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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...
Magnetic resonance imaging (MRI) scanners can be used with minimum upgrades as integrated platforms for targeted delivery of micro/nanoparticles in the human body. In addition to being widespread in hospitals, they provide real-time tracking, control and means of propulsion for magnetic devices without penetration depth limitations. From these positive features, MRI appears as the perfect central...
The feasibility of using 2D real-time control to navigate ferromagnetic entities in an MRI bore for novel medical interventions is assessed. Preliminary experimental results confirm that a simple PID controller can be suitable for several applications where targeting out-of-reach locations within the cardiovascular system is essential
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