Magnetic navigation control of microagents in the vascular network: Challenges and strategies for endovascular magnetic navigation control of microscale drug delivery carriers

IEEE Control Systems

Volumn 33, Issue 6, 2013, Pages 119-134

  Martel, Sylvain ^a,b  

^a Institute of Biomedical Engineering   (Canada)

^b ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DRUG DELIVERY CARRIER; ENDOVASCULAR NAVIGATION; ENVIRONMENTAL CONDITIONS; MAGNETIC NAVIGATION; MEDICAL MICRO-ROBOTICS; NAVIGATION CONTROLS; SYSTEMIC CIRCULATION; THERAPEUTIC INTERVENTION;

BLOOD VESSELS; CHEMOTHERAPY; MICROCIRCULATION;

NAVIGATION;

EID: 84888320569     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/MCS.2013.2279477     Document Type: Article

References (46)

1. K. K. Jain, Editorial: Targeted drug delivery for cancer, Technol. Cancer Treat., vol. 4, no. 4, pp. 311-313, 2005 (Pubitemid 41242607)
2. B. J. Nelson, I. K. Kaliakatsos, and J. J. Abbott, Microrobots for minimally invasive medicine, Annu. Rev. Biomed. Eng., vol. 12, pp. 55-85, June 2010
3. P. Pouponneau, J-C. Leroux, and S. Martel, Magnetic nanoparticles encapsulated into biodegradable microparticles steered with an upgraded magnetic resonance imaging system for tumor chemoembolization, Biomaterials, vol. 30, no. 31, pp. 6327-6332, 2009
4. D. J. Schaefer, J. D. Bourland, and J. A. Nyenhuis, Review of patient safety in time-varying gradient fields, J. Magn. Reson. Imaging, vol. 12, no. 1, pp. 20-29, 2000 (Pubitemid 30437261)
5. R. R. Price, The AAPM/RSNA physics tutorial for residents: MR imaging safety considerations, RadioGraphics, vol. 19, no. 6, pp. 1641-1651, 1999
6. D. C. Jiles, Recent advances and future directions in magnetic materials, Acta Mater., vol. 51, no. 19, pp. 5907-5939, 2003
7. J-B. Mathieu, G. Beaudoin, and S. Martel, Method of propulsion of a ferromagnetic core in the cardiovascular system through magnetic gradients generated by an MRI system, IEEE Trans. Biomed. Eng., vol. 53, no. 2, pp. 292-299, Feb. 2006 (Pubitemid 43168160)
8. S. Martel, J-B. Mathieu, O. Felfoul, A. Chanu, É. Aboussouan, S. Tamaz, P. Pouponneau, G. Beaudoin, G. Soulez, L'H. Yahia, and M. Mankiewicz, Automatic navigation of an untethered device in the artery of a living animal using a conventional clinical magnetic resonance imaging system, Appl. Phys. Lett., vol. 90, no. 11, article 114105, 2007
9. C. L. Dumoulin and H. R. Hart, Magnetic resonance angiography, Radiology, vol. 161, no. 3, pp. 717-720, 1986 (Pubitemid 17200423)
10. W. R. Brody, Digital subtraction angiography, IEEE Trans. Nucl. Sci., vol. 29, no. 3, pp. 1176-1180, June 1982
11. J. M. Tobis, O. Nalcioglu, and W. L. Henry, Digital subtraction angiography, CHEST, vol. 84, no. 1, pp. 68-75, July 1983 (Pubitemid 13073625)
12. P. R. Weinstein, Digital subtraction angiography, Clin. Neurosurgery, vol. 31, pp. 90-106, 1983
13. N. Olamaei, F. Cheriet, and S. Martel, Accurate positioning of magnetic microparticles beyond the spatial resolution of clinical MRI scanners using susceptibility artifacts, in Proc. 33rd Annu. Int. Conf. IEEE Engineering Medicine Biology Society, Boston, MA, Aug. 30-Sept. 3, 2011, pp. 2800-2803
