Media
The video showcases the successful two-dimensional magnetic resonance navigation of a magnetic microrobot through a complex fluidic vascular-like network inside the bore of a clinical resonance imaging (MRI) scanner. For successful magnetic resonance navigation (MRN) of a microrobot along consecutive channels, an autonomous navigation strategy is required. In particular, this strategy must take into account major MRI technological constraints and physiological perturbations, such as non-negligible pulsatile flow, limitations on the magnetic gradient amplitude, MRI overheating, susceptibility artifacts uncertainties, and more. To this end, we use a navigation planning framework based on Pareto optimality to effectively address this multi-objective problem.
The supplementary files is available on the publisher site
Reuse
Copyright
Citation
@article{folio2017,
author = {Folio, David and Ferreira, Antoine},
publisher = {IEEE},
title = {Two-Dimensional {Robust} {Magnetic} {Resonance} {Navigation}
of a {Ferromagnetic} {Microrobot} {Using} {Pareto} {Optimality}},
journal = {IEEE Transactions on Robotics},
volume = {33},
number = {3},
pages = {583-593},
date = {2017-06-01},
url = {https://ieeexplore.ieee.org/document/7829399},
doi = {10.1109/TRO.2016.2638446},
issn = {1552-3098},
langid = {en},
abstract = {This paper introduces a 2D autonomous navigation strategy
of a microrobot along complex fluidic vascular network inside the
bore of a clinical magnetic resonance imaging (MRI) scanner. To
ensure successful magnetic resonance navigation (MRN) of a
microrobot along consecutive channels, the design of autonoumous
navigation strategy is needed taking into account the major MRI
technological constraints and physiological perturbations, e.g.
non-negligible pulsatile flow, limitations on the magnetic gradient
amplitude, MRI overheating, susceptibility artifacts
uncertainties... An optimal navigation planning framework based on
Pareto optimality is proposed to deal with this multiple-objective
problem. Based on these optimal conditions, a control architecture
has been implemented in an interventional medical platform for
real-time propulsion, control and imaging experiments. The
experiments suggest that the likelihood of controlling autonomously
untethered magnetic microrobots is rendered possible in a complex 2D
centimeter-sized vascular phantom. The magnetic microrobot traveled
intricate paths at a mean velocity of about 4~mm/s with average
tracking errors below 800~µm with limited magnetic gradients
±15~mT/m compatible with clinical MRI scanners. The experiments
demonstrate that it is effectively possible to autonomously guide a
magnetic microrobot using a conventional MRI scanner with only a
software upgrade.}
}