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A study of magnetic aggregation in the context of magnetic resonance imaging (MRI) based actuated targeting is proposed. MRI systems can induce displacement forces on magnetized particles as they flow through the blood vessels. Magnetic aggregation of the particles happens when they are placed within the magnetic field of the MRI system and can greatly influence the MRI steering dynamics of magnetic particles. In this paper, a review of the different parameters that can be used to tailor the size, geometry, stiffness, and density of magnetic aggregates is proposed. Then, magnetic aggregation experiments on a suspension of Fe3O4 microparticles ranging from 0.1 to 100 μm in diameter are described. The effects of particle concentration, flow rate, and magnetic field amplitude were evaluated. Field amplitudes of 1.5 mT, 0.4 T, and 1.5 T fields were applied without any magnetic steering gradients and caused aggregates that could sometimes exceed 1 mm in length. Since magnetic aggregates can reach higher magnetophoretic velocities than individual particles, large aggregates could be exploited in larger arteries with important blood flows. A few strategies are discussed to assist in the design of MRI steering experiments by enhancing the positive effects of magnetic aggregation over its negative effects. [ABSTRACT FROM AUTHOR]

Purpose To characterize peripheral nerve stimulation (PNS) of an asymmetric head-only gradient coil that is compatible with a commercial high-channel-count receive-only array. Methods Two prototypes of an asymmetric head-only gradient coil set with a 42-cm inner diameter were constructed for brain imaging at 3T with maximum performance specifications of up to 85 mT/m and 708 T/m/s. Tests were performed in 24 volunteers to measure PNS thresholds with the transverse (x = left-right; y = anterior-posterior [A/P]) gradient coils of both prototypes. Fourteen of these 24 volunteers were also tested for the z-gradient PNS in the second prototype and were scanned with high-slew-rate echo planar imaging (EPI) immediately after the PNS tests. Results For both prototypes, the y-gradient PNS threshold was markedly higher than the x-gradient threshold. The z-gradient threshold was intermediate between those for the x- and y-coils. Of the 24 volunteers, only two experienced y-gradient PNS at 80 mT/m and 500 T/m/s. All volunteers underwent the EPI scan without PNS when the readout direction was set to A/P. Conclusion Measured PNS characteristics of asymmetric head-only gradient coil prototypes indicate that such coils, especially in the A/P direction, can be used for fast EPI readout in high-performance neuroimaging scans with substantially reduced PNS concerns compared with conventional whole body gradient coils. Magn Reson Med 76:1939-1950, 2016. © 2015 International Society for Magnetic Resonance in Medicine [ABSTRACT FROM AUTHOR]

Purpose: A compact, three-tesla magnetic resonance imaging (MRI) system has been developed. It features a 37 cm patient aperture, allowing the use of commercial receiver coils. Its design allows simultaneously for gradient amplitudes of 85 millitesla per meter (mT/m) sustained and 700 tesla per meter per second (T/m/s) slew rates. The size of the gradient system allows for these simultaneous performance targets to be achieved with little or no peripheral nerve stimulation, but also raises a concern about the geometric distortion as much of the imaging will be done near the system's maximum 26 cm field-of-view. Additionally, the fast switching capability raises acoustic noise concerns. This work evaluates the system for both the American College of Radiology's (ACR) MRI image quality protocol and the Food and Drug Administration's (FDA) nonsignificant risk (NSR) acoustic noise limits for MR. Passing these two tests is critical for clinical acceptance. Methods: In this work, the gradient system was operated at the maximum amplitude and slew rate of 80 mT/m and 500 T/m/s, respectively. The geometric distortion correction was accomplished by iteratively determining up to the tenth order spherical harmonic coefficients using a fiducial phantom and position-tracking software, with seventh order correction utilized in the ACR test. Acoustic noise was measured with several standard clinical pulse sequences. Results: The system passes all the ACR image quality tests. The acoustic noise as measured when the gradient coil was inserted into a whole-body MRI system conforms to the FDA NSR limits. Conclusions: The compact system simultaneously allows for high gradient amplitude and high slew rate. Geometric distortion concerns have been mitigated by extending the spherical harmonic correction to higher orders. Acoustic noise is within the FDA limits. [ABSTRACT FROM AUTHOR]

