Development of 3D navigation system of micro/nano robot based on Magnetic Particle Imaging

Abstract

This thesis presents a novel 3D navigation system with a feedback of Magnetic Particle Imaging (MPI) system. The MPI system is extended to include the features of steering magnetic particles in an extended electromagnetic actuation mode, which enables guidance and capturing of magnetic nanoparticles (MNPs) to reach the target area. The ability to accurately monitor MNPs in 3D space is crucial for the success of the 3D navigation system, making the sensitivity of the detection coils a key factor in the performance of the system. The first topic of this thesis is Magnetic Particle Imaging (MPI), which is a new and emerging imaging modality that is being developed for biomedical applications. The principles of operation of MPI are discussed, including the use of magnetic fields to create images of the spatial distribution of magnetic particles. The design of the gradiometer coil to receive the basic signal of MPI and the critical role of sensitivity in the system are also discussed. The MPI system is specifically designed to track magnetic nanoparticles (MNPs) in 3D space and monitor their positions. By accurately monitoring the position of the MNPs, the MPI system can provide a high-resolution image of the distribution of MNPs, enabling the development of an effective 3D navigation system. The second topic of this thesis is the development of a 3D navigation system based on an actuator configuration or a MPI system configuration, which combines the actuation mode, the MPI mode. The initial focus is on developing a two-dimensional (2D) navigation system that utilizes the unique characteristics of magnetic fields in MPI to guide MNPs and monitor their positions. The enhancement from 2D to 3D navigation poses a challenge due to the temporal resolution limitation of MPI for feedback and the necessity for a robot manipulation method in 3D space. To address this, I have devised a novel MPI scanning approach with a flexible FFP trajectory within the image, aiming to enhance the temporal resolution to fulfill the demands of 3D navigation. Additionally, I have extended the 3D virtual FFP method to precisely guide the microrobot within the 3D space. The 3D navigation system developed in this study has the potential to enable precise and accurate control of MNPs, which is critical for their use in targeted drug delivery, cancer treatment, and other biomedical applications. The system can be used to steer MNPs towards specific areas of the body, such as tumors to trigger the release of drugs at the desired location. Overall, this thesis represents a significant contribution to the development of MPI technology and its application to biomedical imaging and therapy.