Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
Nanorobotics: Past, Present, and Future Kapitel lesen Erstes Kapitel lesen

2013 | OriginalPaper | Buchkapitel

13. Propulsion and Navigation Control of MRI-Guided Drug Delivery Nanorobots

verfasst von : Laurent Arcese, Matthieu Fruchard, Antoine Ferreira

Erschienen in: Nanorobotics

Verlag: Springer New York

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

The present chapter discusses the control design of MRI-guided robots in the vasculature to achieve targeted therapy through precise drug delivery. Such robots consist of a polymer-binded aggregate of nanosized ferromagnetic and drug particles that can be propelled by the gradient coils of an MRI device. The feasibility of the concept has been largely studied in the literature, but few works address the nonlinear control issues related to a fine modeling of the forces acting on the robot. Different solutions have been proposed for the design of a microrobot, and the principal ones are here exposed. In this chapter, a fine modeling is developed with concerns about the constraints of the application. The notion of optimal trajectory derived from the nonlinear model is presented and shows that one can exploit the complexity of such a model to optimize the tracking performances. The design of a Lyapunov controller is addressed, with the synthesis of an adaptive backstepping law that ensures a fine tracking despite some modeling errors and estimates some key uncertain physiological parameters. The design of a nonlinear observer for reconstructing the robot’s unmeasured velocity is also exposed. The benefits of this fine modeling and the use of advanced control law and observer are illustrated by simulations. Finally, perspectives and open problems in the field of MRI-guided robots’ control are discussed.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren
Vorheriges Kapitel Apply Robot-Tweezers Manipulation to Cell Stretching for Biomechanical Characterization
Nächstes Kapitel Generating Magnetic Fields for Controlling Nanorobots in Medical Applications
Literatur
1.
Kraus-Tiefenbacher U et al (2005) Intraoperative radiotherapy for breast cancer using intrabeam system. Tumori 91(4):339–345
2.
Sievers E et al (1999) Selective ablation of acute myeloid leukemia using antibody-targeted chemotherapy: a phase 1 study of an anti-cd33 calicheamicin immunoconjugate. Blood 97(11):3678–3684
3.
Gillies GT, Ritter RC, Broaddus WC, Grady MS, Howard MA, McNeil RG (1994) Magnetic manipulation instrumentation for medical physics research. Review of Scientific Instruments 65(3)
4.
Honda T, Arai KI, Ishiyama K (1996) Micro swimming mechanisms propelled by external magnetic fields. IEEE Trans Magn 32(5)
5.
Abbott J, Nagy Z, Beyeler F, Nelson B (2007) Robotics in the small: part 1 microrobotics. IEEE Robot Autom Mag 14(2):92–103
6.
Quate EG, Wika KG, Lawson MA, Gillies GT, Ritter RC, Grady MS, and MAH (1991) Goniometric motion controller for the superconducting coil in amagnetic stereoaxis system. IEEE Trans Biomed Eng 38(9):899–905
7.
Takeda SI, Mishima F, Fujimoto S, Izumi Y, Nishijima S (2006) Development of magnetically targeted drug delivery system using superconducting magnet. J Magn Magn Mater
8.
Mathieu JB, Beaudoin G, Martel S (2006) Method of propulsion of a ferromagnetic core in the cardiovascular system through magnetic gradients generated by an mri system. IEEE Trans Biomed Eng. 53(2):292–299
9.
Mathieu J, Martel S (2007) In-vivo validation of a propulsion method for untethered medical microrobots using a clinical magnetic resonance imaging system. In: IEEE International Conference on Intelligent Robots and Systems, pp 502–508
10.
Tamaz S, Gourdeau R, Chanu A, Mathieu JB, Martel S (2008) Real-time mri-based control of a ferromagnetic core for endovascular navigation. IEEE Trans Biomed Eng 55(7)
11.
Martel S, Mathieu JB, Felfoul O, Chanu A, Aboussouan E, Tamaz S, Pouponneau P, Yahia H, Beaudoin G, Soulez G, Mankiewicz M (2007) Automatic navigation of an untethered device in the artery of a living animal using a conventional clinical magnetic resonance imaging system. Appl Phys Lett 90(11)
12.
Yelin KB, Vollmers K, Nelson BJ (2006) Modeling and control of untethered biomicrorobots in a fuidic environment using electromagnetic fields. Int J Rob Res 25(5–6):527–536
13.
Jun YW, Seo JW, Cheon J (2008) Nanoscaling laws of magnetic nanoparticles and their applicabilities in biomedical sciences. Accounts Chem Res 41(2):179–189
14.
Uecker M, Zhang S, Voit D, Karaus A, Merboldt KD, Frahm J (2010) Real-time mri at resolution of 20 ms. NMR Biomed 23:986–994
15.
Zhang S, Gersdorff N, Frahm J (2011) Real-time magnetic resonance imaging of temporomandibular joint dynamics. Open Med Imaging J 5:1–7
16.
Dreyfus R, Beaudry J, Roper ML, Fermigier M, Stone HA, Bibette J (2005) Microscopic artificial swimmers. Nature 437:862–865
17.
Wiggins CH, Goldstein RE (1998) Flexive and propulsive dynamics of elastica at low reynolds number. Phys Rev Lett 80(17):3879–3882
