Magnetic microparticle steering within the constraints of an MRI system: proof of concept of a novel targeting approach

Magnetic Actuation of Flexible Microelectrode Arrays for Neural Activity Recordings

Implantable microelectrodes that can be remotely actuated via external fields are promising tools to interface with biological systems at a high degree of precision. Here, we report the development of flexible magnetic microelectrodes (FMμEs) that can be remotely actuated by magnetic fields. The FMμEs consist of flexible microelectrodes integrated with dielectrically encapsulated FeNi (iron-nickel) alloy microactuators. Both magnetic torque- and force-driven actuation of the FMμEs have been demonstrated. Nanoplatinum-coated FMμEs have been applied for in vivo recordings of neural activities from peripheral nerves and cerebral cortex of mice. Moreover, owing to their ultrasmall sizes and mechanical compliance with neural tissues, chronically implanted FMμEs elicited greatly reduced neuronal cell loss in mouse brain compared to conventional stiff probes. The FMμEs open up a variety of new opportunities for electrically interfacing with biological systems in a controlled and minimally invasive manner.

A review of magnet systems for targeted drug delivery

Magnetic drug targeting is a method by which magnetic drug carriers in the body are manipulated by external magnetic fields to reach the target area. This method is potentially promising in applications for treatment of diseases like cancers, nervous system diseases, sudden sensorineural hearing loss, and so on, due to the advantages in that it can improve efficacy, reduce drug dosage and side effects. Therefore, it has received extensive attention in recent years. Successful magnetic drug targeting requires a good magnet system to guide the drug carriers to the target site. Up to date there have been many efforts to design the magnet systems for targeted drug delivery. However, there are few comprehensive reviews on these systems. Here we review the progresses made in this field. We summarized the systems already developed or proposed, and categorized them into two groups: static field magnet systems and varying field magnet systems. Based on the requirements for more powerful targeting performance, the prospects and the future research directions in this field are anticipated.

MRI-powered biomedical devices

Magnetic resonance imaging (MRI) is beneficial for imaging-guided procedures because it provides higher resolution images and better soft tissue contrast than computed tomography (CT), ultrasound, and X-ray. MRI can be used to streamline diagnostics and treatment because it does not require patients to be repositioned between scans of different areas of the body. It is even possible to use MRI to visualize, power, and control medical devices inside the human body to access remote locations and perform minimally invasive procedures. Therefore, MR conditional medical devices have the potential to improve a wide variety of medical procedures; this potential is explored in terms of practical considerations pertaining to clinical applications and the MRI environment. Recent advancements in this field are introduced with a review of clinically relevant research in the areas of interventional tools, endovascular microbots, and closed-loop controlled MRI robots. Challenges related to technology and clinical feasibility are discussed, including MRI based propulsion and control, navigation of medical devices through the human body, clinical adoptability, and regulatory issues. The development of MRI-powered medical devices is an emerging field, but the potential clinical impact of these devices is promising.

An Improved Method for Magnetic Nanocarrier Drug Delivery across the Cell Membrane

One of the crucial issues in the pharmacological field is developing new drug delivery systems. The main concern is to develop new methods for improving the drug delivery efficiencies such as low disruptions, precise control of the target of delivery and drug sustainability. Nowadays, there are many various methods for drug delivery systems. Carbon-based nanocarriers are a new efficient tool for translocating drug into the defined area or cells inside the body. These nanocarriers can be functionalized with proteins, peptides and used to transport their freight to cells or defined areas. Since functionalized carbon-based nanocarriers show low toxicity and high biocompatibility, they are used in many nanobiotechnology fields. In this study, different shapes of nanocarrier are investigated, and the suitable magnetic field, which is applied using MRI for the delivery of the nanocarrier, is proposed. In this research, based on the force required to cross the membrane and MD simulations, the optimal magnetic field profile is designed. This optimal magnetic force field is derived from the mathematical model of the system and magnetic particle dynamics inside the nanocarrier. The results of this paper illustrate the effects of the nanocarrier’s shapes on the percentage of success in crossing the membrane and the optimal required magnetic field.

