Optimized Tri-Coil Magnetic Guidance of Nanorobots for Targeted Plaque Therapy in the Middle Cerebral Artery.

Intravascular nanorobotic interventions in the neurovasculature are a promising yet challenging frontier in medical technology. This study addresses the challenge of precise control over nanorobots within the Middle Cerebral Artery (MCA), particularly under conditions of significant stenosis (80.1%) that complicate flow and navigation. Despite advances in magnetically actuated nanorobots for targeted therapies, achieving fine-grained control in complex vascular environments remains a critical issue. To address this, we propose a novel tri-coil electromagnetic system that uses three independent coils to generate dynamically modulated magnetic fields, enabling precise control of nanorobot motion. Coils 1 and 3 create evolving magnetic fields, while Coil 2 maintains a static field to shape the overall force application. A mathematical model was developed and implemented to optimize the system, demonstrating its ability to manipulate nanorobots within stenosed M2 MCA vessels. Our approach achieved high precision, allowing a lateral shift of the nanorobot trajectory with a magnetic field intensity of 40 mT. This tri-coil system offers a significant advancement in nanorobotic navigation and treatment of cerebrovascular diseases through minimally invasive techniques.