14. O. Felfoul, J-B. Mathieu, G. Beaudoin, and S. Martel, MR-Tracking based on magnetic signature selective excitation, IEEE Trans. Med. Imag., vol. 27, no. 1, pp. 28-35, Jan. 2008
15. S. Martel, C. Tremblay, S. Ngakeng, and G. Langlois, Controlled manipulation and actuation of micro-objects with magnetotactic bacteria, Appl. Phys. Lett., vol. 89, no. 23, article 233804, 2006
16. S. Martel, M. Mohammadi, O. Felfoul, Z. Lu, and P. Pouponneau, Flagellated magnetotactic bacteria as controlled MRI-Trackable propulsion and steering systems for medical nanorobots operating in the human microvasculature, Int. J. Robot. Res., vol. 28, no. 4, pp. 571-582, 2009
17. R. P. Blakemore, Magnetotactic bacteria, Science, vol. 190, no. 4212, pp. 377-379, 1975
18. R. B. Frankel and R. P. Blakemore, Navigational compass in magnetic bacteria, J. Magn. Magn. Mater., vols. 15-18, no. 3, pp. 1562-1564, 1980
19. H. Debarros, D. M. S. Esquivel, and M. Farina, Magnetotaxis, Sci. Prog., vol. 74, vol. 295, no. 3, pp. 347-359, 1990
20. S. Tognarelli, V. Castelli, G. Ciuti, C. Di Natali, E. Sinibaldi, P. Dario, and A. Menciassi, Magnetic propulsion and ultrasound tracking of endovascular devices, J. Robot. Surgery, vol. 6, no. 1, pp. 5-12, Mar. 2012
21. Stereotaxis. (2013). [Online]. Available: Www.stereotaxis.com
22. Magnetecs. (2013). [Online]. Available: Www.magnetecs.com
23. H. Keller, A. Juloski, H. Kawano, M. Bechtold, A. Kimura, H. Takizawa, and R. Kuth, Method for navigation and control of a magnetically guided capsule endoscope in the human stomach, in Proc. 4th IEEE RAS/EMBS Int. Conf. Biomedical Robotics Biomechatronics, Roma, Italy, June 24-27, 2012, pp. 859-865
24. C. Yu, J. Kim, H. Choi, J. Choi, S. Jeong, K. Cha, J. Park, and S. Park, Novel electromagnetic actuation system for three-dimensional locomotion and drilling of intravascular microrobot, Sens. Actuators A, Phys., vol. 161, nos. 1-2, pp. 297-304, June 2010
25. Aeon Scientific. (2013). [Online]. Available: Www.aeon-scientific.com
26. M. P. Kummer, J. J. Abbott, B. E. Kratochvil, R. Borer, A. Sengul, and B. J. Nelson, Octomag: An electromagnetic system for 5-DOF wireless micromanipulation, IEEE Trans. Robot., vol. 26, no. 6, pp. 1006-1017, 2010
27. S. Martel, Combining pulsed and DC gradients in a clinical MRIbased microrobotic platform to guide therapeutic agents in the vascular network, Int. J. Adv. Robot. Syst., vol. 10, article 30, Sept. 2012
28. J-B. Mathieu, G. Soulez, G. Beaudoin, O. Felfoul, A. Chanu, and S. Martel, Abstract no. 76: Steering and tracking of magnetic catheters using MRI systems, J. Vasc. Interv. Radiol., vol. 19, no. 2, pp. S31-S31, 2008
29. F. P. Gosselin, V. Lalande, and S. Martel, Characterization of the deflections of a catheter steered using a magnetic resonance imaging system, Med. Phys., vol. 38, no. 9, pp. 4994-5002, 2011
30. S. Martel, Fringe field navigation, patent pending, 2013
31. B. A. Chronik, A. Alejski, and B. K. Rutt, Design and fabrication of a three-Axis edge ROU head and neck gradient coil, Magn. Reson. Med., vol. 44, no. 6, pp. 955-953, 2000
