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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...
This paper shows that even a simple proportional-integral-derivative (PID) controller can be used in a clinical MRI system for real-time navigation of a ferromagnetic bead along a predefined trajectory. Although the PID controller has been validated in vivo in the artery of a living animal using a conventional clinical MRI platform, here the rectilinear navigation of a ferromagnetic bead is assessed...
Using an 1.5 T Siemens clinical magnetic resonance imaging system (MRI), a 1.5 mm diameter ferromagnetic bead is moved across a pre-planned path in the carotid artery of a 25 kg living swine. The software architecture for the navigation and path planning is herein described. Using the real-time feedback capabilities of recent MRIs, the device is moved, controlled and tracked using the magnetic gradients...
Biosensors are a predominant research field and aim at providing small and novel methods for bio-recognition, bio-actuation and embedded data analysis to the medical and bioengineering domains. Typical biosensor technologies exploit optical, electrochemical or mechanical detection methods. Although many biosensors are designed to use biological samples for recognition and treatment, some are designed...
Software architecture for the navigation of a ferromagnetic untethered device in a 1D and 2D phantom environment is briefly described. Navigation is achieved using the real-time capabilities of a Siemens 1.5 T Avanto MRI system coupled with a dedicated software environment and a specially developed 3D tracking pulse sequence. Real-time control of the magnetic core is executed through the implementation...
Software architecture for the navigation of a ferromagnetic untethered device in a 1D and 2D phantom environment is briefly described. Navigation is achieved using the real-time capabilities of a Siemens 1.5 T Avanto MRI system coupled with a dedicated software environment and a specially developed 3D tracking pulse sequence. Real-time control of the magnetic core is executed through the implementation...
Software architecture for the navigation of a ferromagnetic untethered device in a 1D and 2D phantom environment is briefly described. Navigation is achieved using the real-time capabilities of a Siemens 1.5T Avanto MRI system coupled with a dedicated software environment and a specially developed 3D tracking pulse sequence. Real-time control of the magnetic core is executed through the implementation...
A new method for the propulsion of a spherical ferromagnetic device along a given path in a water filled phantom with no human interaction is presented using an 1.5 T magnetic resonance imaging (MRI) clinical system. A special real time loop is implemented and presented that feeds the scanner with the appropriate gradients amplitudes and directions based on a pre-determined path. This paper studies...
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