Millimeter-scale magnetic rotating swimmers have multiple potential medical applications. They could, for example, navigate inside the bloodstream of a patient toward an occlusion and remove it. Magnetic rotating swimmers have internal magnets and propeller fins with a helical shape. A rotating magnetic field applies torque on the swimmer and makes it rotate. The shape of the swimmer, combined with the rotational movement, generates a propulsive force. Visual feedback is suitable for in-vitro closed-loop control. However, in-vivo procedures will require different feedback modalities due to the opacity of the human body. In this paper, we provide new methods and tools that enable the 3D control of a magnetic swimmer using a 2D ultrasonography device attached to a robotic arm to sense the swimmer’s position. We also provide an algorithm that computes the placement of the robotic arm and a controller that keeps the swimmer within the ultrasound imaging slice. The position measurement and closed-loop control were tested experimentally.
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The Role of the Double-Layer Potential in Regularised Stokeslet Models of Self-Propulsion
The method of regularised stokeslets is widely used to model microscale biological propulsion. The method is usually implemented with only the single-layer potential, the double-layer potential being neglected, despite this formulation often not being justified a priori due to nonrigid surface deformation. We describe a meshless approach enabling the inclusion of the double layer which is applied to several Stokes flow problems in which neglect of the double layer is not strictly valid: the drag on a spherical droplet with partial-slip boundary condition, swimming velocity and rate of working of a force-free spherical squirmer, and trajectory, swimmer-generated flow and rate of working of undulatory swimmers of varying slenderness. The resistance problem is solved accurately with modest discretisation on a notebook computer with the inclusion of the double layer ranging from no-slip to free-slip limits; the neglect of the double-layer potential results in up to 24% error, confirming the importance of the double layer in applications such as nanofluidics, in which partial slip may occur. The squirming swimmer problem is also solved for both velocity and rate of working to within a small percent error when the double-layer potential is included, but the error in the rate of working is above 250% when the double layer is neglected. The undulating swimmer problem by contrast produces a very similar value of the velocity and rate of working for both slender and nonslender swimmers, whether or not the double layer is included, which may be due to the deformation’s ‘locally rigid body’ nature, providing empirical evidence that its neglect may be reasonable in many problems of interest. The inclusion of the double layer enables us to confirm robustly that slenderness provides major advantages in efficient motility despite minimal qualitative changes to the flow field and force distribution.
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- Award ID(s):
- 1951707
- PAR ID:
- 10412981
- Date Published:
- Journal Name:
- Fluids
- Volume:
- 6
- Issue:
- 11
- ISSN:
- 2311-5521
- Page Range / eLocation ID:
- 411
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.3390/fluids6110411
