Towards MRI-Guided and Actuated Tetherless Milli-Robots

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.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

Masters

Discipline thesis:degree_discipline

Computer Science

Grantor

University of Houston

Year dc:date.issued

2017

Author dc:creator

• Kensicher, Thibault H. 1990-

Advisor dc:contributor.advisor

• Tsekos, Nikolaos V.

Committee members dc:contributor.committeemember

• Becker, Aaron T.
• Leiss, Ernst L.

• MRI
• Image Guided Surgery
• MR-actuated Robot

Statement 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. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/10657/4568

OAI identifier oai:identifier

oai:uh-ir.tdl.org:10657/4568