Model-Based Navigation of Magnetic Carriers with a Curved Telescopic Device

The escalating incidence of knee cartilage damage underscores the need for improved treatment approaches, while the present modalities are constrained by limitations. This paper presents a novel mobile device for manipulating microrobots to deliver therapeutic agents to damaged knee cartilage areas using external magnetic fields. A curved telescopic mechanism, proposed for the first time, enables effective navigation along complex human body contours, thereby overcoming the limitations of conventional linear approaches. The device is equipped with a precise closed-loop controller. A model-based optimization of magnetic end-effector position and orientation is developed to ensure high targeting efficiency and repeatability. The system performances are verified in a human-sized phantom model, demonstrating the superior targeting accuracy, and achieving outcomes exceeding those of conventional systems. These findings underscore the system’s strong potential for clinical translation in regenerative knee therapies, offering a portable, low-cost, and effective alternative to existing methods.