journal IEEE Transactions on Robotics.

Two-Dimensional Robust Magnetic Resonance Navigation of a Ferromagnetic Microrobot Using Pareto Optimality

  • Magnetic microrobots
  • MRN
  • Optimization
  • Path planning
  • Tracking

This paper presents an optimal magnetic resonance navigation (MRN) frameworks integrated within clinical MRI scanner constraints.

Q1 IF: 6.835
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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.

Keywords: Microrobotics, Magnetic Resonance Imaging, Magnetic Resonance Navigation, Multi-ojective planning

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.

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BibTeX 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.}
}
For attribution, please cite this work as:
Folio D. and Ferreira A., “Two-Dimensional Robust Magnetic Resonance Navigation of a Ferromagnetic Microrobot Using Pareto Optimality,” IEEE Trans. on Robot., vol. 33, pp. 583–593, June 2017. [Online]. Available: https://ieeexplore.ieee.org/document/7829399