Development of a Magnetic Particle Imaging-based Navigation System of MicroNano Robots

Abstract

This thesis studies to design and implement a Magnetic Particle Imaging-based navigation system which can provide an Electromagnetic Actuation mode for guidance and capturing magnetic nanoparticles (MNPs) to reach the target area, a Magnetic Particle Imaging (MPI) mode for real-time monitoring positions of MNPs, and a Triggered Drug mode for localized MNPs heating and monitoring temperature of MNPs at the target area. To achieve this target, three main topics namely, Electromagnetic Actuation, Magnetic Particle Imaging (MPI), and MPI-based Navigation system are studied in this thesis. In the first topic, Electromagnetic Actuation, several novel magnet systems which are used to concentrate MNPs to a target surface are proposed, designed, implemented, and improved step by step. The dynamic formula for the movement of MNPs is studied and initially investigated using numerical methods with commercially available software. The vitro experimental results were obtained to verify the proposed concept. The results in this part are very promising due to the simple coil structure and easy guidance scheme. In the second topic, Magnetic Particle Imaging which one of the best imaging technologies for monitoring MNPs is studied. Instead of conventional MPI, a novel MPI with a processing signal and reconstruction algorithm is presented in detail. The proposed monitoring system allows dynamic tracking of MNPs positions and renders magnetic particle imaging-based navigation more feasible. In the last topic, the MPI-based Navigation systems which combined the Electromagnetic Actuation mode, Magnetic Particle Imaging mode, and Triggered Drug mode are implemented. First, a one-dimensional (1D) MPI-based Navigation system which just provides guide MNPs and monitoring position of MNPs is developed. To extend and improve the system to two-dimensional (2D) system, an optimal 2D MPI-based Navigation system is implemented, the Triggered Drug mode also is integrated into the 2D MPI-based Navigation system. Further, since automatic MNPs steering may not be feasible given the difficulties associated with MNPs modeling and actuation and the complexity of human blood vessels, a novel electromagnetic navigation platform featuring external user input (from a mouse or joystick) is introduced. Experimental results showed that the MPI-based Navigation system was initially successful in vitro.