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Li N, Fei P, Tous C, Rezaei Adariani M, Hautot ML, Ouedraogo I, Hadjadj A, Dimov IP, Zhang Q, Lessard S, Nosrati Z, Ng CN, Saatchi K, Häfeli UO, Tremblay C, Kadoury S, Tang A, Martel S, Soulez G. Human-scale navigation of magnetic microrobots in hepatic arteries. Sci Robot 2024; 9:eadh8702. [PMID: 38354257 DOI: 10.1126/scirobotics.adh8702] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Accepted: 01/17/2024] [Indexed: 02/16/2024]
Abstract
Using external actuation sources to navigate untethered drug-eluting microrobots in the bloodstream offers great promise in improving the selectivity of drug delivery, especially in oncology, but the current field forces are difficult to maintain with enough strength inside the human body (>70-centimeter-diameter range) to achieve this operation. Here, we present an algorithm to predict the optimal patient position with respect to gravity during endovascular microrobot navigation. Magnetic resonance navigation, using magnetic field gradients in clinical magnetic resonance imaging (MRI), is combined with the algorithm to improve the targeting efficiency of magnetic microrobots (MMRs). Using a dedicated microparticle injector, a high-precision MRI-compatible balloon inflation system, and a clinical MRI, MMRs were successfully steered into targeted lobes via the hepatic arteries of living pigs. The distribution ratio of the microrobots (roughly 2000 MMRs per pig) in the right liver lobe increased from 47.7 to 86.4% and increased in the left lobe from 52.2 to 84.1%. After passing through multiple vascular bifurcations, the number of MMRs reaching four different target liver lobes had a 1.7- to 2.6-fold increase in the navigation groups compared with the control group. Performing simulations on 19 patients with hepatocellular carcinoma (HCC) demonstrated that the proposed technique can meet the need for hepatic embolization in patients with HCC. Our technology offers selectable direction for actuator-based navigation of microrobots at the human scale.
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Affiliation(s)
- Ning Li
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Phillip Fei
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Cyril Tous
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Mahdi Rezaei Adariani
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
- Inria, Palaiseau 91120, France
| | - Marie-Lou Hautot
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Inès Ouedraogo
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Nantes, Nantes 44035, France
| | - Amina Hadjadj
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Ivan P Dimov
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Quan Zhang
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
- School of Artificial Intelligence, Shanghai University, Shanghai 200444, China
| | - Simon Lessard
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
| | - Zeynab Nosrati
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Courtney N Ng
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Katayoun Saatchi
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Urs O Häfeli
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Charles Tremblay
- Department of Computer Engineering and Software Engineering, Polytechnique Montréal, Montréal, Québec H3T 1J4, Canada
| | - Samuel Kadoury
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Department of Computer Engineering and Software Engineering, Polytechnique Montréal, Montréal, Québec H3T 1J4, Canada
| | - An Tang
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
- Centre Hospitalier de l'Université de Montréal (CHUM), Montréal, Québec H2X 0C1, Canada
| | - Sylvain Martel
- Department of Computer Engineering and Software Engineering, Polytechnique Montréal, Montréal, Québec H3T 1J4, Canada
- Department of Bioengineering, McGill University, Montréal, Québec H3A 0E9, Canada
| | - Gilles Soulez
- Clinical Laboratory of Image Processing (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), Montréal, Québec H2X 0A9, Canada
- Université de Montréal, Montréal, Québec H3T 1J4, Canada
- Centre Hospitalier de l'Université de Montréal (CHUM), Montréal, Québec H2X 0C1, Canada
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Analysis and Comparison of Electromagnetic Microrobotic Platforms for Biomedical Applications. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12010456] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Abstract
Magnetic microrobotics is a promising technology for improving minimally invasive surgery (MIS) with the ambition of enhancing patient care and comfort. The potential benefits include limited incisions, less hemorrhaging and postoperative pain, and faster recovery time. To achieve this, a key issue relies on the design of a proper electromagnetic actuation (EMA) setup which is based on the use of magnetic sources. The magnetic field and its gradient generated by the EMA platform is then used to induce magnetic torque and force for microrobot manipulations inside the human body. Like any control systems, the EMA system must be adapted to the given controlled microrobot and customized for the application. With great research efforts on magnetic manipulating of microrobots, the EMA systems are approaching commercial applications, and their configurations are becoming more suitable to be employed in real medical surgeries. However, most of the proposed designs have not followed any specific rule allowing to take into account the biomedical applications constraints. Through reviewing the different proposed EMA systems in the literature, their various specifications and configurations are comprehensively discussed and analyzed. This study focus on EMA platforms that use electromagnets. From this review and based on the biomedical application specifications, the appropriate EMA system can be determined efficiently.
