Towards MRI-guided and actuated tetherless milli-robots: Preoperative planning and modeling of control

Thibault Kensicher, Julien Leclerc, Daniel Biediger, Dipan J. Shah, Ioannis Seimenis, Aaron T. Becker, Nikolaos V. Tsekos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Image-guided and robot-assisted surgical procedures are rapidly evolving due to their potential to improve patient management and cost effectiveness. Magnetic Resonance Imaging (MRI) is used for pre-operative planning and is also investigated for real-time intra-operative guidance. A new type of technology is emerging that uses the magnetic field gradients of the MR scanner to maneuver ferromagnetic agents for local delivery of therapeutics. With this approach, MRI is both a sensor and forms a closed-loop controlled entity that behaves as a robot (we refer to them as MRbots). The objective of this paper is to introduce a computational framework for preoperative planning using MRI and modeling of MRbot maneuvering inside tortuous blood vessels. This platform generates a virtual corridor that represents a safety zone inside the vessel that is then used to access the safety of the MRbot maneuvering. In addition, to improve safety we introduce a control that sets speed based on the local curvature of the vessel. The functionality of the framework was then tested on a realistic operational scenario of accessing a neurological lesion, a meningioma. This virtual case study demonstrated the functionality and potential of MRbots as well as revealed two primary challenges: real-time MRI (during propulsion) and the need of very strong gradients for maneuvering small MRbots inside narrow cerebral vessels. Our ongoing research focuses on further developing the computational core, MR tracking methods, and on-line interfacing to the MR scanner.

Original languageEnglish (US)
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6440-6447
Number of pages8
ISBN (Electronic)9781538626825
DOIs
StatePublished - Dec 13 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: Sep 24 2017Sep 28 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period9/24/179/28/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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