MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics

David Folio (1) , Christian Dahmen (2) , Tim Wortmann (2) , M. Arif Zeeshan (3) , Kaiyu Shou (3) , Salvador Pane (3) , Bradley J. Nelson (3) , Antoine Ferreira (1) , Sergej Fatikow (2)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 Department für Informatik [Oldenburg]
3 IRIS - Institute of Robotics and Intelligent Systems

The propulsion of nano-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 microdevice 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 potential controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this paper aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in human body. The proposed approaches are validated with different experiments.

Mots clés: Magnetic resonance imaging; Navigation; Planning; Sensors; Target tracking; Uncertainty

Domaines: Automatique / Robotique

David Folio, Christian Dahmen, Tim Wortmann, M. Arif Zeeshan, Kaiyu Shou, et al.. MRI magnetic signature imaging, tracking and navigation for targeted micro/nano-capsule therapeutics. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Fransisco, CA, United States. pp.1297--1303, ⟨10.1109/IROS.2011.6048651⟩. ⟨hal-00643169⟩