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Tous C, Li N, Dimov IP, Kadoury S, Tang A, Häfeli UO, Nosrati Z, Saatchi K, Moran G, Couch MJ, Martel S, Lessard S, Soulez G. Navigation of Microrobots by MRI: Impact of Gravitational, Friction and Thrust Forces on Steering Success. Ann Biomed Eng 2021; 49:3724-3736. [PMID: 34622313 DOI: 10.1007/s10439-021-02865-1] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/11/2021] [Accepted: 09/07/2021] [Indexed: 10/20/2022]
Abstract
INTRODUCTION Magnetic resonance navigation (MRN) uses MRI gradients to steer magnetic drug-eluting beads (MDEBs) across vascular bifurcations. We aim to experimentally verify our theoretical forces balance model (gravitational, thrust, friction, buoyant and gradient steering forces) to improve the MRN targeted success rate. METHOD A single-bifurcation phantom (3 mm inner diameter) made of poly-vinyl alcohol was connected to a cardiac pump at 0.8 mL/s, 60 beats/minutes with a glycerol solution to reproduce the viscosity of blood. MDEB aggregates (25 ± 6 particles, 200 [Formula: see text]) were released into the main branch through a 5F catheter. The phantom was tilted horizontally from - 10° to +25° to evaluate the MRN performance. RESULTS The gravitational force was equivalent to 71.85 mT/m in a 3T MRI. The gradient duration and amplitude had a power relationship (amplitude=78.717 [Formula: see text]). It was possible, in 15° elevated vascular branches, to steer 87% of injected aggregates if two MRI gradients are simultaneously activated ([Formula: see text] = +26.5 mT/m, [Formula: see text]= +18 mT/m for 57% duty cycle), the flow velocity was minimized to 8 cm/s and a residual pulsatile flow to minimize the force of friction. CONCLUSION Our experimental model can determine the maximum elevation angle MRN can perform in a single-bifurcation phantom simulating in vivo conditions.
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Affiliation(s)
- Cyril Tous
- Centre de recherche du Centre hospitalier de l, Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montreal, QC, H2X 0A9, Canada.,Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montreal, QC, H3T 1J4, Canada
| | - Ning Li
- Centre de recherche du Centre hospitalier de l, Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montreal, QC, H2X 0A9, Canada.,Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montreal, QC, H3T 1J4, Canada
| | - Ivan P Dimov
- Centre de recherche du Centre hospitalier de l, Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montreal, QC, H2X 0A9, Canada
| | - Samuel Kadoury
- Polytechnique Montréal, 2500 Chemin de Polytechnique, 28, Montreal, QC, H3T 1J4, Canada
| | - An Tang
- Centre de recherche du Centre hospitalier de l, Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montreal, QC, H2X 0A9, Canada.,Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montreal, QC, H3T 1J4, Canada
| | - Urs O Häfeli
- University of British Columbia, 2405 Westbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Zeynab Nosrati
- University of British Columbia, 2405 Westbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Katayoun Saatchi
- University of British Columbia, 2405 Westbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | | | | | - Sylvain Martel
- Polytechnique Montréal, 2500 Chemin de Polytechnique, 28, Montreal, QC, H3T 1J4, Canada
| | - Simon Lessard
- Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montreal, QC, H3T 1J4, Canada.,École de Technologie Supérieur, 1100 Rue Notre-Dame O, Montreal, QC, H3C 1K3, Canada
| | - Gilles Soulez
- Centre de recherche du Centre hospitalier de l, Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montreal, QC, H2X 0A9, Canada. .,Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montreal, QC, H3T 1J4, Canada.
