Electromagnetic Configurations in Steering Micro/Nano Robots inside Y-shaped Blood Vessel

Magnetic micro/nano robots have the potential applications in targeted drug delivery. This approach can be achieved by guiding magnetically actuated micro/nano robots to navigate inside blood vessels. In this paper, three electromagnetic configurations with different structures are presented: Combined Helmholtz & Maxwell (H&M), Differential current coil (DCC), and One coil. The mathematical model of these configurations is introduced and investigated through simulation under different circumstances. The performance efficiency of the introduced configurations evaluated using 100 magnetic micro/nano robots released in a Y -shaped bifurcation blood vessel. The performance results showed that the combined H&M configuration has the best exit rate of 64%, 68%, and 62% using different robot diameters of 50, 100 and 250 μm, Performance results also showed that DCC configuration has the lowest exit rate of 60%, 48%, 29%. In addition, the One coil electromagnetic configuration showed exit rate of 64%, 64% and 60% results between the H&M and the DCC configurations.