Abstract
Micro-/nano-robots (MNRs) have impressive potential in minimally invasive targeted therapeutics through blood vessels, which has disruptive impact to improving human health. However, the clinical use of MNRs has yet to happen due to intrinsic limitations, such as overcoming blood flow. These bottlenecks have not been empirically solved. To tackle them, a full understanding of MNR behaviors is necessary as the first step. The common movement principle of MNRs is corkscrew motion with a helical structure. The existing dynamic model is only applicable to standard helical MNRs. In this paper, we propose a dynamic model for general MNRs without structure limitations. Comprehensive simulations and experiments were conducted, which shows the validity and accuracy of our model. Such a model can serve as a reliable basis for the design, optimization, and control of MNRs and as a powerful tool for gaining fluid dynamic insights, thus accelerating the development of the field.