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Li N, Jiang Y, Plantefève R, Michaud F, Nosrati Z, Tremblay C, Saatchi K, Häfeli UO, Kadoury S, Moran G, Joly F, Martel S, Soulez G. Magnetic Resonance Navigation for Targeted Embolization in a Two-Level Bifurcation Phantom. Ann Biomed Eng 2019; 47:2402-2415. [PMID: 31290038 DOI: 10.1007/s10439-019-02317-x] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/30/2019] [Accepted: 06/28/2019] [Indexed: 12/22/2022]
Abstract
This work combines a particle injection system with our proposed magnetic resonance navigation (MRN) sequence with the intention of validating MRN in a two-bifurcation phantom for endovascular treatment of hepatocellular carcinoma (HCC). A theoretical physical model used to calculate the most appropriate size of the magnetic drug-eluting bead (MDEB, 200 μm) aggregates was proposed. The aggregates were injected into the phantom by a dedicated particle injector while a trigger signal was automatically sent to the MRI to start MRN which consists of interleaved tracking and steering sequences. When the main branch of the phantom was parallel to B0, the aggregate distribution ratio in the (left-left, left-right, right-left and right-right divisions was obtained with results of 8, 68, 24 and 0% respectively at baseline (no MRN) and increased to 84%, 100, 84 and 92% (p < 0.001, p = 0.004, p < 0.001, p < 0.001) after implementing our MRN protocol. When the main branch was perpendicular to B0, the right-left branch, having the smallest baseline distribution rate of 0%, reached 80% (p < 0.001) after applying MRN. Moreover, the success rate of MRN was always more than 92% at the 1st bifurcation in the experiments above.
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Affiliation(s)
- Ning Li
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada.,Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada
| | - Yuting Jiang
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada.,Department of Radiology, Radiation-Oncology and Nuclear Medicine and Institute of Biomedical Engineering, Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montréal, QC, H3T 1J4, Canada
| | - Rosalie Plantefève
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada
| | - Francois Michaud
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada.,Department of Radiology, Radiation-Oncology and Nuclear Medicine and Institute of Biomedical Engineering, Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montréal, QC, H3T 1J4, Canada
| | - Zeynab Nosrati
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Charles Tremblay
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada
| | - Katayoun Saatchi
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Urs O Häfeli
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Samuel Kadoury
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada.,Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada
| | | | - Florian Joly
- INRIA Paris, 2 rue Simone Iff, 75012, Paris, France
| | - Sylvain Martel
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada
| | - Gilles Soulez
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada. .,Department of Radiology, Radiation-Oncology and Nuclear Medicine and Institute of Biomedical Engineering, Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montréal, QC, H3T 1J4, Canada.
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Liu YL, Chen D, Shang P, Yin DC. A review of magnet systems for targeted drug delivery. J Control Release 2019; 302:90-104. [PMID: 30946854 DOI: 10.1016/j.jconrel.2019.03.031] [Citation(s) in RCA: 119] [Impact Index Per Article: 23.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2019] [Revised: 03/28/2019] [Accepted: 03/29/2019] [Indexed: 11/18/2022]
Abstract
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.
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Affiliation(s)
- Ya-Li Liu
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China; Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, Guangzhou, PR China
| | - Da Chen
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China
| | - Peng Shang
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China; Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, Guangzhou, PR China
| | - Da-Chuan Yin
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China; Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, Guangzhou, PR China.