18.
Evans AA, Lauga E (2010) Propulsion by passive filaments and active flagella near boundaries. Phys Rev E 82(4):041,915
19.
Behkam B, Sitti M (2006) Design methodology for biomimetic propulsion of miniature swimming robots. ASME J Dyn Syst Meas Control 128(1)
20.
Yesin KB, Vollmers K, Nelson BJ (2004) Analysis and design of wireless magnetically guided microrobots in body fluids 2:1333–1338
21.
Abbott JJ, Peyer KE, Lagomarsino MC, Zhang L, Dong L, Kaliakatsos IK, Nelson BJ (2007) How should microrobots swim? Int J Rob Res
22.
Martel S, Mohammadi M, Felfoul O, Lu Z, Pouponneau P (2009) Flagellated magnetotactic bacteria as controlled mri-trackable propulsion and steering systems for medical nanorobots operating in the human microvasculature. Int J Rob Res 28:571–582
23.
Martel S, Tremblay CC, Ngakeng S, Langlois G (2006) Controlled manipulation and actuation of micro-objects with magnetotactic bacteria. Appl Phys Lett 89(23)
24.
Bawa R (2008) Nanoparticle-based therapeutics in humans: a survey. Nanotechnol Law Bus 5(2):135–155
25.
Vartholomeos P, Mavroidis C (2010) Simulation platform for self-assembly structures in mri-based nanorobotic drug delivery systems. In: IEEE international conference on robotics and automation, pp 5594–5600
26.
Arcese L, Fruchard M, Ferreira A (2009) Nonlinear modeling and robust controller-observer for a magnetic microrobot in a fluidic environment using mri gradients. In: IEEE international conference on intelligent robots and systems, pp 534–539
27.
Sun C, Lee JS, Zhang M (2008) Magnetic nanoparticles in mr imaging and drug delivery. Adv Drug Deliv Rev 60(11):1252–1265
28.
Xu T, Wong J, Shikhaliev P, Ducote J, Molloi MAGS (2006) Real-time tumor tracking using implanted positron emission markers: concept and simulation study. Med Phys 33:2598–2609
29.
Park JH, von Maltzahn G, Zhang L, Schwartz MP, Ruoslahti E, Bhatia SN, Sailor MJ (2008) Magnetic iron oxide nanoworms for tumor targeting and imaging. Adv Mater 20:1630–1635
30.
McCurrie RA (1994) Structures and properties of ferromagnetic materials. Academic, London
31.
Gray DE (1972) American institute of physics handbook. McGraw Hill, New York
32.
Plowman S, Smith D (1997) Exercise Physiology. Needham Heights, MA Allyn and Bacon
33.
Schmidt-Nielsen K (1984) Scaling: why is animal size so important? Cambridge University Press, Cambridge
34.
Kehlenbeck R, Felice RD (1999) Empirical relationships for the terminal settling velocity of spheres un cylindrical columns. Chem Eng Technol 21:303–308
35.
White F (1991) Viscous fluid flow. McGraw Hill, New York
36.
Pries AR, Secomb TW, Gaehtgens P (1996) Biophysical aspects of blood flow in the microvasculature. Cardiovasc Res 32(4):654–667
37.
Arcese L, Fruchard M, Ferreira A (2011) Endovascular magnetically-guided robots: navigation modeling and optimization. IEEE Trans Biomed Eng. To be published
38.
Choi I, Lim C (2004) Low-velocity impact analysis of composite laminates using linearized contact law. Compos Struct 66:125–132
39.
Iimura K, Watanabe S, Suzuki M, Hirota M, Higashitani K (2009) Simulation of entrainment of agglomerates from plate surfaces by shear flows. Chem Eng Sci 64:1455–1461
40.
Hays D (1991a) Electrostatic adhesion of non-uniformly charged dielectric sphere. J Phys Conf Ser 118:223–228
41.
Hays D (1991b) Role of Electrostatics in Adhesion, in Fundamentals of Adhesion. Plenum Press, New York
42.
Kirbas C, Quek F (2004) A review of vessel extraction techniques and algorithms. ACM Comput Surv 36:81–121
43.
Reuzé P, Coatrieux J, Luo L, Dillenseger J (1993) A 3d moment based approach for blood vessel detection and quantification in mra. Technol Health Care 1:181–188
44.
Tokuda J, Fischer G, DiMaio S, Gobbi D, Csoma C, Mewes P, Fichtinger G, Tempany C, Hata N (2010) Integrated navigation and control software system for mri-guided robotic prostate interventions. Comput Med Imaging Graph 34:3–8
45.
Krstić M, Kanellakopoulos I, Kokotović P (1995) Nonlinear and Adaptive Control Design. Wiley, New York
46.
Kanellakopoulos I, Kokotović P, Morse A (1992) A toolkit for nonlinear feedback design. Syst Control Lett 18:83–92
47.
Krstić M, Kanellakopoulos I, Kokotović P (1992) Adaptive nonlinear control without overparametrization. Syst Control Lett 19:177–185
48.
Gauthier J, Hammouri H, Othman S (1992) A simple observer for nonlinear systems. application to bioreactors. IEEE Trans Autom Control 37(6):875–880
49.
Andrieu V, Praly L (2006) On the existence of a kazantis-kravaris / luenberger observer. Society for Industrial and Applied Mathematics: J Control Optim 45(2):432–456
Metadaten
Titel
Propulsion and Navigation Control of MRI-Guided Drug Delivery Nanorobots
verfasst von
Laurent Arcese
Matthieu Fruchard
Antoine Ferreira
Copyright-Jahr
2013
Verlag
Springer New York
Buch
Nanorobotics

Print ISBN: 978-1-4614-2118-4

Electronic ISBN: 978-1-4614-2119-1

Copyright-Jahr: 2013

DOI
https://doi.org/10.1007/978-1-4614-2119-1_13

Neuer Inhalt

    Bildnachweise