Gradient coils generate a magnetic field with a linear spatial variation that superimposes over the main magnetic field of a magnetic resonance imaging (MRI) system; such superimposition of the magnetic fields enables the encoding of the spatial position in MRI. A rapid change in the gradient field induces eddy currents in the conducting structures of an MRI system, resulting in the production of image artifacts. An objective of the gradient coil design phase is to predict both the coil's performance with respect to eddy currents and the image quality (IQ) before the coil is manufactured. In this paper, an integrated simulation environment is presented that combines the gradient coil design with an image formation simulation to predict the IQ. Here, an unshielded, uni-planar gradient set was simulated. Further, a study was conducted to determine the effect of frequency on the eddy currents induced in the conducting structures of the main magnet coil while exciting the uni-planar gradient set. The knowledge acquired from this study was applied to the IQ simulation, and a time-dependent simulation of a gradient echo pulse sequence was performed. The IQ of the uni-planar gradient set was predicted, and the input and reference images as well the images distorted by the eddy currents are shown. [ABSTRACT FROM PUBLISHER]

Upgraded gradient coils can effectively enhance the MRI steering of magnetic microparticles in a branching channel. Applications of this method include MRI targeting of magnetic embolization agents for oncologic therapy. A magnetic suspension of Fe3O4 magnetic particles was injected inside a y-shaped microfluidic channel. Magnetic gradients of 0, 50, 100, 200, and 400 mT/m were applied to the magnetic particles perpendicularly to the flow by a custom-built gradient coil inside a 1.5-T MRI scanner. Measurement of the steering ratio was performed both by video analyses and quantification of the mass of the particles collected at each outlet of the microfluidic channel, using atomic absorption spectroscopy. Magnetic particles steering ratios of 0.99 and 0.75 were reached with 400 mT/m gradient amplitude and measured by video analyses and atomic absorption spectroscopy, respectively. Experimental data shows that the steering ratio increases with higher magnetic gradients. Moreover, theory suggests that larger particles (or aggregates), higher magnetizations, and lower flows can also be used to improve the steering ratio. The technological limitation of the approach is that an MRI gradient amplitude increase to a few hundred milliteslas per meter is needed. A simple analytical method based on magnetophoretic velocity predictions and geometric considerations is proposed for steering ratio calculation. Magn Reson Med 63:1336-1345, 2010. © 2010 Wiley-Liss, Inc. [ABSTRACT FROM AUTHOR]

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. We describe 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. [ABSTRACT FROM AUTHOR]

The possibility of automatically navigating untethered microdevices or future nanorobots to conduct target endovascular interventions has been demonstrated by our group with the computer-controlled displacement of a magnetic sphere along a pre-planned path inside the carotid artery of a living swine. However, although the feasibility of propelling, tracking and performing real-time closed-loop control of an untethered ferromagnetic object inside a living animal model with a relatively close similarity to human anatomical conditions has been validated using a standard clinical Magnetic Resonance Imaging (MRI) system, little information has been published so far concerning the medical and technical protocol used. In fact, such a protocol developed within technological and physiological constraints was a key element in the success of the experiment. More precisely, special software modules were developed within the MRI software environment to offer an effective tool for experimenters interested in conducting such novel interventions. These additional software modules were also designed to assist an interventional radiologist in all critical real-time aspects that are executed at a speed beyond human capability, and include tracking, propulsion, event timing and closed-loop position control. These real-time tasks were necessary to avoid a loss of navigation control that could result in serious injury to the patient. Here, additional simulation and experimental results for microdevices designed to be targeted more towards the microvasculature have also been considered in the identification, validation and description of a specific sequence of events defining a new computer-assisted interventional protocol that provides the framework for future target interventions conducted in humans. [ABSTRACT FROM AUTHOR]

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. [ABSTRACT FROM AUTHOR]