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Michaud F, Li N, Plantefève R, Nosrati Z, Tremblay C, Saatchi K, Moran G, Bigot A, Häfeli UO, Kadoury S, Tang A, Perreault P, Martel S, Soulez G. Selective embolization with magnetized microbeads using magnetic resonance navigation in a controlled-flow liver model. Med Phys 2018; 46:789-799. [PMID: 30451303 DOI: 10.1002/mp.13298] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/16/2018] [Revised: 10/18/2018] [Accepted: 11/04/2018] [Indexed: 12/29/2022] Open
Abstract
PURPOSE The purpose of this study was to demonstrate the feasibility of using a custom gradient sequence on an unmodified 3T magnetic resonance imaging (MRI) scanner to perform magnetic resonance navigation (MRN) by investigating the blood flow control method in vivo, reproducing the obtained rheology in a phantom mimicking porcine hepatic arterial anatomy, injecting magnetized microbead aggregates through an implantable catheter, and steering the aggregates across arterial bifurcations for selective tumor embolization. MATERIALS AND METHODS In the first phase, arterial hepatic velocity was measured using cine phase-contrast imaging in seven pigs under free-flow conditions and controlled-flow conditions, whereby a balloon catheter is used to occlude arterial flow and saline is injected at different rates. Three of the seven pigs previously underwent selective lobe embolization to simulate a chemoembolization procedure. In the second phase, the measured in vivo controlled-flow velocities were approximately reproduced in a Y-shaped vascular bifurcation phantom by injecting saline at an average rate of 0.6 mL/s with a pulsatile component. Aggregates of 200-μm magnetized particles were steered toward the right or left hepatic branch using a 20-mT/m MRN gradient. The phantom was oriented at 0°, 45°, and 90° with respect to the B0 magnetic field. The steering differences between left-right gradient and baseline were calculated using Fisher's exact test. A theoretical model of the trajectory of the aggregate within the main phantom branch taking into account gravity, magnetic force, and hydrodynamic drag was also designed, solved, and validated against the experimental results to characterize the physical limitations of the method. RESULTS At an injection rate of 0.5 mL/s, the average flow velocity decreased from 20 ± 15 to 8.4 ± 5.0 cm/s after occlusion in nonembolized pigs and from 13.6 ± 2.0 to 5.4 ± 3.0 cm/s in previously embolized pigs. The pulsatility index measured to be 1.7 ± 1.8 and 1.1 ± 0.1 for nonembolized and embolized pigs, respectively, decreased to 0.6 ± 0.4 and 0.7 ± 0.3 after occlusion. For MRN performed at each orientation, the left-right distribution of aggregates was 55%, 25%, and 75% on baseline and 100%, 100%, and 100% (P < 0.001, P = 0.003, P = 0.003) after the application of MRN, respectively. According to the theoretical model, the aggregate reaches a stable transverse position located toward the direction of the gradient at a distance equal to 5.8% of the radius away from the centerline within 0.11 s, at which point the aggregate will have transited through a longitudinal distance of 1.0 mm from its release position. CONCLUSION In this study, we showed that the use of a balloon catheter reduces arterial hepatic flow magnitude and variation with the aim to reduce steering failures caused by fast blood flow rates and low magnetic steering forces. A mathematical model confirmed that the reduced flow rate is low enough to maximize steering ratio. After reproducing the flow rate in a vascular bifurcation phantom, we demonstrated the feasibility of MRN after injection of microparticle aggregates through a dedicated injector. This work is an important step leading to MRN-based selective embolization techniques in humans.
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Affiliation(s)
- François Michaud
- Université de Montréal, 2900 Boulevard Edouard-Montpetit, Montréal, Québec, H3T 1J4, Canada.,Centre de recherche du Centre hospitalier de l'Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montréal, Québec, H2X 0A9, Canada
| | - Ning Li
- Polytechnique Montréal, 2500 Chemin de Polytechnique, Montréal, Québec, H3T 1J4, Canada
| | - Rosalie Plantefève
- Université de Montréal, 2900 Boulevard Edouard-Montpetit, Montréal, Québec, H3T 1J4, Canada.,Centre de recherche du Centre hospitalier de l'Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montréal, Québec, H2X 0A9, Canada
| | - Zeynab Nosrati
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, British-Columbia, V6T 1Z3, Canada
| | - Charles Tremblay
- Polytechnique Montréal, 2500 Chemin de Polytechnique, Montréal, Québec, H3T 1J4, Canada
| | - Katayoun Saatchi
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, British-Columbia, V6T 1Z3, Canada
