MRI-based magnetic navigation of nanomedical devices for drug delivery and hyperthermia in deep tissues

Mathieu, Jean-Baptiste

doi:10.1109/nano.2007.4601197

Cited by 4 publications

(1 citation statement)

References 11 publications

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“…The non-contact nature of a magnetic actuation mechanism makes it suitable for use in out-of-reach and hard-to-reach locations such as hazardous environment and inside the human body. In (Tamaz et al 2008;Mathieu and Martel 2007), a clinical MRI platform is proposed for the navigation of a ferromagnetic bead inside the human body. This system has been validated in vivo in the artery of a living animal .…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of LQG\LTR controller for a magnetic telemanipulation system-performance evaluation and energy saving

Mehrtash

Khamesee

2011

Microsyst Technol

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This paper deals with designing a telemanipulation system (TMS) for microrobotics applications. The TMS uses magnetic levitation technology for the threedimensional (3-D) manipulation of a microrobot. The TMS is made up of two separate components: a magnetic drive unit and a microrobot. The magnetic drive unit is developed to generate the magnetic field for propelling the microrobot in an enclosed environment. The drive unit consists of electromagnets, a disc pole-piece for connecting the magnetic poles, and a yoke. To handle the 3-D high precision motion control of the microrobot, experimental magnetic field measurements coupled with numerical analysis were done to identify the dynamic model of levitation. This approach leads to the design of a linear quadratic gaussian (LQG) control system, based on the derived state-space model. Based on the PID controller performance, the LQG controller provides considerable improvement in transient response and cross coupling errors. The 3-D motion control capability of the LQG control method is verified experimentally, and it is demonstrated that the microrobot can be operated in the TMS workspace, vertical range of 30 mm and the horizontal range of 32 Â 32 mm 2 , with RMS error on the order of 10 lm in the vertical and 2:2 lm in the horizontal direction. In the vertical motion, the cross coupling error of the LQG controller is nine times smaller than that of the PID controller. A pre-magnetized pole-piece is proposed to compensate for gravity effect and reduces the system's energy consumption. This pole-piece provides 66% energy saving for the system's workspace operations.

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Section: Introductionmentioning

confidence: 99%

Design and implementation of LQG\LTR controller for a magnetic telemanipulation system-performance evaluation and energy saving

Mehrtash

Khamesee

2011

Microsyst Technol

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Carbon nanotubes for inducing magnetotactic properties into cells

Marino

Menciassi

Dario

2008

2008 2nd IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics

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Thermoresponsive hydrogel with embedded magnetic nanoparticles for the implementation of shrinkable medical microrobots and for targeting and drug delivery applications

Lapointe

2009

2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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The paper describes the choice of a thermoresponsive material for the implementation of untethered medical microrobots and other microdevices. These entities can be propelled at a specific location in the body using a Magnetic Resonance Imaging (MRI) system while being actuated for various functions such as the release of drugs by a volume change induced by hyperthermia of nanoparticles embedded in the hydrogel. This paper presents some preliminary results showing that poly(N-isopropylacrylamide) (PNIPA) might be an interesting choice, because of the important volume decrease when temperature is increased of some degrees. Using PNIPA based microparticles could be an interesting choice because, according to our results, volume changes are more important when the volume is smaller, and shrinking rate is higher when there are nanoparticles embedded in the hydrogel.

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MRI-based magnetic navigation of nanomedical devices for drug delivery and hyperthermia in deep tissues

Cited by 4 publications

References 11 publications

Design and implementation of LQG\LTR controller for a magnetic telemanipulation system-performance evaluation and energy saving

Design and implementation of LQG\LTR controller for a magnetic telemanipulation system-performance evaluation and energy saving

Carbon nanotubes for inducing magnetotactic properties into cells

Thermoresponsive hydrogel with embedded magnetic nanoparticles for the implementation of shrinkable medical microrobots and for targeting and drug delivery applications

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