Open-Loop Drug Delivery Strategy to the Cochlea using a Permanent Magnetic Actuator

Amokrane, Walid (1) , Karim Belharet (1) , Mouna Souissi (1) , Alexis Bozorg Grayeli (2, 3) , Antoine Ferreira (4, 5)

1 HEI - Hautes Etudes d’Ingénieur
2 Le2i - Laboratoire d'Electronique, d'Informatique et d'Image [EA 7508]
3 ORL [CHU de Dijon] - Service Oto-Rhino-Laryngologie [CHU de Dijon]
4 INSA CVL - Institut National des Sciences Appliquées - Centre Val de Loire
5 PRISME - Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique

The use of robotic devices for drug delivery in sensitive area of the human body is an innovative and reliable solution. Most of them use magnetics fields, to steer micro-nanorobots into diseases locations. In this study, we use a magnetic actuator based on two permanent magnets as an end-effector of a robotic manipulator. The actuator offers the possibility to generate both pushing and pulling forces on the magnetic actuator axis in an open-loop control way. We describe in this paper the robotic drug delivery strategy that we implemented in a 6 degree of freedom robotic manipulator to push and to steer a magnetic microparticle from the round window to the apex of the human cochlea. Different experiments have been conducted in order to demonstrate the effectiveness and robustness of the navigation proposed strategy on a human phantom cochlea. The results demonstrate clearly that precise and reliable drug administration is rendered possible. Keywords ROUND WINDOW MEMBRANE

Mots clés: ROUND WINDOW MEMBRANE

Domaines: Automatique; Automatique / Robotique; Robotique [cs.RO]

Amokrane, Walid, Karim Belharet, Mouna Souissi, Alexis Bozorg Grayeli, Antoine Ferreira. Open-Loop Drug Delivery Strategy to the Cochlea using a Permanent Magnetic Actuator. IEEE International Conference on Robotics and Automation ICRA, IEEE; CSIRO; KUKA; Hit Robot Grp; Honda Res Inst; iRobot; Mathworks; NuTonomy; Ouster; Uber; Australian Govt, Dept Def Sci & Technol; DJI; Queensland Univ Technol; Woodside; Baidu; Bosch; Houston Mechatron; Kinova Robot, May 2018, Brisbane, Australia. pp.1519-1524. ⟨hal-01936673⟩