| | - Gerald Moran
- Siemens Healthcare Limited, 1577 North Service Road East, Oakville, Ontario, L6H 0H6, Canada
| | - Alexandre Bigot
- Université de Montréal, 2900 Boulevard Edouard-Montpetit, Montréal, Québec, H3T 1J4, Canada.,Centre de recherche du Centre hospitalier de l'Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montréal, Québec, H2X 0A9, Canada
| | - Urs O Häfeli
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, British-Columbia, V6T 1Z3, Canada
| | - Samuel Kadoury
- Centre de recherche du Centre hospitalier de l'Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montréal, Québec, H2X 0A9, Canada.,Polytechnique Montréal, 2500 Chemin de Polytechnique, Montréal, Québec, H3T 1J4, Canada
| | - An Tang
- Université de Montréal, 2900 Boulevard Edouard-Montpetit, Montréal, Québec, H3T 1J4, Canada.,Centre de recherche du Centre hospitalier de l'Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montréal, Québec, H2X 0A9, Canada
| | - Pierre Perreault
- Université de Montréal, 2900 Boulevard Edouard-Montpetit, Montréal, Québec, H3T 1J4, Canada.,Centre de recherche du Centre hospitalier de l'Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montréal, Québec, H2X 0A9, Canada
| | - Sylvain Martel
- Polytechnique Montréal, 2500 Chemin de Polytechnique, Montréal, Québec, H3T 1J4, Canada
| | - Gilles Soulez
- Université de Montréal, 2900 Boulevard Edouard-Montpetit, Montréal, Québec, H3T 1J4, Canada.,Centre de recherche du Centre hospitalier de l'Université de Montréal (CRCHUM), 900 Rue Saint-Denis, Montréal, Québec, H2X 0A9, Canada
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Nosrati Z, Li N, Michaud F, Ranamukhaarachchi S, Karagiozov S, Soulez G, Martel S, Saatchi K, Häfeli UO. Development of a Coflowing Device for the Size-Controlled Preparation of Magnetic-Polymeric Microspheres as Embolization Agents in Magnetic Resonance Navigation Technology. ACS Biomater Sci Eng 2018; 4:1092-1102. [DOI: 10.1021/acsbiomaterials.7b00839] [Citation(s) in RCA: 20] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Affiliation(s)
- Zeynab Nosrati
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Ning Li
- NanoRobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, Quebec H3T 1J4, Canada
| | - François Michaud
- Laboratoire clinique du traitement de l’image, Centre de recherche du Centre Hospitalier de l’Université de Montréal (CRCHUM), Montréal, Quebec H2X 0A9, Canada
| | - Sahan Ranamukhaarachchi
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Stoyan Karagiozov
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Gilles Soulez
- Department of Radiology, Centre Hospitalier de l’Université de Montréal (CHUM)—Hôpital Notre-Dame, Montréal, Quebec H2L 4M1, Canada
| | - Sylvain Martel
- NanoRobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, Quebec H3T 1J4, Canada
| | - Katayoun Saatchi
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
| | - Urs O. Häfeli
- Faculty of Pharmaceutical Sciences, University of British Columbia, Vancouver, British Columbia V6T 1Z3, Canada
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Folio D, Ferreira A. Two-Dimensional Robust Magnetic Resonance Navigation of a Ferromagnetic Microrobot Using Pareto Optimality. IEEE T ROBOT 2017. [DOI: 10.1109/tro.2016.2638446] [Citation(s) in RCA: 40] [Impact Index Per Article: 5.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Tabatabaei SN, Tabatabaei MS, Girouard H, Martel S. Hyperthermia of magnetic nanoparticles allows passage of sodium fluorescein and Evans blue dye across the blood–retinal barrier. Int J Hyperthermia 2016; 32:657-65. [DOI: 10.1080/02656736.2016.1193903] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022] Open
Affiliation(s)
- Seyed Nasrollah Tabatabaei
- Institute of Biomedical Engineering, École Polytechnique de Montréal, Montréal, Canada
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, Canada
| | - Maryam Sadat Tabatabaei
- Institute of Biomedical Engineering, École Polytechnique de Montréal, Montréal, Canada
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, Canada
| | - Hélène Girouard
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, Canada
| | - Sylvain Martel
- Institute of Biomedical Engineering, École Polytechnique de Montréal, Montréal, Canada
- Department of Medical Nanorobotics, Nanorobotics Laboratory, Montreal, Canada
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Tabatabaei SN, Girouard H, Carret AS, Martel S. Toward nonsystemic delivery of therapeutics across the blood-brain barrier. Nanomedicine (Lond) 2016. [PMID: 26214352 DOI: 10.2217/nnm.15.85] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/27/2022] Open
Affiliation(s)
| | - Hélène Girouard
- Department of Pharmacology, Faculty of Medicine, Université de Montréal, Montréal, QC, Canada
