MRI-based dynamic tracking of an untethered ferromagnetic microcapsule navigating in liquid |
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Authors: | Christian Dahmen Karim Belharet David Folio Sergej Fatikow |
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Affiliation: | 1. Division Microrobotics and Control Engineering, University of Oldenburg, Oldenburg, Germany;2. Hautes Etudes d’Ingénieurs Campus Centre, PRISME EA 4229, Bourges, France;3. INSA Centre Val de Loire, Université d'Orléans, PRISME EA 4229, Bourges, France |
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Abstract: | The propulsion of ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the ferromagnetic objects, and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment, integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for controlled interventional targeted therapeutic applications. Through MRI–based sensing analysis, this article aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in the human body. The proposed approaches are validated with different experiments. |
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Keywords: | Microrobotics MRI-based sensing navigation path planning visual tracking |
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