Steering Rotating Magnetic Swimmers in 2.5 Dimensions Using Only 2D Ultrasonography for Position Sensing

Lu, Yitong; Zhao, Haoran; Becker, Aaron T.; Leclerc, Julien

doi:10.1109/lra.2022.3146560

Cited by 5 publications

(3 citation statements)

References 33 publications

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“…These miniature devices have potential impact in targeted and minimally invasive interventions, enabling precise navigation through intricate vascular networks and providing more effective and safer treatment than traditional methods [9], [10]. One promising approach to achieving the capabilities mentioned above is through the use of magnetically-driven USHDs [11]. By an externally applied rotating magnetic field, these USHDs can be controlled and guided inside the blood vessels, enabling them to navigate with high precision and maneuverability [12], [13].…”

Section: Introductionmentioning

confidence: 99%

Navigation of Untethered Small-Scale Helical Devices Using Magnetic System Under Ultrasound Guidance

Li,

Misra,

Khalil

2023

IEEE Trans. Med. Robot. Bionics

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Magnetic actuation of untethered small-scale helical devices (USHDs) shows great potential for targeted drug delivery or as minimally invasive surgical tools in the human body. However, ensuring the success of therapeutic interventions in anatomically challenging regions, such as neck vascular networks with winding pathways and branching, demands the incorporation of precise image feedback and a robust control method. How to construct a control method with precise navigation ability in complex and hard-to-reach body districts is still a challenging work. In this paper, we propose a closed-loop control strategy for the USHD based on a permanent-magnet robotic (PMR) system inside a three-dimensional (3-D) vascular model with blood. First, the 3-D vascular model is reconstructed using 2-D ultrasound images. Second, the point-to-point closed-loop control of the USHD is performed under ultrasound guidance, and the control input is obtained to act on both the PMR system and the ultrasound system. Next, the USHD navigates the different pathways of the 3-D vascular model under the proposed control strategy. Finally, our in vitro experimental results indicate that the maximum mean absolute position error between the target point of each branch and the actual position reached by the USHD (length and diameter of 6 mm and 1.5 mm, respectively) is 6.4±3.8 mm and 4.2±2.8 mm when the blood flow rate is 16.6 mL/min, which corresponds to 28% of the maximum venous flow rate.

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Section: Introductionmentioning

confidence: 99%

Navigation of Untethered Small-Scale Helical Devices Using Magnetic System Under Ultrasound Guidance

Li,

Misra,

Khalil

2023

IEEE Trans. Med. Robot. Bionics

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“…This innovative system successfully mitigated the electrical resistance of copper wires, resulting in reduced heat generation during the operation of the magnetic field, where this system incorporated six electromagnets, and its capability to control the MHD was empirically demonstrated. Further, this innovative system has been used to design a closed-loop control method to drive the MHD in 3-D space by combining visual feedback or ultrasound feedback [74]- [79]. Meantime, Zhang et al have proposed an innovative magnetic actuation device that combines a motor module and a coil module [72].…”

Section: Actuation and Controlmentioning

confidence: 99%

“…These miniature devices have potential impact in targeted and minimally invasive interventions, enabling precise navigation through intricate vascular networks and providing more effective and safer treatment than traditional methods [132], [189]. One promising approach to achieving the capabilities mentioned above is through the use of magnetically-driven USHDs [190]. By an externally applied rotating magnetic field, these USHDs can be controlled and guided inside the blood vessels, enabling them to navigate with high precision and maneuverability [175], [191].…”

Section: Introductionmentioning

confidence: 99%

Advancements in Navigation of Untethered Small-Scale Helical Devices

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To conclude this doctoral thesis, we discuss the results of the three studies conducted in this research, which are covered in Chapters 2-4. Chapter 5 begins by laying out the conclusions and focusing on three key themes: 1) actuation system optimization, 2) biodegradability and safety, 3) ex vivo and in vivo experiments. Finally, directions on future research and an outlook are provided. While the scope of this doctoral research is limited to laboratory experiments, it paves the way for future ex vivo and in vivo experiments. Furthermore, it lays the foundation for future medical applications. 7

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Contrast-enhanced ultrasound tracking of helical propellers with acoustic phase analysis and comparison with color Doppler

et al. 2022

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Medical microrobots (MRs) hold the potential to radically transform several interventional procedures. However, to guarantee therapy success when operating in hard-to-reach body districts, a precise and robust imaging strategy is required for monitoring and controlling MRs in real-time. Ultrasound (US) may represent a powerful technology, but MRs' visibility with US needs to be improved, especially when targeting echogenic tissues. In this context, motions of MRs have been exploited to enhance their contrast, e.g., by Doppler imaging. To exploit a more selective contrast-enhancement mechanism, in this study, we analyze in detail the characteristic motions of one of the most widely adopted MR concepts, i.e., the helical propeller, with a particular focus on its interactions with the backscattered US waves. We combine a kinematic analysis of the propeller 3D motion with an US acoustic phase analysis (APA) performed on the raw radio frequency US data in order to improve imaging and tracking in bio-mimicking environments. We validated our US-APA approach in diverse scenarios, aimed at simulating realistic in vivo conditions, and compared the results to those obtained with standard US Doppler. Overall, our technique provided a precise and stable feedback to visualize and track helical propellers in echogenic tissues (chicken breast), tissue-mimicking phantoms with bifurcated lumina, and in the presence of different motion disturbances (e.g., physiological flows and tissue motions), where standard Doppler showed poor performance. Furthermore, the proposed US-APA technique allowed for real-time estimation of MR velocity, where standard Doppler failed.

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Steering Rotating Magnetic Swimmers in 2.5 Dimensions Using Only 2D Ultrasonography for Position Sensing

Cited by 5 publications

References 33 publications

Navigation of Untethered Small-Scale Helical Devices Using Magnetic System Under Ultrasound Guidance

Navigation of Untethered Small-Scale Helical Devices Using Magnetic System Under Ultrasound Guidance

Advancements in Navigation of Untethered Small-Scale Helical Devices

Contrast-enhanced ultrasound tracking of helical propellers with acoustic phase analysis and comparison with color Doppler

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