Optimize an MRI Gauss Gun

Date

2017-12

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Abstract

MRI-based navigation and propulsion of millirobots is a new and promising approach for minimally invasive therapies. The strong constant magnetic field inside the scanner precludes torque-based control. Consequently, prior propulsion techniques have been limited to gradient-based pulling through fluid-filled body lumens using the weaker gradient magnetic coils. Performing interventions requires techniques or mechanism to increase this weak magnetic pulling force. One technique is a self-assembling robotic tool designed by our lab called a Gauss gun. This thesis shows numerical analysis and results for optimizing the kinetic energy generated by a Gauss gun to penetrate tissue, deliver a drug or remove a clot. This analysis based on the equations of energy for an MRI Gauss gun. The numerical method used for this optimization is Nelder Mead, implemented in Mathematica software.

Description

Keywords

MRI, Gauss Gun

Citation