Automatic navigation of an untethered device in the artery of a living animal using a conventional clinical magnetic resonance imaging system

作者：Sylvain M. Martel, Jean‐Baptiste Mathieu, Ouajdi Felfoul, Arnaud Chanu, Eric Aboussouan, Samer Tamaz, Pierre Pouponneau, L’Hocine Yahia, Gilles Beaudoin, Gilles Soulez, Martin Mankiewicz · 发表于：Applied Physics Letters · 年份：2007 · DOI：10.1063/1.2713229 · 被引用次数：358 · 研究领域：Photoacoustic and Ultrasonic Imaging、Soft Robotics and Applications

The feasibility for in vivo navigation of untethered devices or robots is demonstrated with the control and tracking of a 1.5mm diameter ferromagnetic bead in the carotid artery of a living swine using a clinical magnetic resonance imaging (MRI) platform. Navigation is achieved by inducing displacement forces from the three orthogonal slice selection and signal encoding gradient coils of a standard MRI system. The proposed method performs automatic tracking, propulsion, and computer control sequences at a sufficient rate to allow navigation along preplanned paths in the blood circulatory system. This technique expands the range of applications in MRI-based interventions.