Haptic-Based Manipulation Scheme of Magnetic Nanoparticles in a Multi-Branch Blood Vessel for Targeted Drug Delivery

Magnetic drug targeting is a promising technique that can deliver drugs to the diseased region, while keeping the drug away from healthy parts of body. Introducing a human in the control loop of a targeted drug delivery system and using inherent bilateralism of a haptic device at the same time can considerably improve the performance of targeted drug delivery systems. In this paper, we suggest a novel intelligent haptic guidance scheme for steering a number of magnetic nanoparticles (MNPs) using forbidden region virtual fixtures and a haptic rendering scheme with multi particles. Forbidden region virtual fixtures are a general class of guidance modes implemented in software, which help a human-machine collaborative system accomplish a specific task by constraining a movement into limited regions. To examine the effectiveness of our proposed scheme, we implemented a magnetic guided drug delivery system in a virtual environment using a physics-based model of targeted drug delivery including a multi-branch blood vessel and realistic blood dynamics. We performed user studies with different guidance modes: unguided, semi virtual fixture and full virtual fixture modes. We found out that the efficiency of targeting was significantly improved using the forbidden region virtual fixture and the proposed haptic rendering of MNPs. We can expect that using intelligent haptic feedback in real targeted drug delivery systems can improve the targeting efficiency of MNPs in multi-branch vessels.

Magnetic Nanoparticles in the Central Nervous System: Targeting Principles, Applications and Safety Issues

One of the most challenging goals in pharmacological research is overcoming the Blood Brain Barrier (BBB) to deliver drugs to the Central Nervous System (CNS). The use of physical means, such as steady and alternating magnetic fields to drive nanocarriers with proper magnetic characteristics may prove to be a useful strategy. The present review aims at providing an up-to-date picture of the applications of magnetic-driven nanotheranostics agents to the CNS. Although well consolidated on physical ground, some of the techniques described herein are still under investigation on in vitro or in silico models, while others have already entered in—or are close to—clinical validation. The review provides a concise overview of the physical principles underlying the behavior of magnetic nanoparticles (MNPs) interacting with an external magnetic field. Thereafter we describe the physiological pathways by which a substance can reach the brain from the bloodstream and then we focus on those MNP applications that aim at a nondestructive crossing of the BBB such as static magnetic fields to facilitate the passage of drugs and alternating magnetic fields to increment BBB permeability by magnetic heating. In conclusion, we briefly cite the most notable biomedical applications of MNPs and some relevant remarks about their safety and potential toxicity.

Synthesis, Functionalization, and Design of Magnetic Nanoparticles for Theranostic Applications

In order to translate nanotechnology into medical practice, magnetic nanoparticles (MNPs) have been presented as a class of non-invasive nanomaterials for numerous biomedical applications. In particular, MNPs have opened a door for simultaneous diagnosis and brisk treatment of diseases in the form of theranostic agents. This review highlights the recent advances in preparation and utilization of MNPs from the synthesis and functionalization steps to the final design consideration in evading the body immune system for therapeutic and diagnostic applications with addressing the most recent examples of the literature in each section. This study provides a conceptual framework of a wide range of synthetic routes classified mainly as wet chemistry, state-of-the-art microfluidic reactors, and biogenic routes, along with the most popular coating materials to stabilize resultant MNPs. Additionally, key aspects of prolonging the half-life of MNPs via overcoming the sequential biological barriers are covered through unraveling the biophysical interactions at the bio-nano interface and giving a set of criteria to efficiently modulate MNPs' physicochemical properties. Furthermore, concepts of passive and active targeting for successful cell internalization, by respectively exploiting the unique properties of cancers and novel targeting ligands are described in detail. Finally, this study extensively covers the recent developments in magnetic drug targeting and hyperthermia as therapeutic applications of MNPs. In addition, multi-modal imaging via fusion of magnetic resonance imaging, and also innovative magnetic particle imaging with other imaging techniques for early diagnosis of diseases are extensively provided.

