期刊
INTERNATIONAL JOURNAL OF OPTOMECHATRONICS
卷 10, 期 2, 页码 73-96出版社
TAYLOR & FRANCIS INC
DOI: 10.1080/15599612.2016.1166305
关键词
Microrobotics; MRI-based sensing; navigation; path planning; visual tracking
资金
- European Union
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 article aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in the human body. The proposed approaches are validated with different experiments.
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