPI, provide information containing electric field's spatial and temporal patterns due to local neural activity with signal sensitivities adequate for detection of minute changes at the sub-cellular level corresponding to early stage disease processes.

Conclusions

Like no other nanoparticles known to date, MENs coupled with MPI can be used for mapping electric field activity of the brain at the sub-neuronal level in real time. The potential applications span from prevention and treatment of neurodegenerative diseases to paving the way to fundamental understanding and reverse engineering the brain.

Halbach arrays consisting of cubic elements optimised for high field gradients in magnetic drug targeting applications

A key challenge in the development of magnetic drug targeting (MDT) as a clinically relevant technique is designing systems that can apply sufficient magnetic force to actuate magnetic drug carriers at useful tissue depths. In this study an optimisation routine was developed to generate designs of Halbach arrays consisting of multiple layers of high grade, cubic, permanent magnet elements, configured to deliver the maximum pull or push force at a position of interest between 5 and 50 mm from the array, resulting in arrays capable of delivering useful magnetic forces to depths past 20 mm. The optimisation routine utilises a numerical model of the magnetic field and force generated by an arbitrary configuration of magnetic elements. Simulated field and force profiles of optimised arrays were evaluated, also taking into account the forces required for assembling the array in practice. The resultant selection for the array, consisting of two layers, was then constructed and characterised to verify the simulations. Finally the array was utilised in a set of in vitro experiments to demonstrate its capacity to separate and retain microbubbles loaded with magnetic nanoparticles against a constant flow. The optimised designs are presented as light-weight, inexpensive options for applying high-gradient, external magnetic fields in MDT applications.

Movement of magnetic nanoparticles in brain tissue: mechanisms and impact on normal neuronal function

Magnetic nanoparticles (MNPs) have been used as effective vehicles for targeted delivery of theranostic agents in the brain. The advantage of magnetic targeting lies in the ability to control the concentration and distribution of therapy to a desired target region using external driving magnets. In this study, we investigated the behavior and safety of MNP motion in brain tissue. We found that MNPs move and form nanoparticle chains in the presence of a uniform magnetic field, and that this chaining is influenced by the applied magnetic field intensity and the concentration of MNPs in the tissue. Using electrophysiology recordings, immunohistochemistry and fluorescent imaging we assessed the functional health of neurons and neural circuits and found no adverse effects associated with MNP motion through brain tissue.

FROM THE CLINICAL EDITOR

Much research has been done to test the use of nanocarriers for gaining access across the blood brain barrier (BBB). In this respect, magnetic nanoparticles (MNPs) are one of the most studied candidates. Nonetheless, the behavior and safety of MNP once inside brain tissue remains unknown. In this article, the authors thus studied this very important subject.

Electrocapillary instability of magnetic fluid peak

This Article presents an experimental study of the capillary electrostatic instability occurring under the effect of a constant electric field on a magnetic fluid individual peak. The peaks under study occur at disintegration of a magnetic fluid layer applied on a flat electrode surface under the effect of a perpendicular magnetic field. The electrocapillary instability shows itself as an emission of charged drops jets from the peak point in direction of the opposing electrode. The charged drops emission repeats periodically and results in the peak shape pulsations. It is shown that a magnetic field affects the electrocapillary instability occurrence regularities and can stimulate its development. The critical electric and magnetic field strengths at which the instability occurs have been measured; their dependence on the peak size is shown. The hysteresis in the system has been studied; it consists in that the charged drops emission stops at a lesser electric (or magnetic) field strength than that of the initial occurrence. The peak pulsations frequency depending on the magnetic and electric field strengths and on the peak size has been measured.

Microscopy of single F(o) F(1) -ATP synthases--the unraveling of motors, gears, and controls

Optical microscopy of single F(1) -ATPase and F(o) F(1) -ATP synthases started 15 years ago. Direct demonstration of ATP-driven subunit rotation by videomicroscopy became the new exciting tool to analyze the conformational changes of this enzyme during catalysis. Stimulated by these experiments, technical improvements for higher time resolution, better angular resolution, and reduced viscous drag were developed rapidly. Optics and single-molecule enzymology were entangled to benefit both biochemists and microscopists. Today, several single-molecule microscopy methods are established including controls for the precise nanomanipulation of individual enzymes in vitro. Förster resonance energy transfer, which has been used for simultaneous monitoring of conformational changes of different parts of this rotary motor, is one of them and may become the tool for the analysis of single F(o) F(1) -ATP synthases in membranes of living cells. Here, breakthrough experiments are critically reviewed and challenges are discussed for the future microscopy of single ATP synthesizing enzymes at work.