MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics

Folio, David; Dahmen, Christian; Wortmann, Tim; Zeeshan, Muhammad; Shou, Kaiyu; Nelson, Bradley J.; Ferreira, Antoine; Fatikow, Sergej

doi:10.1109/iros.2011.6094975

Cited by 15 publications

(7 citation statements)

References 23 publications

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“…Specifically, a dedicated magnetic resonance navigation (MRN) architecture has been developed and embedded in the Siemens Integrated Development Environment for MR Applications (IDEA). The MRN architecture comprises novel MR-Imaging sequences, MR-Tracking algorithms, navigation planning and magnetic control strategies (Folio et al 2011). An external vision system is added to observe the evolution of the bolus.…”

Section: Preliminary Mri-aided Experimentsmentioning

confidence: 99%

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Optimal structure of particles-based superparamagnetic microrobots: application to MRI guided targeted drug therapy

et al. 2015

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This paper presents an optimal design strategy for therapeutic magnetic micro carriers (TMMC) guided in real time by a magnetic resonance imaging (MRI) system. As aggregates of TMMCs must be formed to carry the most amount of drug and magnetic actuation capability, different clustering agglomerations could be arranged. Nevertheless, its difficult to predict the hydrodynamic behavior of any arbitrary-shaped object due to the nonlinear hydrodynamic effects. Indeed, the drag effect is related not only to the properties of the bolus but also to its interaction with the fluid viscosity, the freestream velocity and the container geometry. In this work, we propose a mathematical framework to optimize the TMMC aggregates to improve the steering efficiency in experimental endovascular conditions. The proposed analysis is carried out on various sizes and geometries of microcarrier: spherical, ellipsoid-like and chain-like of microsphere structures. We analyze the magnetophoretic behavior of such designs to exhibit the optimal configuration. Based on the optimal design of the boluses, experimental investigations were carried out in mm-sized fluidic artery phantoms to demonstrate the steerability of the magnetic bolus using a proof-of-concept setup. The experiments demonstrate the steerability of the magnetic bolus under different velocity, shear-stress and trajectory constraints with a laminar viscous fluidic environment. Preliminary experiments with a MRI system confirms the feasibility of the steering of these TMMCs in hepatic artery microchannel phantom.

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Section: Preliminary Mri-aided Experimentsmentioning

confidence: 99%

“…19a. The choice of FLASH sequences allows offering a MR-tracking providing a standard deviation of 0.1mm at 0.053 mm in the x and y direction respectively (Folio et al 2011). In clinical practice the focus is usually on avoiding such artifacts to produce correct representation of anatomical structures.…”

Section: Preliminary Mri-aided Experimentsmentioning

confidence: 99%

Optimal structure of particles-based superparamagnetic microrobots: application to MRI guided targeted drug therapy

et al. 2015

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“…An MRI (Magnetic resonance imaging) scanner provides the largest hollow bore in which a super strong gradient-based magnetic field and one direction of uniform magnetic field (Bz) are generated. Magnetic manipulations based on image guidance of the scanner were applied to control nano-agents, nanoparticles and biopsy tools towards medical purposes [22][23][24][25]. However, both machines do not produce uniform magnetic fields in all of three components; x, y, z.…”

Section: Introductionmentioning

confidence: 99%

An Optimal Design of an Electromagnetic Actuation System towards a Large Homogeneous Magnetic Field and Accessible Workspace for Magnetic Manipulation

Manamanchaiyaporn

Wang

2020

Energies

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Untethered nano-/microrobots have been appealing to biomedical applications under magnetic guidance. Numerous actuation systems are specifically designed to generate either uniform or non-uniform fields which are unable to support all actuating mechanisms of magnetic robots. The size of their accessible space does not enable applications in life sciences (e.g., placing around human parts for tasks or an in vivo experiment in animals). Moreover, homogeneity of uniform magnetic fields is limited in a small region. Here, we propose an electromagnetic coil system that is optimally designed based on numerical simulation investigations to derestrict the mentioned constraints. The built-up system provides a large bore in which magnetic field generation by passing a 10 A current is strong enough for nano-/micromanipulation switchable between uniformity in a large-homogeneous region about 50-mm-wide along the x- and y-axes and 80-mm-wide along the z-axis, and with a non-uniformity of about 12 mT with 100 mT/m. It experimentally carries out potential and versatile controls to manipulate several commonly used microrobots that require a particular type of magnetic field to perform multi-DOF locomotion in diverse viscous environments. (e.g., helical propulsion by rotating magnetic field in the 3D-large workspace and in the complex network path, side-to-side sweeping-slip locomotion by oscillating fields, translation and rocking-slip locomotion by gradient-based fields). Besides, the system can be reproduced into any accessible space size regarding the square coil size to support diverse applications and guarantee the result in both uniformity of magnetic field in the large homogeneous region and a sufficiently strong gradient over the workspace.

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“…Thus, on-board energy and propulsion systems still have many obstacles and a long way to go. Consequently, inspired by maglev technology [2] and magnetic resonance imaging (MRI) [3], the idea of using a magnetic field to actuate micro-robots has received more and more attention. It is well-known that in high-energy physics, energy is not continuous and only quantized energy is available at the microscopic level.…”

Section: Introductionmentioning

confidence: 99%

Path planning for underactuated Dubins micro-robots using switching control

Lin

et al. 2013

2013 10th IEEE International Conference on Control and Automation (ICCA)

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In this paper, we develop an optimal path planning strategy for under-actuated Dubins micro-robots. Such robots are non-holonomic robots constrained to move along circular paths of fixed curvature clockwise or counterclockwise. Our objective is to investigate the coverage and optimal path problems, as well as multi-robot cooperation, for a switching control scheme. Our methods are based on elementary geometry and optimal control techniques. The results in this paper show that the trajectories of micro-robots can cover the entire twodimensional plane, and that the proposed switching control scheme allows multiple robots to cooperate. In addition, we deduce the minimum-time path under the switching control scheme by converting the robot model into the traditional Dubins vehicle model.

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MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics

Cited by 15 publications

References 23 publications

Optimal structure of particles-based superparamagnetic microrobots: application to MRI guided targeted drug therapy

Optimal structure of particles-based superparamagnetic microrobots: application to MRI guided targeted drug therapy

An Optimal Design of an Electromagnetic Actuation System towards a Large Homogeneous Magnetic Field and Accessible Workspace for Magnetic Manipulation

Path planning for underactuated Dubins micro-robots using switching control

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