Haptic-Based Real-Time Platform for Microswarm Steering in a Multi-Bifurcation Vascular Network

The use of electromagnetic fields to control a collection of magnetic nanoparticles, known as a microswarm, has many promising applications. Current research often makes use of accurate but time-consuming simulations lacking real-time human input. On the contrary, human interaction is possible with a real-time simulator, allowing the collection of valuable user interaction data. This paper presents the development and validation of a real-time two-dimensional microswarm simulator to accommodate the human interaction aspect. A haptic device is used to steer the microswarm through a multi-bifurcation vascular network towards a selected outlet. The percentage of particles reaching the selected outlet is used as the success metric. The simulator is verified against collected real-world experimental data and shows an 8% deviation. Parametric studies demonstrate the most influential parameters. We found that reducing the magnetic gradient from 1000 mT/m to 100 mT/m resulted in a decrease in recorded performance from 100% to 30.8%. Variation in fluid flow also had a considerable effect on the recorded performance, presenting a drop from 100% to 35.3% when fluid flow velocities increased from 0.005 m/s to 0.06 m/s. Changing the starting arrangement of particles resulted in a drop to 59% over the same range of fluid flow velocities.