32. R. Kimmlingen, E. Eberlein, P. Dietz, S. Kreher, J. Schuster, J. Riegler, V. Matschl, V. Schnetter, A. Schmidt, H. Lenz, E. Mustafa, D. Fischer, A. Potthast, L. Kreischer, M. Eberler, F. Hebrank, H. Thein, K. Heberlein, P. Hoecht, T. Witzel, D. Tisdall, J. Xu, E. Yacoub, G. Adriany, E. Auerbach, S. Moeller, D. Feinberg, D. Lehne, L. L. Wald, B. Rosen, K. Ugurbil, D. van Essen, V. Wedeen, and F. Schmitt, Concept and realization of high strength gradients for the human connectome project, in Proc. ISMRM 20th Annu. Meeting, 2012. p. 696
33. L. Arcèse, M. Fruchard, and A. Feirreira, Endovascular magnetically guided robots: Navigation modeling and optimization, IEEE Trans. Biomed. Eng., vol. 4,vol. 59, pp. 977-987, Apr. 2012
34. R. Skomski, G. C. Hadjipanayis, and D. J. Sellmyer, Effective demagnetization factors of complicated particle mixtures, IEEE Trans. Magn., vol. 43, no. 6, pp. 2956-2958, 2007 (Pubitemid 46795418)
35. N. Olamaei, F. Cheriet, and S. Martel, MR imaging of microvessels using iron-oxide nanoparticles, J. Appl. Phys., vol. 113, no. 12, article 124701, Mar. 2013
36. G. Vidal and S. Martel, Measuring the magnetophoretic characteristics of magnetic agents for targeted disgnostic or therapeutic interventions in the vascular network, J. Micro-Bio Robotics, vol. 8, no. 2, pp. 65-71, 2013
37. S. Tamaz, A. Chanu, J-B. Mathieu, R. Gourdeau, and S. Martel, Realtime MRI-based control of a ferromagnetic core for endovascular navigation, IEEE Trans. Biomed. Eng., vol. 55, no. 7, pp. 1854-1863, July 2008 (Pubitemid 351871636)
38. A. Ghosh and P. Fisher, Controlled propulsion of artificial magnetic nanostructured propellers, Nano Lett., vol. 9, no. 6, pp. 2243-2246, 2009
39. L. Zhang, J. J. Abbott, L. X. Dong, B. E. Kratochvil, D. J. Bell and B. J. Nelson, Artificial bacterial flagella: Fabrication and magnetic control, Appl. Phys. Lett., vol. 94, no. 6, article 064107, 2009
40. C. Dahmen, T. Wortmann, and S. Fatikow, Actuation and tracking of ferromagnetic object using MRI, Int. J. Optomechatron., vol. 6, no. 4, pp. 321-335, 2012
41. P. Vartholomeos, M. Fruchard, A. Ferreira, and C. Mavroidis, MRIguided nanorobotic systems for therapy and diagnostic applications, Annu. Rev. Biomed. Eng., vol. 13, pp. 157-184, Aug. 2011
42. P. Vartholomeos and C. Mavroidis, Simulation platform for self-Assembly structures in MRI-guided nanorobotic drug delivery systems, IEEE Int. Conf. Robotics Automation, Anchorage, AK, May 3-8, 2010, pp. 5594-5600
43. L. Arcese, M. Fruchard, and A. Ferreira, Nonlinear modeling and robust controller-observer for a magnetic microrobot in a fluidic environment using MRI gradients, in Proc. IEEE Int. Conf. Intelligent Robots Systems, San Francisco, CA, 2009, pp. 534-539
44. L. Arcese, M. Fruchard, F. Beyeler, A. Ferreira, and B. J. Nelson, Adaptive backstepping and MEMS force sensor for an MRI-guided microrobot in the vasculature, in Proc. IEEE Int. Conf. Robotics Automation, 2011, pp. 4121-4126
45. P. Vartholomeos, L. Qin, and P. E. Dupont, MRI-powered actuators for robotic interventions, in Proc. IEEE Int. Conf. Intelligent Robots Systems, 2011, pp. 4508-4515
46. B. Shapiro, K. Dormer, and I. B. Rutel, A two-magnet system to push therapeutic nanoparticles, in Proc. 8th Int. Conf. Scientific Clinical Applications of Magnetic Carriers, Amer. Inst. Phys., Rostok, Germany, 2010, pp. 77-88