Article

Magnetic resonance propulsion, control and tracking at 24 Hz of an untethered device in the carotid artery of a living animal: an important step in the development of medical micro- and nanorobots.

NanoRobotics Laboratory, Department of Computer Engineering and Institute of Biomedical Engineering, Ecole Polytechnique de Montréal (EPM), Campus of the Université de Montréal, Montréal, Quebec, Canada.
Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 02/2007; 2007:1475-8. DOI: 10.1109/IEMBS.2007.4352579
Source: IEEE Xplore

ABSTRACT Our recent demonstration of a ferromagnetic bead being navigated automatically inside the carotid artery of a living animal at an average speed of 10 cm/s using a clinical MRI system may be considered as a significant step in the field of medical micro- and nanorobotics. This is particularly true when we consider that an appropriate tracking method was embedded in the closed-loop control process allowing the blood vessels to be considered as navigational routes, providing maximum access for conducting operations inside the human body. But more importantly, this demonstration not only validates preliminary theoretical models but provides us with initial insights about the strategies and approaches that are likely to be used to navigate under computer control, micro- and nanodevices including nanorobots from the largest to the smallest diameter blood vessels that could be used to reach targets inside the human body. Here, based on these initial experimental data obtained in vivo, such strategies and methods are briefly described with some initial design concepts of medical interventional micro- and nanorobots.

1 Bookmark
 · 
69 Views
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Medical nanorobotics exploits nanometer-scale components and phenomena with robotics to provide new medical diagnostic and interventional tools. Here, the architecture and main specifications of a novel medical interventional platform based on nanorobotics and nanomedicine, and suited to target regions inaccessible to catheterization are described. The robotic platform uses magnetic resonance imaging (MRI) for feeding back information to a controller responsible for the real-time control and navigation along pre-planned paths in the blood vessels of untethered magnetic carriers, nanorobots, and/or magnetotactic bacteria (MTB) loaded with sensory or therapeutic agents acting like a wireless robotic arm, manipulator, or other extensions necessary to perform specific remote tasks. Unlike known magnetic targeting methods, the present platform allows us to reach locations deep in the human body while enhancing targeting efficacy using real-time navigational or trajectory control. The paper describes several versions of the platform upgraded through additional software and hardware modules allowing enhanced targeting efficacy and operations in very difficult locations such as tumoral lesions only accessible through complex microvasculature networks.
    The International Journal of Robotics Research 09/2009; 28(9):1169-1182. · 2.86 Impact Factor
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Standard transmission methods such as RF have been considered for untethered robots that need to send messages and information to an external computer. But, as the overall sizes of such robots decrease, the implementation of such transmission systems within the space and power constraints becomes more challenging. For microrobots, the challenge is even greater and furthermore, the overall size of such microrobots can often decrease to a level where the implementation of transmitters as we know them today, cannot be implemented due to several reasons. First, known transmitters require a relatively large amount of electrical power, which is a concern for microrobots. Indeed, a power source such as a battery cannot be embedded since it will be much larger than the microrobot itself. Power can be induced but again, the size of the reception coils capable of providing sufficient electrical power for the transmitter would also be much larger than the robot itself. Another constraint is the overall size of the transmission antennae which would be larger than a single microrobot. As such, a new transmission scheme that can be embedded in an intelligent microrobot with overall dimensions slightly larger than the human hair thickness is briefly introduced. When operating in proximity of an extremely sensitive magnetic receptor, a small electrical current provided by miniature photovoltaic cells on top of the microrobot can be used to generate a local electromagnetic field perturbation sufficiently high to be detected. By modulating such local electromagnetic field from sensory information captured by the microrobot, data and communication commands can be transmitted based on sensory information to an external central computer that could be used to coordinate a swarm of such intelligent microrobots.
    Circuits and Systems and TAISA Conference, 2009. NEWCAS-TAISA '09. Joint IEEE North-East Workshop on; 08/2009
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application. A literature review pertaining to commercial medical systems which incorporate autonomous and semi-autonomous features, as well as experimental work involving automation of various surgical procedures, is presented. Results are drawn from major databases, excluding papers not experimentally implemented on real robots. Our search yielded several experimental and clinical applications, describing progress in autonomous surgical manoeuvres, ultrasound guidance, optical coherence tomography guidance, cochlear implantation, motion compensation, orthopaedic, neurological and radiosurgery robots. Autonomous and semi-autonomous systems are beginning to emerge in various interventions, automating important steps of the operation. These systems are expected to become standard modality and revolutionize the face of surgery.
    International Journal of Medical Robotics and Computer Assisted Surgery 08/2011; 7(4):375-92. · 1.49 Impact Factor

Full-text (2 Sources)

View
3 Downloads
Available from