A novel magnetic resonance (MR)-tracking method specifically developed to locate the ferromagnetic core of an Untethered microdevice, microrobot, or nanorobot for navigation or closed-loop control purpose is described. The tracking method relies on the application of radio-frequency (RF) excitation signals tuned to the equipotential magnetic curves generated by the magnetic signature of the object being tracked. Positive contrast projections are obtained with reference to the position of the magnetic source. A correlation function performed on only one k-space line for each of the three axes and corresponding to three projections, is necessary to obtain a 3-D location of the device. In this study, the effects of the sphere size and the RF frequency offset were investigated in order to find the best contrast noise ratio (CNR) for tracking. Resolution and precision were also investigated by proper measurement of the position of a ferromagnetic sphere by magnetic resonance imaging (MRI) acquisition and by comparing them with the real position. This method is also tested for a moving marker where the positions found by MRI projections were compared with the ones taken with a camera. In vitro and in vivo experiments show the operation of the technique in tortuous phantom and in animal models. Although the method was developed in the prospect of new interventional MR-guided endovascular operations based on miniature untethered devices, it could also be used as a passive tracking method using tools such as catheters or guide wires. [ABSTRACT FROM AUTHOR]

This paper reports the use of a magnetic resonance imaging (MRI) system to propel a ferromagnetic core. The concept was studied for future development of microdevices designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A mathematical model is described taking into account various parameters such as the size of blood vessels, the velocities and viscous properties of blood, the magnetic properties of the materials, the characteristics of MRI gradient coils, as well as the ratio between the diameter of a spherical core and the diameter of the blood vessels. The concept of magnetic propulsion by MRI is validated experimentally by measuring the flow velocities that magnetized spheres (carbon steel 1010/1020) can withstand inside cylindrical tubes under the different magnetic forces created with a Siemens Magnetom Vision 1.5 T MRI system. The differences between the velocities predicted by the theoretical model and the experiments are approximately 10%. The results indicate that with the technology available today for gradient coils used in clinical MRI systems, it is possible to generate sufficient gradients to propel a ferromagnetic sphere in the larger sections of the arterial system. In other words, the results show that in the larger blood vessels where the diameter of the microdevices could be as large as a couple a millimeters, the few tens of mT/m of gradients required for displacement against the relatively high blood flow rate is well within the limits of clinical MRI systems. On the other hand, although propulsion of a ferromagnetic core with diameter of ∼ 600 μm may be possible with existing clinical MRI systems, gradient amplitudes of several T/m would be required to propel a much smaller ferromagnetic core in small vessels such as capillaries and additional gradient coils would be required to upgrade existing MRI systems for operations at such a scale. [ABSTRACT FROM AUTHOR]

The Magnetic Resonance Submarine (MR-Sub) project is a first attempt to validate a new propulsion method for future small magnetically controlled microdevices suited for minimally invasive applications in blood vessels. A Magnetic Resonance Imaging (MRI) system provides the driving force in three dimensions to a ferromagnetic core that could be embedded onto a specialised microdevice. The paper describes preliminary tests made to match the magnetic force induced by an MRI system on a ferromagnetic sphere with the drag force it encompasses in a cylindrical tube. These tests provide a proof of concept demonstrating that this new method of propulsion is very promising within the constraints of such types of operations. This conclusion is based on specific measurements showing that 1010/1020 carbon steel spheres (3.175 mm and 2.381 mm in diameter) can withstand a maximum flow of 0.370±0.0064 l/min (19.5 cm/s) and 0.311±0.01209 l/min (16.4 cm/s) respectively when placed inside a 6.35 mm diameter PMMA tube and subjected to a 18 mT/m magnetic field gradient. [ABSTRACT FROM AUTHOR]

The feasibility for in vivo navigation of untethered devices or robots is demonstrated with the control and tracking of a 1.5 mm diameter ferromagnetic bead in the carotid artery of a living swine using a clinical magnetic resonance imaging (MRI) platform. Navigation is achieved by inducing displacement forces from the three orthogonal slice selection and signal encoding gradient coils of a standard MRI system. The proposed method performs automatic tracking, propulsion, and computer control sequences at a sufficient rate to allow navigation along preplanned paths in the blood circulatory system. This technique expands the range of applications in MRI-based interventions. [ABSTRACT FROM AUTHOR]