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

Felfoul, Ouajdi; Aboussouan, Eric; Chanu, Arnaud

doi:10.1109/robot.2009.5152567

Cited by 8 publications

(11 citation statements)

References 17 publications

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“…We are now ready to prove convergence of the closedloop system (10)-(9) similar to the stability proof of the nominal system, (4)- (6). Later, we are going to employ this result to find the condition for switching between actuation and tracking.…”

Section: B Optimal Switchingmentioning

confidence: 92%

“…This means that the system receives the value of its state measurement with a delay of ∆-time period, where ∆ = 20msec=const.∈ R + . We should find a control law closely related to (6), that is applied for some time period, accounting for measurement delay, and rendering the overall closed-loop system stable:…”

Section: A Problem Formulationmentioning

confidence: 99%

“…Developments focus on micron-scale robots, [2], [11], or nano-scale robots [8], proposed for a variety of medical applications as in [3], [8]. Instead, in this paper we are proposing millimeter-scale robots, as they offer advantages in some clinical applications where larger forces are needed and larger payloads should be carried, [6]. Moreover, MRI-based actuation imposes additional restrictions and difficulties that do not arise for systems powered by custom-made coils.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, MRI-based actuation imposes additional restrictions and difficulties that do not arise for systems powered by custom-made coils. Only a few papers have appeared that are employing clinical MRI scanners, as in [6], [10].…”

Section: Introductionmentioning

confidence: 99%

“…The topic of magnetically controlling individual robots has gained much attention, [1], [6], whereas very few results have been presented for controlling groups of magnetic robots. The design of a multi-particle formulation has considerable advantages as it can widen the medical applications that already have been proposed for a single magnetic particle.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

MRI-powered closed-loop control for multiple magnetic capsules

Eqtami

Felfoul

Dupont

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Control of multiple magnetic particles inside the human body may have many potential applications, such as drug delivery in places where conventional procedures cannot reach. A natural candidate for powering as well as tracking these magnetic particles is the MRI scanner. Although it offers the means to control the particles, it also poses difficulties: the magnetic field is applied uniformly to the group, thus making the independent control of each particle a challenging issue, while the actuation and the tracking are interleaved which can result to delays in actuation and measurement. The closed-loop control of a group of millimeter-scale particles, immersed in fluid, driven by the MRI scanner is studied in this paper. More specifically, this problem is presented in a unified manner, handling such issues as delays, constraints, as well as disturbances, and results in a robustly stable controller. We also propose a condition that effectively answers when the system should be in tracking mode versus actuation mode. In addition to theoretical results, the capability of the proposed controller is illustrated through simulation results.

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Section: B Optimal Switchingmentioning

confidence: 92%

Section: A Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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MRI-powered closed-loop control for multiple magnetic capsules

Eqtami

Felfoul

Dupont

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Image‐Guided Magnetic Thermoseed Navigation and Tumor Ablation Using a Magnetic Resonance Imaging System

Mohseni

et al. 2022

Advanced Science

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Medical therapies achieve their control at expense to the patient in the form of a range of toxicities, which incur costs and diminish quality of life. Magnetic resonance navigation is an emergent technique that enables image‐guided remote‐control of magnetically labeled therapies and devices in the body, using a magnetic resonance imaging (MRI) system. Minimally INvasive IMage‐guided Ablation (MINIMA), a novel, minimally invasive, MRI‐guided ablation technique, which has the potential to avoid traditional toxicities, is presented. It comprises a thermoseed navigated to a target site using magnetic propulsion gradients generated by an MRI scanner, before inducing localized cell death using an MR‐compatible thermoablative device. The authors demonstrate precise thermoseed imaging and navigation through brain tissue using an MRI system (0.3 mm), and they perform thermoablation in vitro and in vivo within subcutaneous tumors, with the focal ablation volume finely controlled by heating duration. MINIMA is a novel theranostic platform, combining imaging, navigation, and heating to deliver diagnosis and therapy in a single device.

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Magnetic Manipulation with Several Mobile Coils Towards Gastrointestinal Capsular Endoscopy

Veron

Abadie

Hubert

et al. 2012

New Trends in Mechanism and Machine Science

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Traditional techniques of endoscopy based on flexible endoscopes are fairly reliable but poorly tolerated by patients and do not give access to the small bowel. It has been demonstrated that magnetic fields are usable for manipulating an untethered magnet, either using fixed coils or mobile permanent magnets. We introduce a novel approach for magnetic manipulation and present the preliminary results obtained by simulating a planar manipulation system including multiple mobile coils.

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

Cited by 8 publications

References 17 publications

MRI-powered closed-loop control for multiple magnetic capsules

MRI-powered closed-loop control for multiple magnetic capsules

Image‐Guided Magnetic Thermoseed Navigation and Tumor Ablation Using a Magnetic Resonance Imaging System

Magnetic Manipulation with Several Mobile Coils Towards Gastrointestinal Capsular Endoscopy

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