Behavior-Based Navigation of In Vivo Magnetic Micro Robots in Minimally Invasive Surgeries

This paper investigates a navigation algorithm for a magnetic microrobot within the bloodstream, controlled by an external magnetic field generated by three electromagnets. The study calculates the forces and torques acting on the microrobot applied by the external magnetic fields and blood flow using Maxwell’s and Navier-Stokes equations. Subsequently, a behavior-based control algorithm is employed, eliminating the need for predefined path planning, to propose a navigation algorithm for the microrobot in an obstacle-rich environment. The performance of the designed algorithm is assessed through simulations of various scenarios of reaching target tissues and tumors using MATLAB software. This work represents a pioneering effort in the navigation of medical micro-robots within the bloodstream, utilizing a behavior-based algorithm for minimally invasive surgeries. The significant outcomes of this study highlight the optimization potential of behavior-based navigation algorithm parameters, including control gains, microrobot’s maximum velocity, and obstacle avoidance coefficients. Additionally, the research explores the trade-off between the controller’s parameters’ effect and the essential parameters for effective microrobot navigation in minimally invasive surgeries.