Magnetic control of potential microrobotic drug delivery systems: nanoparticles, magnetotactic bacteria and self-propelled microjets.

Development of targeted drug delivery systems using magnetic microrobots increases the therapeutic indices of drugs. These systems have to be incorporated with precise motion controllers. We demonstrate closed-loop motion control of microrobots under the influence of controlled magnetic fields. Point-to-point motion control of a cluster of iron oxide nanoparticles (diameter of 250 nm) is achieved by pulling the cluster towards a reference position using magnetic field gradients. Magnetotactic bacterium (MTB) is controlled by orienting the magnetic fields towards a reference position. MTB with membrane length of 5 µm moves towards the reference position using the propulsion force generated by its flagella. Similarly, self-propelled microjet with length of 50 µm is controlled by directing the microjet towards a reference position by external magnetic torque. The microjet moves along the field lines using the thrust force generated by the ejecting oxygen bubbles from one of its ends. Our control system positions the cluster of nanoparticles, an MTB and a microjet at an average velocity of 190 µm/s, 28 µm/s, 90 µm/s and within an average region-of-convergence of 132 µm, 40 µm, 235 µm, respectively.