MRI-powered, Self-Assembled, Gauss Gun for Tissue Penetration
Publication DateMay 12 2015
DescriptionVideo component of ICRA 2015 paper "Toward Tissue Penetration by MRI-powered Millirobots Using a Self-Assembled Gauss Gun".
[Abstract] MRI-based navigation and propulsion of millirobots is a new and promising approach for minimally invasive therapies. The strong central field inside the scanner, however, precludes torque-based control. Consequently, prior propulsion techniques have been limited to gradient-based pulling through fluid-filled body lumens. This paper introduces a technique for generating large impulsive forces that can be used to penetrate tissue. The approach is based on navigating multiple robots to a desired location and using self-assembly to trigger the conversion of magnetic potential energy into sufficient kinetic energy to achieve penetration. The approach is illustrated through analytical modeling and experiments in a clinical MRI scanner.
[Authors] Aaron T. Becker (ECE University of Houston), Ouajdi Felfoul, Pierre E. Dupont (Boston Children's Hospital and Harvard Medical School)