Vessel-based registration of an optical shape sensing catheter for MR navigation

PURPOSE

Magnetic resonance navigation (MRN), achieved with an upgraded MRI scanner, aims to guide therapeutic nanoparticles from their release in the hepatic vascular network to embolize highly vascularized liver tumors. Visualizing the catheter in real-time within the arterial network is important for selective embolization within the MR gantry. To achieve this, a new MR-compatible catheter tracking technology based on optical shape sensing is used.

METHODS

This paper proposes a vessel-based registration pipeline to co-align this novel catheter tracking technology to the patient's diagnostic MR angiography (MRA) with 3D roadmapping. The method first extracts the 3D hepatic arteries from a diagnostic MRA based on concurrent deformable models, creating a detailed representation of the patient's internal anatomy. Once the optical shape sensing fibers, inserted in a double-lumen catheter, is guided into the hepatic arteries, the 3D centerline of the catheter is inferred and updated in real-time using strain measurements derived from fiber Bragg gratings sensors. Using both centerlines, a diffeomorphic registration based on a spectral representation of the high-level geometrical primitives is applied.

RESULTS

Results show promise in registration accuracy in five phantom models created from stereolithography of patient-specific vascular anatomies, with maximum target registration errors below 2 mm. Furthermore, registration accuracy with the shape sensing tracking technology remains insensitive to the magnetic field of the MR magnet.

CONCLUSIONS

This study demonstrates that an accurate registration procedure of a shape sensing catheter with diagnostic imaging is feasible.

Droplet generation in cross-flow for cost-effective 3D-printed “plug-and-play” microfluidic devices

Novel low-cost 3D-printed plug-and-play microfluidic devices have been developed for droplet generation and applications. By combining a commercial tubing with the printed channel design we can generate well-controlled droplets down to 50 μm.

Iron oxide nanoparticles for magnetically-guided and magnetically-responsive drug delivery

In this review, we discuss the recent advances in and problems with the use of magnetically-guided and magnetically-responsive nanoparticles in drug delivery and magnetofection. In magnetically-guided nanoparticles, a constant external magnetic field is used to transport magnetic nanoparticles loaded with drugs to a specific site within the body or to increase the transfection capacity. Magnetofection is the delivery of nucleic acids under the influence of a magnetic field acting on nucleic acid vectors that are associated with magnetic nanoparticles. In magnetically-responsive nanoparticles, magnetic nanoparticles are encapsulated or embedded in a larger colloidal structure that carries a drug. In this last case, an alternating magnetic field can modify the structure of the colloid, thereby providing spatial and temporal control over drug release.

A novel scheme for nanoparticle steering in blood vessels using a functionalized magnetic field

Magnetic drug targeting is a drug delivery approach in which therapeutic magnetizable particles are injected, generally into blood vessels, and magnets are then used to guide and concentrate them in the diseased target organ. Although many analytical, simulation, and experimental studies on capturing schemes for drug targeting have been conducted, there are few studies on delivering the nanoparticles to the target region. Furthermore, the sticking phenomenon of particles to vessels walls near the injection point, and far from the target region, has not been addressed sufficiently. In this paper, the sticking issue and its relationship to nanoparticle steering are investigated in detail using numerical simulations. For wide ranges of blood vessel size, blood velocity, particle size, and applied magnetic field, three coefficient numbers are uniquely generalized: vessel elongation, normal exit time, and force rate. With respect these new parameters, we investigated particle distribution trends for a Y-shaped channel and computed ratios of correctly guided particles and particles remaining in the vessel. We found that the sticking of particles to vessels occurred because of low blood flow velocity near the vessel walls, which is the main reason for low targeting efficiency when using a constant magnetic gradient. To reduce the sticking ratio of nanoparticles, we propose a novel field function scheme that uses a simple time-varying function to separate the particles from the walls and guide them to the target point. The capabilities of the proposed scheme were examined by several simulations of both Y-shaped channels and realistic three-dimensional (3-D) model channels extracted from brain vessels. The results showed a significant decrease in particle adherence to walls during the delivery stage and confirmed the effectiveness of the proposed magnetic field function method for steering nanoparticles for targeted drug delivery.

