MRI-based dynamic tracking of an untethered ferromagnetic microcapsule navigating in liquid

Christian Dahmen; Karim Belharet; David Folio; Antoine Ferreira; Sergej Fatikow

doi:10.1080/15599612.2016.1166305

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 paper aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in human body. The proposed approaches are validated with different experiments.

Keywords: Microrobotics, MRI-based sensing, navigation, path planning, visual tracking

Funding

This work was supported by the PHC PROCOPE project.

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Citation

BibTeX citation:

@article{dahmen2016,
  author = {Dahmen, Christian and Belharet, Karim and Folio, David and
    Ferreira, Antoine and Fatikow, Sergej},
  publisher = {Taylor \& Francis},
  title = {MRI-Based Dynamic Tracking of an Untethered Ferromagnetic
    Microcapsule Navigating in Liquid},
  journal = {International Journal of Optomechatronics},
  volume = {10},
  number = {2},
  pages = {73-96},
  date = {2016-04-05},
  url = {https://dfolio.fr/publications/articles/2016dahmenIJO.html},
  doi = {10.1080/15599612.2016.1166305},
  issn = {1536-1241},
  langid = {en},
  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 paper aims to propose a framework to plan a
    robust pathway to enhance the navigation ability to reach deep
    locations in human body. The proposed approaches are validated with
    different experiments.}
}

For attribution, please cite this work as:

Dahmen C., Belharet K., Folio D., Ferreira A., and Fatikow S., “MRI-based dynamic tracking of an untethered ferromagnetic microcapsule navigating in liquid,” Int. J. Optomechatronics., vol. 10, pp. 73–96, April 2016. [Online]. Available: https://dfolio.fr/publications/articles/2016dahmenIJO.html