Automated <i>In Vivo</i> Navigation of Magnetic-Driven Microrobots Using OCT Imaging Feedback

Li, Dongfang; Dong, Dingran; Lam, Wahshing; Liang, Xizhuang; Wei, Tanyong; Sun, Dong

doi:10.1109/tbme.2019.2960530

Cited by 43 publications

(40 citation statements)

References 32 publications

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“…Li and Wu et al [ 6 , 72 ] used OCT imaging as feedback to enable autonomous navigation of magnetic field actuated microrobots in vivo ( Figure 8 A). OCT has good depth-recognition capabilities, which can be compared to Dual photon fluorescent microscopes and confocal microscopes.…”

Section: Microrobot Imagingmentioning

confidence: 99%

“…Taking the most widely studied electromagnetically actuated microrobot as an example, in addition to magnetic field-based MRI and MPI imaging methods, optical and ionizing radiation and US imaging were combined with electromagnetic actuation systems for image-guided navigation of microrobots [ 88 , 108 , 109 , 110 ]. To solve the problem that the imaging resolution of MRI was insufficient to localize microrobots smaller than 100

m, Li et al [ 72 ] designed a microrobot navigation platform consisting of an electromagnetic actuation system and an OCT imaging system that can track microrobot movement at high scanning rates (5.5–70 kHz) and resolution (10

m). Other researchers used US imaging to track and image electromagnetically actuated magnetic particle populations, simply adding ultrasonic probes to electromagnetic actuation systems.…”

Section: Actuation and Imaging Integrationmentioning

confidence: 99%

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A Review of Microrobot’s System: Towards System Integration for Autonomous Actuation In Vivo

Dong

et al. 2021

Micromachines

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Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position accurately. Therefore, autonomous actuation technology based on medical imaging has become the solution receiving the most attention considering its low precision and efficiency of manual control. This paper investigates key components of microrobot’s autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, hoping to help realize system integration of them. The hardware integration has two situations according to sharing the transmitting equipment or not, with the consideration of interference, efficiency, microrobot’s material and structure. Furthermore, system integration of hybrid actuation and multimodal imaging can improve the navigation effect of the microrobot. The software integration needs to consider the characteristics and deficiencies of the existing actuation algorithms, imaging algorithms, and the complex 3D working environment in vivo. Additionally, considering the moving distance in the human body, the autonomous actuation system combined with rapid delivery methods can deliver microrobots to specify position rapidly and precisely.

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Section: Microrobot Imagingmentioning

confidence: 99%

m). Other researchers used US imaging to track and image electromagnetically actuated magnetic particle populations, simply adding ultrasonic probes to electromagnetic actuation systems.…”

Section: Actuation and Imaging Integrationmentioning

confidence: 99%

A Review of Microrobot’s System: Towards System Integration for Autonomous Actuation In Vivo

Dong

et al. 2021

Micromachines

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“…For in-vivo applications, obtaining the position information of the microrobot to establish a control loop is challenging, since the microrobot will be actuated inside the human body and conventional visual feedback becomes unfeasible, contrary to in-vitro applications [8], [9]. Therefore, other techniques of position feedback should be applied by using medical imaging devices [10], [11]. In addition, the microrobot should be retrievable or biodegradable so it does not stay in the human body after the required task is accomplished [12], in contrast with in-vitro applications in which the microrobot can either be disposed or retrieved easily from the environment.…”

Section: Introductionmentioning

confidence: 99%

Mobile Microrobots for In Vitro Biomedical Applications: A Survey

et al. 2022

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The demand in the biomedical field for fast and precise devices for in-vitro applications has increased in recent years. Mobile microrobots are significantly suitable for such applications and are developing rapidly. These microrobots offer untethered actuation towards a contamination-free environment while allowing for fast and precise handling of biological entities for applications such as positioning, sensing, delivery, and cell surgery that are highly effective for new drug discoveries and to improve our understanding of cells behavior on the single-cell level.Here, we present a review of the recent state-of-the-art in the actuation and implementation of mobile microrobots for in-vitro applications. We will first explore the widely used methods of wireless actuation. Next, we address the challenge of implementing an on-board interaction technique to handle the target biological entity without affecting the actuation of the microrobot. Finally, we will discuss the future directions that would draw the basic outline for the next generation of mobile microrobots for in-vitro applications.

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“…PET and SPECT provide high sensitivity and molecular information, but the radiation dose remains the foremost concern when an extended use is required to monitor MNRs. Additionally, optical methods including fluorescence, [25] reflection-based IR imaging, [26] or optical coherence tomography (OCT), [27] have been used to track MNRs below scattering tissues with excellent spatiotemporal resolution but have been limited to sub-skin level or superficial medical applications (typically ≈1-2 mm in thick biological tissues). [28,29] Unfortunately, in optical methods, spatial resolution degrades significantly with depth due to pronounced light scattering.…”

Section: Introductionmentioning

confidence: 99%

Dual Ultrasound and Photoacoustic Tracking of Magnetically Driven Micromotors: From In Vitro to In Vivo

Aziz

Holthof

Meyer

et al. 2021

Adv Healthcare Materials

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The fast evolution of medical micro-and nanorobots in the endeavor to perform non-invasive medical operations in living organisms has boosted the use of diverse medical imaging techniques in the last years. Among those techniques, photoacoustic imaging (PAI), considered a functional technique, has shown to be promising for the visualization of micromotors in deep tissue with high spatiotemporal resolution as it possesses the molecular specificity of optical methods and the penetration depth of ultrasound. However, the precise maneuvering and function's control of medical micromotors, in particular in living organisms, require both anatomical and functional imaging feedback. Therefore, herein, the use of high-frequency ultrasound and PAI is reported to obtain anatomical and molecular information, respectively, of magnetically-driven micromotors in vitro and under ex vivo tissues. Furthermore, the steerability of the micromotors is demonstrated by the action of an external magnetic field into the uterus and bladder of living mice in real-time, being able to discriminate the micromotors' signal from one of the endogenous chromophores by multispectral analysis. Finally, the successful loading and release of a model cargo by the micromotors toward non-invasive in vivo medical interventions is demonstrated.

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Automated In Vivo Navigation of Magnetic-Driven Microrobots Using OCT Imaging Feedback

Cited by 43 publications

References 32 publications

A Review of Microrobot’s System: Towards System Integration for Autonomous Actuation In Vivo

A Review of Microrobot’s System: Towards System Integration for Autonomous Actuation In Vivo

Mobile Microrobots for In Vitro Biomedical Applications: A Survey

Dual Ultrasound and Photoacoustic Tracking of Magnetically Driven Micromotors: From In Vitro to In Vivo

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