Intraoperative magnetic resonance imaging–conditional robotic devices for therapy and diagnosis

Magnetic resonance imaging presents high-resolution preoperative scans of target tissue and allows for the availability of intraoperative real-time images without the exposure of patients to ionizing radiation. This has motivated scientists and engineers to integrate medical robotics with the magnetic resonance imaging modality to allow robot-assisted, image-guided diagnosis and therapy. This article provides a review of the state-of-the-art medical robotic systems available for use in conjunction with intraoperative magnetic resonance imaging. The robot functionalities and mechanical designs for a wide range of magnetic resonance imaging interventions are presented, including their magnetic resonance imaging compatibility, actuation, kinematics and the mechanical and electrical designs of the robots. Classification and comparative study of various intraoperative magnetic resonance image guided robotic systems are provided. The robotic systems reviewed are summarized in a table in detail. Current technologies for magnetic resonance imaging–conditional robotics are reviewed and their potential future directions are sketched.

Evaluation of magnetic resonance imaging issues for implantable microfabricated magnetic actuators

The mechanical robustness of microfabricated torsional magnetic actuators in withstanding the strong static fields (7 T) and time-varying field gradients (17 T/m) produced by an MR system was studied in this investigation. The static and dynamic mechanical characteristics of 30 devices were quantitatively measured before and after exposure to both strong uniform and non-uniform magnetic fields. The results showed no statistically significant change in both the static and dynamic mechanical performance, which mitigate concerns about the mechanical stability of these devices in association with MR systems under the conditions used for this assessment. The MR-induced heating was also measured in a 3-T/128-MHz MR system. The results showed a minimal increase (1.6 °C) in temperature due to the presence of the magnetic microactuator array. Finally, the size of the MR-image artifacts created by the magnetic microdevices were quantified. The signal loss caused by the devices was approximately four times greater than the size of the device.

Numerical simulation of Dean number and curvature effects on magneto-biofluid flow through a curved conduit

A numerical study is performed to investigate the magnetohydrodynamic viscous steady biofluid flow through a curved pipe with circular cross section under various conditions. A spectral method is applied as the principal tool for the numerical simulation with Fourier series, Chebyshev polynomials, collocation methods and an iteration method as secondary tools. The combined effects of Dean number, Dn, magnetic parameter, Mg, and tube curvature, δ, are studied. The flow patterns have been shown graphically for large Dean numbers as well as magnetic parameter and a wide range of curvatures, 0.01 ≤ δ≤ 0.2. Two-vortex solutions have been found. Axial velocity has been found to increase with an increase of Dean number, whereas it is suppressed with greater curvature and magnetic parameters. For high magnetic parameter and Dean number and low curvature, almost all the fluid vortex strengths are weak. The study is relevant to magnetohydrodynamic blood flow in the cardiovascular system.

Cancer nanotheranostics: improving imaging and therapy by targeted delivery across biological barriers

Cancer nanotheranostics aims to combine imaging and therapy of cancer through use of nanotechnology. The ability to engineer nanomaterials to interact with cancer cells at the molecular level can significantly improve the effectiveness and specificity of therapy to cancers that are currently difficult to treat. In particular, metastatic cancers, drug-resistant cancers, and cancer stem cells impose the greatest therapeutic challenge for targeted therapy. Targeted therapy can be achieved with appropriately designed drug delivery vehicles such as nanoparticles, adult stem cells, or T cells in immunotherapy. In this article, we first review the different types of nanotheranostic particles and their use in imaging, followed by the biological barriers they must bypass to reach the target cancer cells, including the blood, liver, kidneys, spleen, and particularly the blood-brain barrier. We then review how nanotheranostics can be used to improve targeted delivery and treatment of cancer cells. Finally, we discuss development of nanoparticles to overcome current limitations in cancer therapy.

