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The rise of nanorobots for medical diagnostics and treatments is arriving in the near future. In this study, a control method is designed so that the motion of a nanorobot can be controlled inside the blood vessel of the human body when we use them for medical therapies. A kinematic model of nanorobot in MATLAB/SIMULINK is used for demonstrating the movement of nanorobots to examine the performance of proposed control mechanism. The nanorobot system used in this study is a nanorobot with very small dimensions (0.5 μm) with a rigid body. It was assumed that the damaged part of the vessel wall is detected by the nanorobot with the help of the signals transmitted from the part. We applied an adaptive control algorithm and with this type of controller, the nanorobot motion was optimized. Our results showed that by using the proposed method, the system was controlled such that the nanorobot moved towards the damaged area and reached the target destination with an improved accuracy. Simulations indicated the effi ciency of this control method with respect to the nonlinear velocity equation of the nanorobot.

An adaptive controller for motion control of nanorobots inside human blood vessels