Magnetic Resonance Imaging‐Based Tracking and Navigation of Submillimeter‐Scale Wireless Magnetic Robots
نویسندگان
چکیده
Magnetic resonance imaging (MRI) scanners have recently been used for magnetic actuation of robots minimally invasive medical operations. Due to MRI's high soft-tissue selectivity, it is possible obtain 3D images hard-to-reach cavities in the human body, where wireless miniature powered by MRI could be employed high-precision targeted operations, such as drug delivery, stem cell therapy, and hyperthermia. However, state-of-the-art fast robot-tracking methods are limited above millimeter-size scale, which restricts potential target regions inside body. Herein, a 1D projection-based approach that can track particles down 300 μm diameter (1.17 × 10−2 emu) reported. The technique reduces trackable particle size MRI-powered navigation fivefold compared with previous fast-tracking methods. A closed-loop 0.78 ± 0.03 mm trajectory-following accuracy millimeter-sized vitro 2D channels cavity setup using tracking method demonstrated. Furthermore, feasibility submillimeter robot ex vivo pig kidneys (N = 2) 3.6 1.1 Such submillimeter-scale mobile unlock new opportunities
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ژورنال
عنوان ژورنال: Advanced intelligent systems
سال: 2021
ISSN: ['2640-4567']
DOI: https://doi.org/10.1002/aisy.202100178