Magnetic nanoparticles for targeted vascular delivery

Magnetic targeting has shown promise to improve the efficacy and safety of different classes of therapeutic agents by enabling their active guidance to the site of disease and minimizing dissemination to nontarget tissues. However, its translation into clinic has proven difficult because of inherent limitations of traditional approaches inapplicable for deep tissue targeting in human subjects and a need for developing well-characterized and fully biocompatible magnetic carrier formulations. A novel magnetic targeting scheme based on the magnetizing effect of deep-penetrating uniform fields is presented as an example of a strategy providing a potentially clinically viable solution for preventing injury-triggered reobstruction of stented blood vessels (in-stent restenosis). The design of optimized magnetic carrier formulations and experimental results showing the feasibility of uniform field-controlled targeting for site-specific vascular delivery of small-molecule pharmaceuticals, biotherapeutics, and cells are discussed in the context of antirestenotic therapy. The versatility of this approach applicable to different classes of therapeutic agents exerting their antirestenotic effects through distinct mechanisms prompts exploring the utility of uniform field-mediated magnetic stent targeting for combination therapies with enhanced efficiencies and improved safety profiles. Additional improvements in terms of site specificity and protracted carrier retention at the site of injury may be expected from the development and use of magnetic carriers exhibiting affinity for arterial wall-specific antigens.

Free-standing poly(L-lactic acid) nanofilms loaded with superparamagnetic nanoparticles

Freely suspended nanocomposite thin films based on soft polymers and functional nanostructures have been widely investigated for their potential application as active elements in microdevices. However, most studies are focused on the preparation of nanofilms composed of polyelectrolytes and charged colloidal particles. Here, a new technique for the preparation of poly(l-lactic acid) free-standing nanofilms embeddidng superparamagnetic iron oxide nanoparticles is presented. The fabrication process, based on a spin-coating deposition approach, is described, and the influence of each production parameter on the morphology and magnetic properties of the final structure is investigated. Superparamagnetic free-standing nanofilms were obtained, as evidenced by a magnetization hysteresis measurement performed with a superconducting quantum interference device (SQUID). Nanofilm surface morphology and thickness were evaluated by atomic force microscopy (AFM), and the nanoparticle dispersion inside the composites was investigated by transmission electron microscopy (TEM). These nanofilms, composed of a biodegradable polyester and remotely controllable by external magnetic fields, are promising candidates for many potential applications in the biomedical field.

Catheter steering using a Magnetic Resonance Imaging system

A catheter is successfully bent and steered by applying magnetic gradients inside a Magnetic Resonance Imaging system (MRI). One to three soft ferromagnetic spheres are attached at the distal tip of the catheter with different spacing between the spheres. Depending on the interactions between the spheres, progressive or discontinuous/jumping displacement was observed for increasing magnetic load. This phenomenon is accurately predicted by a simple theoretical dipole interaction model.

Study of MRI Susceptibility Artifacts for Nanomedical Applications

This article deals with the exploitation of magnetic susceptibility artifacts in magnetic resonance imaging (MRI) for the recognition of metallic delivery capsules. The targeted application is a closed-loop position control of magnetic objects implemented using the components of a clinical MRI scanner. Actuation can be performed by switching the magnetic gradient fields, whereas object locations are detected by an analysis of the MRI scans. A comprehensive investigation of susceptibility artifacts with a total number of 108 experimental setups has been performed in order to study scaling laws and the impact of object properties and imaging parameters. In addition to solid metal objects, a suspension of superparamagnetic nanoparticles has been examined. All 3D scans have been segmented automatically for artifact quantification and location determination. Analysis showed a characteristic shape for all three base types of sequences, which is invariant to the magnetic object shape and material. Imaging parameters such as echo time and flip angle have a moderate impact on the artifact volume but do not modify the characteristic artifact shape. The nanoparticle agglomerates produce imaging artifacts similar to the solid samples. Based on the results, a two-stage recognition/tracking procedure is proposed.

