Ultrasound-guided control of micro-sized agents
There exists at least three main challenges that stand between the utilization of microrobotic systems in magnetic-based targeted drug delivery. First, realization of wireless magnetic-based control using feedback provided by a clinical imaging modality. Second, the ability to steer microrobots over relatively large distances using magnetic field gradients, or moving using self-propulsion. Third, the ability of magnetic systems and their controllers to compensate for the time-varying flow rates and other enviornmental uncertainties. This project aims to use ultrasound images to track and control a range of microrobotic agents (e.g., paramagnetic particles, magnetotactic bacteria, self-propelled microjets, and biologically-inspired agents like Magnetosperm). Ultrasound has no unfavorable effects on health and high frame rates that allow for the realization of real-time control, and low cost, as opposed to magnetic resonance imaging and computed tomography.