Achieving commutation control of an MRI-powered robot actuator

Actuators that are powered, imaged, and controlled by magnetic resonance (MR) scanners could inexpensively provide wireless control of MR-guided robots. Similar to traditional electric motors, the MR scanner acts as the stator and generates propulsive torques on an actuator rotor containing one or more ferrous particles. Generating maximum motor torque while avoiding instabilities and slippage requires closed-loop control of the electromagnetic field gradients, i.e., commutation. Accurately estimating the position and velocity of the rotor is essential for high-speed control, which is a challenge due to the low refresh rate and high latency associated with MR signal acquisition. This paper proposes and demonstrates a method for closed-loop commutation based on interleaving pulse sequences for rotor imaging and rotor propulsion. This approach is shown to increase motor torque and velocity, eliminate rotor slip, and enable regulation of rotor angle. Experiments with a closed-loop MR imaging actuator produced a maximum force of 9.4 N

Flow cytometry as a rapid analytical tool to determine physiological responses to changing O2 and iron concentration by Magnetospirillum gryphiswaldense strain MSR-1

Magnetotactic bacteria (MTB) are a diverse group of bacteria that synthesise magnetosomes, magnetic membrane-bound nanoparticles that have a variety of diagnostic, clinical and biotechnological applications. We present the development of rapid methods using flow cytometry to characterize several aspects of the physiology of the commonly-used MTB Magnetospirillum gryphiswaldense MSR-1. Flow cytometry is an optical technique that rapidly measures characteristics of individual bacteria within a culture, thereby allowing determination of population heterogeneity and also permitting direct analysis of bacteria. Scatter measurements were used to measure and compare bacterial size, shape and morphology. Membrane permeability and polarization were measured using the dyes propidium iodide and bis-(1,3-dibutylbarbituric acid) trimethine oxonol to determine the viability and ‘health’ of bacteria. Dyes were also used to determine changes in concentration of intracellular free iron and polyhydroxylakanoate (PHA), a bacterial energy storage polymer. These tools were then used to characterize the responses of MTB to different O2 concentrations and iron-sufficient or iron-limited growth. Rapid analysis of MTB physiology will allow development of bioprocesses for the production of magnetosomes, and will increase understanding of this fascinating and useful group of bacteria

Adapting the Clinical MRI Software Environment for Real-Time Navigation of an Endovascular Untethered Ferromagnetic Bead for Future Endovascular Interventions

A dedicated software architecture for a novel interventional method allowing the navigation of ferromagnetic endovascular devices using a standard real-time clinical MRI system is shown. Through a specially developed software environment integrating a tracking method and a real-time controller algo-rithm, a clinical 1.5T Siemens Avanto MRI system is adapted to provide new functionality for potential automated interventional applications. The proposed software architecture was success-fully validated through in vivo controlled navigation inside the carotid artery of a swine. Here we present how this MRI-up-graded software environment could also be used in more com-plex vasculature models through the real-time navigation of a 1.5 mm diameter chrome steel bead in two different MR-com-patible phantoms with flowless and quiescent flow conditions. The developed platform and software modules needed for such navigation are also presented. Real-time tracking achieved through a dedicated positioning method based on an off-reso-nance excitation technique has also been successfully inte-grated in the software platform while maintaining adequate real-time performance. These preliminary feasibility experi-ments suggest that navigation of such devices can be achieved using a similar software architecture on other conventional clinical MRI systems at an operational closed-loop control fre