Magnetomicrometry : tissue length tracking via implanted magnetic beads

Target tracking is necessary across a wide range of disciplines and scales, such as in monitoring tissues and cells, beam bending, fluid dynamics, human-computer interaction, and traffic. Due to these widespread applications, advances in target tracking drive cascades of new medical, social, and scientific capabilities. In particular, this dissertation advances magnetomicrometry, a technology that tracks visually-obscured magnetic beads implanted within biological tissue to monitor in-vivo tissue length and speed within freely moving animals and humans. There are many methods to track visually-obscured objects, but magnetic-target tracking has the advantages of being low-cost, portable, and safe. However, current magnet tracking technologies are slow, precluding high-speed real-time magnetic-target tracking. This is due to the mathematics of magnet tracking, whereby magnet positions are traditionally determined via numerical optimization, suffering from instability and significant delays. This dissertation develops the mathematics for an improved method to track one or more magnets with high speed and accuracy and validates this method by demonstrating real-time muscle length tracking. We develop a high-speed, real-time, multiple-magnetic-target tracking method using the analytic gradient of the magnetic field prediction error. We extend this method to compensate for magnetic disturbances in real time using a simpler, more portable strategy than currently-published disturbance compensation methods. Validating our method in a physical system against state-of-the-art motion capture, we demonstrate increased maximum bandwidths of 336%, 525%, 635%, and 773% for the simultaneous tracking of 1, 2, 3, and 4 magnets, respectively, with tracking accuracy comparable to state-of-the-art magnet tracking.

Name thesis:degree_name

Doctoral

Department dc:contributor.department

Program in Media Arts and Sciences (Massachusetts Institute of Technology)

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2020

Author dc:creator

• Taylor, Cameron Roy.

Advisor dc:contributor.advisor

• Hugh M. Herr.

• Program in Media Arts and Sciences

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/130210

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/130210