Safety evaluation of magnetic catheter steering with upgraded magnetic resonance imaging system

Catheter navigation and placement through the arterial network is a major limitation for clinical procedure. In this article, a specific catheter tip and a modified clinical MRI scanner with an upgraded gradient system are used to steer a catheter through a single Y-shaped bifurcation. Safety aspects are analyzed to avoid the peripheral nerve stimulation (PNS) according to an empirical law of magnetostimulation and the magnetic field of upgraded 3D gradient coils. For a rabbit-sized device, the rising time of gradients system have to be limited to 1.7ms at 400mT.m(-1) to avoid PNS. These rise time values allow the use of this system for catheter steering and other more demanding applications.

Towards dynamic control of magnetic fields to focus magnetic carriers to targets deep inside the body

Magnetic drug delivery has the potential to target therapy to specific regions in the body, improving efficacy and reducing side effects for treatment of cancer, stroke, infection, and other diseases. Using stationary external magnets, which attract the magnetic drug carriers, this treatment is limited to shallow targets (<5 cm below skin depth using the strongest possible, still safe, practical magnetic fields). We consider dynamic magnetic actuation and present initial results that show it is possible to vary magnets one against the other to focus carriers between them on average. The many remaining tasks for deep targeting in-vivo are then briefly noted.

Magnetic targeting for site-specific drug delivery: applications and clinical potential

BACKGROUND

Magnetic vehicles are very attractive for delivery of therapeutic agents as they can be targeted to specific locations in the body through the application of a magnetic field gradient. The magnetic localization of a therapeutic agent results in the concentration of the therapy at the target site consequently reducing or eliminating the systemic drug side effects.

OBJECTIVE

The aim of this review is to provide an update on the progress made in the development of the magnetic targeting technique addressing characteristics of the magnetic carriers and limitations of the current targeting magnet systems.

METHODS

This review discusses fundamental requirements for the optimal formulation of the magnetic carrier, current applications and potentially new approaches for the magnetically mediated, site-specific localization of therapeutic agents, including drugs, genes and cells.

RESULTS/CONCLUSION

More efficient targeting magnetic systems in combination with prolonged circulation lifespan and carriers' surface recognition properties will improve the targeting efficiency of magnetic nanocarriers and enhance therapeutic agent availability at the molecular site of agent action. The main future magnetic targeting applications were categorized emphasizing the most promising directions and possible strategies for improving the magnetic targeting technique.

Magnetic navigation of an untethered micro device using four stationary coils

We introduce a magnetic navigation of a small magnet using four stationary coils. We used a Maxwell gradient coil to get magnetic propulsion force and three Helmholtz coils to control the moving direction of the magnet in the magnetic navigation. Using a three-channel coil driver with output capacity of 320A, we performed magnetic navigation of a small NdFeB magnet with the size of 10 mm x 10 mm x 12 mm on a horizontal plane. When navigated with a slow speed of about 1 mm/s, the magnet kept track of any arbitrary navigational path. We expect the proposed magnetic navigation method can be easily incorporated into the system for human applications since it does not use any moving coils.

Manipulation and tracking of superparamagnetic nanoparticles using MRI

The use of magnetic fields in magnetic resonance imaging (MRI) for the tracking and delivery of chemotherapeutics bound to superparamagnetic nanoparticles offers a promising method for the non-invasive treatment of inoperable tumours. Here we demonstrate that superparamagnetic magnetite nanoparticles fabricated by an easily scalable method can be driven and tracked in real time at high velocities in vitro using MRI hardware. Force balance calculations are consistent with the magnetic properties of individual 10 nm diameter particles that move collectively as micron sized agglomerates with hydrodynamic diameter similar to that inferred from zero-magnetic-field dynamic light scattering measurements.