Tamaz Samer, Gourdeau Richard, Chanu Arnaud, Mathieu Jean-Baptiste, Martel Sylvain
Ecole Polytechnique de Montréal, Montréal, QC H3C 3A7, Canada.
IEEE Trans Biomed Eng. 2008 Jul;55(7):1854-63. doi: 10.1109/TBME.2008.919720.
This paper shows that even a simple proportional-integral-derivative (PID) controller can be used in a clinical MRI system for real-time navigation of a ferromagnetic bead along a predefined trajectory. Although the PID controller has been validated in vivo in the artery of a living animal using a conventional clinical MRI platform, here the rectilinear navigation of a ferromagnetic bead is assessed experimentally along a two-dimensional (2D) path as well as the control of the bead in a pulsatile flow. The experimental results suggest the likelihood of controlling untethered microdevices or robots equipped with a ferromagnetic core inside complex pathways in the human body.
本文表明，即使是一个简单的比例积分微分（PID）控制器也可用于临床MRI系统，以沿预定轨迹对铁磁珠进行实时导航。尽管PID控制器已在活体动物的动脉中使用传统临床MRI平台进行了体内验证，但在此对铁磁珠沿二维（2D）路径的直线导航以及在脉动流中对珠子的控制进行了实验评估。实验结果表明，在人体复杂路径中控制未系绳的微型设备或配备铁磁芯的机器人具有可能性。
