Gradient waveform synthesis for magnetic propulsion using MRI gradient coils

Automatic Path Tracking and Target Manipulation of a Magnetic Microrobot

Recently, wireless controlled microrobots have been studied because of their great development prospects in the biomedical field. Electromagnetic microrobots have the advantages of control agility and good precision, and thus, have received much attention. Most of the control methods for controlling a magnetic microrobot use manual operation. Compared to the manual method, the automatic method will increase the accuracy and stability of locomotion and manipulation of microrobots. In this paper, we propose an electromagnetic manipulation system for automatically controlling the locomotion and manipulation of microrobots. The microrobot can be automatically controlled to track various paths by using visual feedback with an expert control algorithm. A positioning accuracy test determined that the position error ranges from 92 to 293 μm, which is less than the body size (600 μm) of the microrobot. The velocity of the microrobot is nearly proportional to the applied current in the coils, and can reach 5 mm/s. As a micromanipulation tool, the microrobot is used to manipulate microspheres and microgears with the automatic control method. The results verify that the microrobot can drag, place, and drive the microstructures automatically with high precision. The microrobot is expected to be a delicate micromachine that could play its role in microfluidics and blood vessels, where conventional instruments are hard to reach.

A Power-Efficient Propulsion Method for Magnetic Microrobots

Current magnetic systems for microrobotic navigation consist of assemblies of electromagnets, which allow for the wireless accurate steering and propulsion of sub-millimetric bodies. However, large numbers of windings and/or high currents are needed in order to generate suitable magnetic fields and gradients. This means that magnetic navigation systems are typically cumbersome and require a lot of power, thus limiting their application fields. In this paper, we propose a novel propulsion method that is able to dramatically reduce the power demand of such systems. This propulsion method was conceived for navigation systems that achieve propulsion by pulling microrobots with magnetic gradients. We compare this power-efficient propulsion method with the traditional pulling propulsion, in the case of a microrobot swimming in a micro-structured confined liquid environment. Results show that both methods are equivalent in terms of accuracy and the velocity of the motion of the microrobots, while the new approach requires only one ninth of the power needed to generate the magnetic gradients. Substantial equivalence is demonstrated also in terms of the manoeuvrability of user-controlled microrobots along a complex path.

An MRI-powered and controlled actuator technology for tetherless robotic interventions

This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. In the proposed approach, the MRI scanner is used to deliver power, estimate actuator state and perform closed-loop control. The actuators themselves are compact, inexpensive and wireless. Using needle driving as an example application, actuation principles and force production capabilities are examined. Actuator stability and performance are analyzed for the two cases of state estimation at the input versus the output of the actuator transmission. Closed-loop needle position control is achieved by interleaving imaging pulse sequences to estimate needle position (transmission output estimation) and propulsion pulse sequences to drive the actuator. A prototype needle driving robot is used to validate the proposed approach in a clinical MRI scanner.

Magnetic nanoparticle density mapping from the magnetically induced displacement data: a simulation study

Background

Magnetic nanoparticles are gaining great roles in biomedical applications as targeted drug delivery agents or targeted imaging contrast agents. In the magnetic nanoparticle applications, quantification of the nanoparticle density deposited in a specified region is of great importance for evaluating the delivery of the drugs or the contrast agents to the targeted tissues. We introduce a method for estimating the nanoparticle density from the displacement of tissues caused by the external magnetic field.

Methods

We can exert magnetic force to the magnetic nanoparticles residing in a living subject by applying magnetic gradient field to them. The nanoparticles under the external magnetic field then exert force to the nearby tissues causing displacement of the tissues. The displacement field induced by the nanoparticles under the external magnetic field is governed by the Navier's equation. We use an approximation method to get the inverse solution of the Navier's equation which represents the magnetic nanoparticle density map when the magnetic nanoparticles are mechanically coupled with the surrounding tissues. To produce the external magnetic field inside a living subject, we propose a coil configuration, the Helmholtz and Maxwell coil pair, that is capable of generating uniform magnetic gradient field. We have estimated the coil currents that can induce measurable displacement in soft tissues through finite element method (FEM) analysis.

Results

From the displacement data obtained from FEM analysis of a soft-tissue-mimicking phantom, we have calculated nanoparticle density maps. We obtained the magnetic nanoparticle density maps by approximating the Navier's equation to the Laplacian of the displacement field. The calculated density maps match well to the original density maps, but with some halo artifacts around the high density area. To induce measurable displacement in the living tissues with the proposed coil configuration, we need to apply the coil currents as big as 10⁴A.

Conclusions

We can obtain magnetic nanoparticle maps from the magnetically induced displacement data by approximating the Navier's equation under the assumption of uniform-gradient of the external magnetic field. However, developing a coil driving system with the capacity of up to 10⁴A should be a great technical challenge.

MRI-powered Actuators for Robotic Interventions

This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability of the approach for needle biopsies. The concepts of actuator locking mechanisms and multi-axis control are also introduced.

Magnetic navigation of an untethered micro device using four stationary coils

We introduce a magnetic navigation of a small magnet using four stationary coils. We used a Maxwell gradient coil to get magnetic propulsion force and three Helmholtz coils to control the moving direction of the magnet in the magnetic navigation. Using a three-channel coil driver with output capacity of 320A, we performed magnetic navigation of a small NdFeB magnet with the size of 10 mm x 10 mm x 12 mm on a horizontal plane. When navigated with a slow speed of about 1 mm/s, the magnet kept track of any arbitrary navigational path. We expect the proposed magnetic navigation method can be easily incorporated into the system for human applications since it does not use any moving coils.