Remote magnetic actuation using a clinical scale system.
Remote magnetic actuation using a clinical scale system.
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DOI：
10.1371/journal.pone.0193546
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发表时间：
2018
期刊：
影响因子：
3.7
通讯作者：
Gleich B
中科院分区：
文献类型：
--
作者：
Rahmer J;Stehning C;Gleich B
远程磁操纵是一种控制人体内设备的强大技术。它能够在不需要本地电源的情况下驱动和移动系留和非系留物体。在临床应用中，它用于医疗干预中导管的主动转向，例如用于心律失常治疗的心脏消融术，以及用于胃肠道中摄像药丸的转向，以进行诊断视频采集。对于这些应用，已经开发了专门的临床规模的场施加器，其在场强度和场应用的灵活性方面相当有限。对于通用场施加器，在高场强以及高场梯度下需要灵活的场产生，以使得能够在磁性装置上产生扭矩和力。到目前为止，只有小规模的实验系统才能满足这一要求。我们已经建立了一个高度通用的临床规模的场施加器，能够在大的工作空间内产生强磁场以及强场梯度。我们证明了这种基于线圈的系统的能力，通过凝胶和组织样本的磁性钻头远程转向高扭矩上定义明确的曲线轨迹。我们还初步证明，当配备高频发射-接收线圈时，该机器能够在保持临床规模孔径的同时进行实时磁粒子成像。我们的研究结果为临床规模的图像引导无辐射远程磁控制设备打开了大门，这可能有助于微创诊断和治疗性医疗干预。
Remote magnetic manipulation is a powerful technique for controlling devices inside the human body. It enables actuation and locomotion of tethered and untethered objects without the need for a local power supply. In clinical applications, it is used for active steering of catheters in medical interventions such as cardiac ablation for arrhythmia treatment and for steering of camera pills in the gastro-intestinal tract for diagnostic video acquisition. For these applications, specialized clinical-scale field applicators have been developed, which are rather limited in terms of field strength and flexibility of field application. For a general-purpose field applicator, flexible field generation is required at high field strengths as well as high field gradients to enable the generation of both torques and forces on magnetic devices. To date, this requirement has only been met by small-scale experimental systems. We have built a highly versatile clinical-scale field applicator that enables the generation of strong magnetic fields as well as strong field gradients over a large workspace. We demonstrate the capabilities of this coil-based system by remote steering of magnetic drills through gel and tissue samples with high torques on well-defined curved trajectories. We also give initial proof that, when equipped with high frequency transmit-receive coils, the machine is capable of real-time magnetic particle imaging while retaining a clinical-scale bore size. Our findings open the door for image-guided radiation-free remote magnetic control of devices at the clinical scale, which may be useful in minimally invasive diagnostic and therapeutic medical interventions.
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