MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules

Belharet, Karim; Folio, David; Ferreira, Antoine

doi:10.3109/13645706.2010.481402

Cited by 27 publications

(18 citation statements)

References 23 publications

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“…In the future, the proposed procedure must be combined with a suitable propulsion and control system [3] to enable closed-loop navigation. For further investigation of the scaling laws, smaller objects should be studied by experiment.…”

Section: Discussionmentioning

confidence: 99%

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Recognition and tracking of magnetic nanobots using MRI

Wortmann

Dahmen

Geldmann

et al. 2010

2010 International Symposium on Optomechatronic Technologies

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By switching the gradient fields of a clinical magnetic resonance imaging (MRI) scanner, magnetic objects may be moved inside the cardiovascular system of the human body. The main field of application is seen in targeted drug therapy or embolization. A successful navigation of such devices requires continuous position determination. The occurrence of magnetic susceptibility artifacts can be exploited for this purpose. This article studies the effect of magnetic microscopic objects and nanoparticles on the process of MRI image formation in several imaging sequences. An MRI simulator based on evaluation of the Bloch equation is presented and applied for the simulation of artifact formation. Also, artifact properties are studied by experiments carried out on clinical MRI scanners, using magnetic objects placed into an agarose gel phantom. The transferability of the results from the gel phantom to a real tissue environment is proven. Based on the results, a two-stage procedure for visual servoing is proposed. It is initialized by object detection, carried out in a 3D scan. Object tracking is performed on fast 2D scans by template matching. The slice position is adjusted automatically in a feedback loop in order to follow object movements perpendicular to the image plane.

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Section: Discussionmentioning

confidence: 99%

“…In principal, this enables interleaved imaging and propulsion of magnetic capsules inside the cardiovascular system. Combined with an appropriate control algorithm [3], applications of this technology are seen in targeted drug therapy or embolization.…”

Section: Introductionmentioning

confidence: 99%

Recognition and tracking of magnetic nanobots using MRI

Wortmann

Dahmen

Geldmann

et al. 2010

2010 International Symposium on Optomechatronic Technologies

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“…Belharet et al [78,79] and Arcese et al [80] have performed some interesting and complex modeling for a proposed ferromagnetic microrobot actuation system with real-time control for endovascular navigation using an MRI machine. A system software architecture illustrates the different modules needed for 3D navigation, including vessel path extraction, magnetic gradient steering, tracking and closed-loop navigation control.…”

Section: Gastrointestinalmentioning

confidence: 98%

“…A system software architecture illustrates the different modules needed for 3D navigation, including vessel path extraction, magnetic gradient steering, tracking and closed-loop navigation control. A Generalized Predictive Controller is proposed for 2D navigation in the presence of pulsatile flow [78], and a Model Predictive Controller is proposed for 3D navigation again in the presence of pulsatile flow [79]. A physics-based modeling framework is proposed in [80], which addresses wall effects (e.g., blood velocity, pulsatile flow, robot-to-vessel diameter ratio), vessel wall interactions (e.g., contact, van der Waals, electrostatic and steric forces) and non-Newtonian behavior of blood.…”

Section: Gastrointestinalmentioning

confidence: 99%

Magnetically driven medical devices: a review

Sliker

Ciuti

Rentschler

et al. 2015

Expert Review of Medical Devices

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A widely accepted definition of a medical device is an instrument or apparatus that is used to diagnose, prevent or treat disease. Medical devices take a broad range of forms and utilize various methods to operate, such as physical, mechanical or thermal. Of particular interest in this paper are the medical devices that utilize magnetic field sources to operate. The exploitation of magnetic fields to operate or drive medical devices has become increasingly popular due to interesting characteristics of magnetic fields that are not offered by other phenomena, such as mechanical contact, hydrodynamics and thermodynamics. Today, there is a wide range of magnetically driven medical devices purposed for different anatomical regions of the body. A review of these devices is presented and organized into two groups: permanent magnetically driven devices and electromagnetically driven devices. Within each category, the discussion will be further segregated into anatomical regions (e.g., gastrointestinal, ocular, abdominal, thoracic, etc.).

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“…Unless all components of a WCE can be further miniaturized with the existing technology, this approach does not seem to be practical. On the other hand, magnetic systems have been used in different medical applications since magnetic systems are considered safe for biological tissues and cells and can potentially be scaled down to actuate overly miniaturized systems [4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

A Magnetically Actuated Drug Delivery System for Robotic Endoscopic Capsules

Munoz

Alici

2015

Journal of Medical Devices

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There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board components are still drawbacks of such systems. In this paper, we propose an innovative magnetic system that consists of an array of magnets, which activates a DDS, based on an overly miniaturized slider-crank mechanism. We use analytical models to compare the magnetic fields generated by cylindrical and arc-shaped magnets. Our experimental results, which are in agreement with the analytical results, show that an optimally configured array of the magnets enhances the magnetic field and also the driving magnetic torque and subsequently, it imposes a high enough force on the piston of the DDS to expel a required dose of a drug out of a reservoir. We conclude that the proposed magnetic field optimization method is effective in establishing an active DDS that is designed to deliver drug profiles with accurate control of the release rate, release amount, and number of doses. There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board components are still drawbacks of such systems. In this paper, we propose an innovative magnetic system that consists of an array of magnets, which activates a DDS, based on an overly miniaturized slider-crank mechanism. We use analytical models to compare the magnetic fields generated by cylindrical and arc-shaped magnets. Our experimental results, which are in agreement with the analytical results, show that an optimally configured array of the magnets enhances the magnetic field and also the driving magnetic torque and subsequently, it imposes a high enough force on the piston of the DDS to expel a required dose of a drug out of a reservoir. We conclude that the proposed magnetic field optimization method is effective in establishing an active DDS that is designed to deliver drug profiles with accurate control of the release rate, release amount, and number of doses.

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MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules

Cited by 27 publications

References 23 publications

Recognition and tracking of magnetic nanobots using MRI

Recognition and tracking of magnetic nanobots using MRI

Magnetically driven medical devices: a review

A Magnetically Actuated Drug Delivery System for Robotic Endoscopic Capsules

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