CA2425795A1 - Method and system for propelling and controlling displacement of a microrobot in a blood vessel - Google Patents
Method and system for propelling and controlling displacement of a microrobot in a blood vessel Download PDFInfo
- Publication number
- CA2425795A1 CA2425795A1 CA002425795A CA2425795A CA2425795A1 CA 2425795 A1 CA2425795 A1 CA 2425795A1 CA 002425795 A CA002425795 A CA 002425795A CA 2425795 A CA2425795 A CA 2425795A CA 2425795 A1 CA2425795 A1 CA 2425795A1
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- CA
- Canada
- Prior art keywords
- microrobot
- force
- field
- blood vessel
- gradient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention relates to a method and system for propelling and controlling displacement of a microrobot through a patient's blood vessel. The microrobot is formed with a body containing field-of-force responsive material wherein, in response to a field of force, the material undergoes a force in the direction of a gradient of the field of force. The microrobot is positioned in a blood vessel for displacement through the blood vessel, and a field of force with a given gradient is generated and applied to the microrobot in view of propelling the microrobot through the blood vessel in the direction of the gradient of the field of force. A direction and amplitude of the gradient of the field of force is calculated to thereby control displacement of the microrobot through the patient's blood vessel.
Claims (8)
1. A method of propelling and controlling displacement of a microrobot through a patient's blood vessel, comprising:
forming the microrobot with a body containing field-of-force responsive material wherein, in response to a field of force, the material undergoes a force in the direction of a gradient of the field of force;
positioning the microrobot in a blood vessel for displacement through the blood vessel; and generating a field of force with a given gradient and applying the field of force to the microrobot in view of propelling the microrobot through the blood vessel in the direction of the gradient of the field of force, wherein generating the field of force comprises calculating a direction and amplitude of the gradient of the field of force to thereby control displacement of the microrobot through the patient's blood vessel.
forming the microrobot with a body containing field-of-force responsive material wherein, in response to a field of force, the material undergoes a force in the direction of a gradient of the field of force;
positioning the microrobot in a blood vessel for displacement through the blood vessel; and generating a field of force with a given gradient and applying the field of force to the microrobot in view of propelling the microrobot through the blood vessel in the direction of the gradient of the field of force, wherein generating the field of force comprises calculating a direction and amplitude of the gradient of the field of force to thereby control displacement of the microrobot through the patient's blood vessel.
2. A method as defined in claim 1, comprising forming the microrobot with a shell of the field-of-force responsive material.
3. A method as defined in claim 1, wherein generating the field of force comprises generating a magnetic field and wherein the body of the microrobot contains magnetic material.
4. A microrobot system, comprising:
a microrobot for displacement through a patient's blood vessel, the microrobot being formed with a body containing field-of-force responsive material wherein, in response to a field of force, the material undergoes a force in the direction of a gradient of the field of force; and a generator of a field of force with a given gradient for application to the microrobot in view of propelling the microrobot through the blood vessel in the direction of the gradient of the field of force, wherein the generator comprises a calculator of a direction and amplitude of the gradient of the field of force to thereby control displacement of the microrobot through the patient's blood vessel.
a microrobot for displacement through a patient's blood vessel, the microrobot being formed with a body containing field-of-force responsive material wherein, in response to a field of force, the material undergoes a force in the direction of a gradient of the field of force; and a generator of a field of force with a given gradient for application to the microrobot in view of propelling the microrobot through the blood vessel in the direction of the gradient of the field of force, wherein the generator comprises a calculator of a direction and amplitude of the gradient of the field of force to thereby control displacement of the microrobot through the patient's blood vessel.
5. A microrobot system as defined in claim 4, wherein the microrobot comprises a shell of the field-of-force responsive material.
6. A microrobot system as defined in claim 4, wherein the field of force is a magnetic field and wherein the material of the microrobot comprises magnetic material.
