title: Real-time MRI-based control of a ferromagnetic core for endovascular navigation.
abstract: 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.
authors.affiliation: Ecole Polytechnique de Montréal, Montréal, QC H3C 3A7, Canada. samer.tamaz@polymtl.ca
authors.forename: Samer
authors.initials: S
authors.lastname: Tamaz
authors.forename: Richard
authors.initials: R
authors.lastname: Gourdeau
authors.forename: Arnaud
authors.initials: A
authors.lastname: Chanu
authors.forename: Jean-Baptiste
authors.initials: JB
authors.lastname: Mathieu
authors.forename: Sylvain
authors.initials: S
authors.lastname: Martel
mesh_terms: D000465:Algorithms; D001808:Blood Vessels / Q000033:anatomy & histology*; D003199:Computer Systems; D004867:Equipment Design; D019544:Equipment Failure Analysis; D008279:Magnetic Resonance Imaging / Q000295:instrumentation* / Q000379:methods*; D008280:Magnetics / Q000295:instrumentation*; D014159:Transducers