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Real-Time MRI-Based Control of a Ferromagnetic Core for Endovascular Navigation

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5 Author(s)
Tamaz, Samer ; Ecole Polytech. de Montreal, Montreal, QC ; Gourdeau, R. ; Chanu, A. ; Mathieu, Jean-Baptiste
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This paper shows that even a simple proportional-integral-derivative (PID) controller can be used in a clinical MRI system for real-time navigation of a ferromagnetic bead along a predefined trajectory. Although the PID controller has been validated in vivo in the artery of a living animal using a conventional clinical MRI platform, here the rectilinear navigation of a ferromagnetic bead is assessed experimentally along a two-dimensional (2D) path as well as the control of the bead in a pulsatile flow. The experimental results suggest the likelihood of controlling untethered microdevices or robots equipped with a ferromagnetic core inside complex pathways in the human body.

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Biomedical Engineering, IEEE Transactions on  (Volume:55 ,  Issue: 7 )