7. A microrobot system as defined in claim 4, wherein the generator comprises a magnetic resonance imaging system.
8. A microrobot system as defined in claim 4, wherein the generator comprises a calculator of the trajectory of the microrobot through the blood vessel.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/417,475 US7962194B2 (en) | 2003-04-15 | 2003-04-15 | Method and system for propelling and controlling displacement of a microrobot in a blood vessel |
CA2425795A CA2425795C (en) | 2003-04-15 | 2003-04-15 | Method and system for propelling and controlling displacement of a microrobot in a blood vessel |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/417,475 US7962194B2 (en) | 2003-04-15 | 2003-04-15 | Method and system for propelling and controlling displacement of a microrobot in a blood vessel |
CA2425795A CA2425795C (en) | 2003-04-15 | 2003-04-15 | Method and system for propelling and controlling displacement of a microrobot in a blood vessel |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2425795A1 true CA2425795A1 (en) | 2004-10-15 |
CA2425795C CA2425795C (en) | 2012-03-27 |
Family
ID=33541882
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA2425795A Expired - Lifetime CA2425795C (en) | 2003-04-15 | 2003-04-15 | Method and system for propelling and controlling displacement of a microrobot in a blood vessel |
Country Status (2)
Country | Link |
---|---|
US (1) | US7962194B2 (en) |
CA (1) | CA2425795C (en) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8948841B2 (en) * | 2005-06-23 | 2015-02-03 | Polyvalor, Limited Partnership | MR-tracking based on magnetic signature selective excitation |
BR112012010126A2 (en) | 2009-11-02 | 2016-12-06 | Pulse Therapeutics Inc | fluid obstruction treatment systems, therapeutic and circulatory fluid flow increase and circulatory fluid flow increase and circulatory system drug diffusion methods and their uses. |
US20110215888A1 (en) * | 2009-11-12 | 2011-09-08 | University Of Utah | Wireless control of microrobots |
KR101272156B1 (en) * | 2011-08-31 | 2013-06-05 | 전남대학교산학협력단 | A Micro-Robot System For Intravascular Therapy And Controling Method Thereof |
US8803643B2 (en) * | 2011-12-19 | 2014-08-12 | University Of Utah Research Foundation | Control of magnetically actuated tools in any position using a rotating magnetic source |
US9905347B2 (en) | 2012-06-13 | 2018-02-27 | Polyvalor, Limited Partnership | Aggregation and control of magneto-responsive entities |
JP6235601B2 (en) * | 2012-11-07 | 2017-11-22 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | Magnetic element for MPI device |
US9869734B2 (en) | 2013-04-09 | 2018-01-16 | General Electric Company | System and method for manufacturing magnetic resonance imaging gradient coil assemblies |
KR101619931B1 (en) * | 2014-06-10 | 2016-05-13 | 재단법인대구경북과학기술원 | A Capsule type microrobot and method of use |
DE102015224085B3 (en) | 2015-12-02 | 2017-05-11 | Bruker Biospin Mri Gmbh | Method for determining the position of a ferromagnetic particle and associated MRI system |
DE102017209373A1 (en) | 2017-06-02 | 2018-12-06 | Bruker Biospin Mri Gmbh | Fast method for determining the position of a ferromagnetic particle or a bundle of ferromagnetic particles with MRI systems |
CN113164207A (en) | 2018-12-17 | 2021-07-23 | 苏黎世联邦理工学院 | Method and system for propelling and controlling displacement of a micro-robot in a space having walls |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5519124A (en) * | 1978-07-27 | 1980-02-09 | Olympus Optical Co | Camera system for medical treatment |
GB8408127D0 (en) * | 1984-03-29 | 1984-05-10 | Nyegaard & Co As | Contrast agents |
US5125888A (en) * | 1990-01-10 | 1992-06-30 | University Of Virginia Alumni Patents Foundation | Magnetic stereotactic system for treatment delivery |
DE69839051T2 (en) * | 1997-03-07 | 2009-01-15 | Disc-O-Tech Medical Technologies, Ltd. | PERCUT BONE SYSTEMS AND SPINAL STABILIZATION, MOUNTING AND REPAIR |
US6304769B1 (en) * | 1997-10-16 | 2001-10-16 | The Regents Of The University Of California | Magnetically directable remote guidance systems, and methods of use thereof |
US6157853A (en) * | 1997-11-12 | 2000-12-05 | Stereotaxis, Inc. | Method and apparatus using shaped field of repositionable magnet to guide implant |
US6298259B1 (en) * | 1998-10-16 | 2001-10-02 | Univ Minnesota | Combined magnetic resonance imaging and magnetic stereotaxis surgical apparatus and processes |
US6148823A (en) * | 1999-03-17 | 2000-11-21 | Stereotaxis, Inc. | Method of and system for controlling magnetic elements in the body using a gapped toroid magnet |
GB0029158D0 (en) * | 2000-11-29 | 2001-01-17 | Oxford Instr Plc | Catheter steering apparatus and method |
US6544163B2 (en) * | 2000-12-28 | 2003-04-08 | Scimed Life Systems, Inc. | Apparatus and method for controlling a magnetically controllable embolic in the embolization of an aneurysm |
US6939290B2 (en) * | 2002-02-11 | 2005-09-06 | Given Imaging Ltd | Self propelled device having a magnetohydrodynamic propulsion system |
-
2003
- 2003-04-15 US US10/417,475 patent/US7962194B2/en active Active
- 2003-04-15 CA CA2425795A patent/CA2425795C/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
US7962194B2 (en) | 2011-06-14 |
US20040210128A1 (en) | 2004-10-21 |
CA2425795C (en) | 2012-03-27 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request | ||
MKEX | Expiry |
Effective date: 20230417 |