期刊
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
卷 55, 期 7, 页码 1854-1863出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TBME.2008.919720
关键词
blood vessels; ferromagnetic; magnetic resonance; minimally invasive interventions; real-time control
This paper shows that even a simple proportional-integral -derivative (PID) controller can be used in a clinical MRI system for real-time navigation of a ferromagnetic bead along a predefined trajectory. Although the PID controller has been validated in vivo in the artery of a living animal using a conventional clinical MRI platform, here the rectilinear navigation of a ferromagnetic bead is assessed experimentally along a two-dimensional (2D) path as well as the control of the bead in a pulsatile flow. The experimental results suggest the likelihood of controlling untethered microdevices or robots equipped with a ferromagnetic core inside complex pathways in the human body.
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