| | - Anne-Sophie Carret
- Pediatric Hematologist-Oncologistat CHU Sainte-Justine, Montréal, QC, Canada.,Department of Pediatrics, Faculty of Medicine, Université de Montréal, Montréal, QC, Canada
| | - Sylvain Martel
- Department of Computer & Software Engineering, Institute of Biomedical Engineering, Polytechnique de Montréal, Montréal, QC, Canada
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Mellal L, Folio D, Belharet K, Ferreira A. Modeling of Optimal Targeted Therapies Using Drug-Loaded Magnetic Nanoparticles for Liver Cancer. IEEE Trans Nanobioscience 2016; 15:265-74. [PMID: 26955045 DOI: 10.1109/tnb.2016.2535380] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
To enhance locoregional therapies for liver cancer treatment, we propose in this study a mathematical model to optimize the transcatheter arterial delivery of therapeutical agents. To maximize the effect of the treatment and minimize adverse effects on the patient, different mathematical models of the tumor growth are considered in this study to find the optimal number of the therapeutic drug-loaded magnetic nanoparticles to be administered. Three types of therapy models are considered, e.g., angiogenesis inhibition therapy, chemotherapy and radiotherapy. We use state-dependent Riccati equations (SDRE) as an optimal control methodology framework to the Hahnfeldt's tumor growth formulation. Based on this, design optimal rules are derived for each therapy to reduce the growth of a tumor through the administration of appropriate dose of antiangiogenic, radio- and chemo-therapeutic agents. Simulation results demonstrate the validity of the proposed optimal delivery approach, leading to reduced intervention time, low drug administration rates and optimal targeted delivery.
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12
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Bigot A, Soulez G, Martel S. A prototype of injector to control and to detect the release of magnetic beads within the constraints of multibifurcation magnetic resonance navigation procedures. Magn Reson Med 2016; 77:444-452. [PMID: 26898722 DOI: 10.1002/mrm.26109] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/30/2015] [Revised: 12/03/2015] [Accepted: 12/10/2015] [Indexed: 12/17/2022]
Abstract
PURPOSE An injector equipped with a bead capture and a bead detection system is presented. In the context of magnetic resonance navigation (MRN), in which MRI gradients are used to steer intravascular therapeutic carriers, fast and reliable injection is essential. In this paper, we present a prototype of injector to control and to detect the release of magnetic beads. METHODS The injector relies on two distinct subsystems: (1) the capture subsystem, which creates local magnetic force to stop the flow of magnetic beads; and (2) the detection subsystem, which detects flowing beads and generates a trigger signal to start MRI gradient pulses. Both systems rely on small microcoils wound on the tubing. RESULTS Five-turn microcoils show the best compromise between size and performance. Less than 5 mW of power is required to capture 0.8-mm beads moving in a flow above 5 mL min-1 or when a gradient above 200 mT m-1 is applied. The detection system is not sensitive to noise and detects every 0.8-mm bead in flow rates up to 14 mL m-1 . CONCLUSION The prototype of injector shows performance above the requirements inherent to magnetic resonance navigation. This system is a step toward in vivo multibifurcation MRN. Magn Reson Med 77:444-452, 2017. © 2016 Wiley Periodicals, Inc.
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Affiliation(s)
- Alexandre Bigot
- Clinical Image Processing Laboratory (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), 900 rue Saint-Denis, Montreal, QC, H2X 0A9, Canada
| | - Gilles Soulez
- Clinical Image Processing Laboratory (LCTI), Centre de Recherche du Centre Hospitalier de l'Université de Montréal (CRCHUM), 900 rue Saint-Denis, Montreal, QC, H2X 0A9, Canada.,Centre Hospitalier de l'Université de Montréal, Department of Radiology, 1560 Sherbrooke Est, Montreal, QC, CAN, H2L 4M1
| | - Sylvain Martel
- NanoRobotics Laboratory, Department of Computer and Software Engineering and Institute of Biomedical Engineering, Polytechnique Montréal, C.P. 6079, Succursale Centre-ville, Montréal, Québec, Canada, H3C 3A7
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Lalande V, Gosselin FP, Vonthron M, Conan B, Tremblay C, Beaudoin G, Soulez G, Martel S. In vivodemonstration of magnetic guidewire steerability in a MRI system with additional gradient coils. Med Phys 2015; 42:969-76. [DOI: 10.1118/1.4906194] [Citation(s) in RCA: 18] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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