Real-time positioning and tracking technique for endovascular untethered microrobots propelled by MRI gradients

A real-time positioning and tracking technique for untethered devices or robots magnetically propelled by a clinical magnetic resonance imaging (MRI) system is described. The local magnetic field induced by the device, composed of a ferromagnetic material, is used as a signature to localize the devi...

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Bibliographic Details
Main Authors: Felfoul, O., Aboussouan, E., Chanu, A., Martel, S.
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
In vivo
Magnetic devices
Magnetic fields
Magnetic materials
Magnetic resonance imaging
Navigation
Propulsion
Real time systems
Robots
Online Access:Request full text
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Description
Summary:A real-time positioning and tracking technique for untethered devices or robots magnetically propelled by a clinical magnetic resonance imaging (MRI) system is described. The local magnetic field induced by the device, composed of a ferromagnetic material, is used as a signature to localize the device on three one-dimensional projections. A high-precision 3D circular-motion system was used to assess the precision and accuracy of this method. The integration of this technique inside propulsion and imaging MRI sequences was also achieved to demonstrate the feasibility of this tracking scheme in a closed-loop control scheme. Finally, in vivo tracking during automatic navigation of an untethered device in the carotid artery of a living animal is demonstrated.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2009.5152567