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The use of a clinical MRI system for propelling and controlling the displacement of a ferromagnetic core along a pre-planned path in the blood vessels has been validated experimentally by our group. The results of the experiment suggest that a MRI platform could not only be used as an imaging or diagnostic tool, but also as an interventional platform. One important medical intervention where such...
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...
Our recent demonstration of a ferromagnetic bead being navigated automatically inside the carotid artery of a living animal at an average speed of 10 cm/s using a clinical MRI system may be considered as a significant step in the field of medical micro- and nanorobotics. This is particularly true when we consider that an appropriate tracking method was embedded in the closed-loop control process allowing...
Potential field algorithms often used in path finding applications on a 2D plane are expanded onto a 3D map trajectories for navigation planning of a microdevice designed to be propelled through the cardiovascular system using magnetic gradients generated by a clinical MRI system. This system assembles a 3D reconstruction of a cardiovascular system through magnetic resonance angiography images. The...
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