3D Navigation Algorithm of a Micro-Robot Swarm in Blood Vessels for Medical Applications

摘要

In this paper, a three dimensional navigation algorithm is proposed for a swarm of medical micro-robots navigating in human blood vessels. The micro robot swarm is intended to be used for treating vascular obstructions, or for precise drug delivery to diseased sites. The proposed algorithm is based on potential functions theory that add an attractive force to the desired path ensuring precise following. Potential functions are also used to ensure a collision-free cohesiveness among the micro-robot swarm elements. Simulation results under MATLAB environment are promising, showing the applicability of the proposed navigation algorithm in possible medical applications.