چكيده به لاتين
Today, special attention has been paid to microrobots in medical science, especially in cancer treatment, for targeted drug delivery. A ferrofluid droplet is used to create a microrobot capable of controlled movement, passing through small channels, engulfing and transferring microparticles, and controlling objects. The ferrofluidic microrobot can achieve the above when controlled using a magnetic field generation system. But until now, the control of ferrofluid droplets has been based on experimental observations in environments different from the human body, so before using this microrobot for medical purposes in the human body, a platform is needed to simulate the dynamic and controlled movement of ferrofluidic microrobots in the software environment. However, the dynamic of the ferrofluidic microrobot is nonlinear and requires the solution of PDE equations to achieve a specific shape, alignment, and orientation. On the other hand, these equations do not have an analytical solution, and their integration with control methods adds to their complexity. Numerical methods can act as an effective alternative method for simulating the dynamic of ferrofluid droplets under a magnetic field.
Therefore, in this thesis, by utilizing numerical methods and reflecting on the knowledge of fluid mechanics and magnetism, we will model the dynamic of ferrofluid droplet in COMSOL software. First, the behavior of this simulated dynamic is investigated in two-dimensional and three-dimensional mode under a uniform magnetic field, then the two-dimensional model is placed under a non-uniform magnetic field and by applying the PID controller to the external magnetic field generation system, the position of the microrobot will be controlled in five desired trajectories. One of the applications of ferrofluidic microrobot position control in medical purposes is targeted drug delivery.
