Precise control of ferrofluid droplet robot in 3-D vascular model

The application of magnetic particles containing drugs as control objects has become an attractive research topic. Magnetic fluids with magnetic nanoparticles and unique deformation properties have been extensively studied in recent years. In this paper, a ferrofluid droplet robot (FDR) for targeted drug delivery is presented. We realized the operation and control of FDR in 3D vascular model by a set of four solenoid control system. To achieve this control, a four-electromagnetic coil control system with visual feedback is designed and built. The system generates a high-gradient magnetic field and achieves three-dimensional control of the FDR through visual feedback with an accuracy of no more than 0.3 mm. Besides, by investigating the deformation capacity of FDR, we have explored the magnetic field conditions required to pass through a narrow channel of a certain width. The realization of the control effect makes it technically possible to use FDR for drug delivery through vascular navigation.