{"id":{"repo_id":"houston","oai_identifier":"oai:uh-ir.tdl.org:10657/4568"},"canonical_url":"https://search.dev.ndltd.org/etd/houston/oai:uh-ir.tdl.org:10657/4568","repository":{"repo_id":"houston","name":"University of Houston","base_url":"https://uh-ir.tdl.org/server/oai/request"},"display":{"title":"Towards MRI-Guided and Actuated Tetherless Milli-Robots","abstract":"Image-guided and robot-assisted surgical procedures are rapidly evolving due to their potential to improve patient management and cost effectiveness. Magnetic Resonance Imaging (MRI) is used for pre-operative planning and is also investigated for realtime intra-operative guidance. A new type of technology is emerging that uses the magnetic-field gradients of the MR scanner to maneuver ferromagnetic agents for local delivery of therapeutics. With this approach, MRI is both a sensor and forms a closed-loop controlled entity that behaves as a robot (we refer to them as MRbots). The objective of this thesis is to introduce a computational framework for preoperative planning using MRI and modeling of MRbot maneuvering inside tortuous blood vessels. This platform generates a virtual corridor that represents a safety zone inside the vessel that is then used to access the safety of the MRbot maneuvering. In addition, to improve safety we introduce a control that sets speed based on the local curvature of the vessel. The functionality of the framework was then tested on a realistic operational scenario of accessing a neurological lesion, a meningioma. This virtual case study demonstrated the functionality and potential of MRbots as well as revealed two primary challenges: real-time MRI (during propulsion) and the need of very-strong gradients for small MRbots for maneuvering inside narrow cerebral vessels. Our ongoing research focuses on further developing the computational core, MR tracking methods, and on-line interfacing to the MR scanner.","abstract_html":"Image-guided and robot-assisted surgical procedures are rapidly evolving due to their potential to improve patient management and cost effectiveness. Magnetic Resonance Imaging (MRI) is used for pre-operative planning and is also investigated for realtime intra-operative guidance. A new type of technology is emerging that uses the magnetic-field gradients of the MR scanner to maneuver ferromagnetic agents for local delivery of therapeutics. With this approach, MRI is both a sensor and forms a closed-loop controlled entity that behaves as a robot (we refer to them as MRbots). The objective of this thesis is to introduce a computational framework for preoperative planning using MRI and modeling of MRbot maneuvering inside tortuous blood vessels. This platform generates a virtual corridor that represents a safety zone inside the vessel that is then used to access the safety of the MRbot maneuvering. In addition, to improve safety we introduce a control that sets speed based on the local curvature of the vessel. The functionality of the framework was then tested on a realistic operational scenario of accessing a neurological lesion, a meningioma. This virtual case study demonstrated the functionality and potential of MRbots as well as revealed two primary challenges: real-time MRI (during propulsion) and the need of very-strong gradients for small MRbots for maneuvering inside narrow cerebral vessels. Our ongoing research focuses on further developing the computational core, MR tracking methods, and on-line interfacing to the MR scanner.","abstract_has_math":false,"creators":["Kensicher, Thibault H. 1990-"],"institution":"University of Houston","degree_name":"Master of Science","degree_level":"Masters","degree_discipline":"Computer Science","degree_department":null,"school":null,"contributors":[],"advisors":["Tsekos, Nikolaos V."],"committee_chairs":[],"committee_members":["Becker, Aaron T.","Leiss, Ernst L."],"year":2017,"date_issued":"2017-05","date_published":"2017-05","updated_at":"2026-07-24T02:32:27Z","subjects":["MRI","Image Guided Surgery","MR-actuated Robot"],"languages":["eng"],"rights":["The author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. 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This virtual case study demonstrated the functionality and potential of MRbots as well as revealed two primary challenges: real-time MRI (during propulsion) and the need of very-strong gradients for small MRbots for maneuvering inside narrow cerebral vessels. Our ongoing research focuses on further developing the computational core, MR tracking methods, and on-line interfacing to the MR scanner."],"dc:format.mimetype":["application/pdf"],"dc:identifier.uri":["https://hdl.handle.net/10657/4568"],"dc:language.iso":["eng"],"dc:rights":["The author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. 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