Real-Time Two-Dimensional Magnetic Particle Imaging for Electromagnetic Navigation in Targeted Drug Delivery

A fused LASSO operator for fast 3D magnetic particle imaging reconstruction

Objective.Magnetic particle imaging (MPI) is a promising imaging modality that leverages the nonlinear magnetization behavior of superparamagnetic iron oxide nanoparticles to determine their concentration distribution. Previous optimization models with multiple regularization terms have been proposed to achieve high-quality MPI reconstruction, but these models often result in increased computational burden, particularly for dense gridding 3D fields of view. In order to achieve faster reconstruction speeds without compromising reconstruction quality, we have developed a novel fused LASSO operator, total sum-difference (TSD), which effectively captures the sparse and smooth priors of MPI images.Methods.Through an analysis-synthesis equivalence strategy and a constraint smoothing strategy, the TSD regularized model was solved using the fast iterative soft-thresholding algorithm (FISTA). The resulting reconstruction method, TSD-FISTA, boasts low computational complexity and quadratic convergence rate over iterations.Results.Experimental results demonstrated that TSD-FISTA required only 10% and 37% of the time to achieve comparable or superior reconstruction quality compared to commonly used fused LASSO-based alternating direction method of multipliers and Tikhonov-based algebraic reconstruction techniques, respectively.Significance.TSD-FISTA shows promise for enabling real-time 3D MPI reconstruction at high frame rates for large fields of view.

A Cost-Effective Integrated Methodology for Electromagnetic Actuation via Visual Feedback

Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object's position and coil's current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuated vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remained within ±0.5 mm, with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

Bioinspired microrobots: Opportunities and challenges in targeted cancer therapy

Chemotherapy is still the most effective technique to treat many forms of cancer. However, it also carries a high risk of side effects. Numerous nanomedicines have been developed to avoid unintended consequences and significant negative effects of conventional therapies. Achieving targeted drug delivery also has several challenges. In this context, the development of microrobots is receiving considerable attention of formulation scientists and clinicians to overcome such challenges. Due to their mobility, microrobots can infiltrate tissues and reach tumor sites more quickly. Different types of microrobots, like custom-made moving bacteria, microengines powered by small bubbles, and hybrid spermbots, can be designed with complex features that are best for precise targeting of a wide range of cancers. In this review, we mainly focus on the idea of how microrobots can quickly target cancer cells and discuss specific advantages of microrobots. A brief summary of the microrobots' drug loading and release behavior is provided in this manuscript. This manuscript will assist clinicians and other medical professionals in diagnosing and treating cancer without surgery.

Frequency Mixing Magnetic Detection Setup Employing Permanent Ring Magnets as a Static Offset Field Source

Frequency mixing magnetic detection (FMMD) has been explored for its applications in fields of magnetic biosensing, multiplex detection of magnetic nanoparticles (MNP) and the determination of core size distribution of MNP samples. Such applications rely on the application of a static offset magnetic field, which is generated traditionally with an electromagnet. Such a setup requires a current source, as well as passive or active cooling strategies, which directly sets a limitation based on the portability aspect that is desired for point of care (POC) monitoring applications. In this work, a measurement head is introduced that involves the utilization of two ring-shaped permanent magnets to generate a static offset magnetic field. A steel cylinder in the ring bores homogenizes the field. By variation of the distance between the ring magnets and of the thickness of the steel cylinder, the magnitude of the magnetic field at the sample position can be adjusted. Furthermore, the measurement setup is compared to the electromagnet offset module based on measured signals and temperature behavior.

Vascular Repair by Grafting Based on Magnetic Nanoparticles

Magnetic nanoparticles (MNPs) have attracted much attention in the past few decades because of their unique magnetic responsiveness. Especially in the diagnosis and treatment of diseases, they are mostly involved in non-invasive ways and have achieved good results. The magnetic responsiveness of MNPs is strictly controlled by the size, crystallinity, uniformity, and surface properties of the synthesized particles. In this review, we summarized the classification of MNPs and their application in vascular repair. MNPs mainly use their unique magnetic properties to participate in vascular repair, including magnetic stimulation, magnetic drive, magnetic resonance imaging, magnetic hyperthermia, magnetic assembly scaffolds, and magnetic targeted drug delivery, which can significantly affect scaffold performance, cell behavior, factor secretion, drug release, etc. Although there are still challenges in the large-scale clinical application of MNPs, its good non-invasive way to participate in vascular repair and the establishment of a continuous detection process is still the future development direction.

Micro/Nanosystems for Magnetic Targeted Delivery of Bioagents

Targeted delivery of pharmaceuticals is promising for efficient disease treatment and reduction in adverse effects. Nano or microstructured magnetic materials with strong magnetic momentum can be noninvasively controlled via magnetic forces within living beings. These magnetic carriers open perspectives in controlling the delivery of different types of bioagents in humans, including small molecules, nucleic acids, and cells. In the present review, we describe different types of magnetic carriers that can serve as drug delivery platforms, and we show different ways to apply them to magnetic targeted delivery of bioagents. We discuss the magnetic guidance of nano/microsystems or labeled cells upon injection into the systemic circulation or in the tissue; we then highlight emergent applications in tissue engineering, and finally, we show how magnetic targeting can integrate with imaging technologies that serve to assist drug delivery.

Multimodal Locomotion and Active Targeted Thermal Control of Magnetic Agents for Biomedical Applications

Magnetic microrobots can be miniaturized to a nanometric scale owing to their wireless actuation, thereby rendering them ideal for numerous biomedical applications. As a result, nowadays, there exist several mechano-electromagnetic systems for their actuation. However, magnetic actuation is not sufficient for implementation in biomedical applications, and further functionalities such as imaging and heating are required. This study proposes a multimodal electromagnetic system comprised of three pairs of Helmholtz coils, a pair of Maxwell coils, and a high-frequency solenoid to realize multimodal locomotion and heating control of magnetic microrobots. The system produces different configurations of magnetic fields that can generate magnetic forces and torques for the multimodal locomotion of magnetic microrobots, as well as generate magnetic traps that can control the locomotion of magnetic swarms. Furthermore, these magnetic fields are employed to control the magnetization of magnetic nanoparticles, affecting their magnetic relaxation mechanisms and diminishing their thermal properties. Thus, the system enables the control of the temperature increase of soft-magnetic materials and selective heating of magnetic microrobots at different positions, while suppressing the heating properties of magnetic nanoparticles located at undesired areas.

Studies on Aggregated Nanoparticles Steering during Deep Brain Membrane Crossing

Many central nervous system (CNS) diseases, such as Alzheimer's disease (AD), affect the deep brain region, which hinders their effective treatment. The hippocampus, a deep brain area critical for learning and memory, is especially vulnerable to damage during early stages of AD. Magnetic drug targeting has shown high potential in delivering drugs to a targeted disease site effectively by applying a strong electromagnetic force. This study illustrates a nanotechnology-based scheme for delivering magnetic nanoparticles (MNP) to the deep brain region. First, we developed a mathematical model and a molecular dynamic simulation to analyze membrane crossing, and to study the effects of particle size, aggregation, and crossing velocities. Then, using in vitro experiments, we studied effective parameters in aggregation. We have also studied the process and environmental parameters. We have demonstrated that aggregation size can be controlled when particles are subjected to external electromagnetic fields. Our simulations and experimental studies can be used for capturing MNPs in brain, the transport of particles across the intact BBB and deep region targeting. These results are in line with previous in vivo studies and establish an effective strategy for deep brain region targeting with drug loaded MNPs through the application of an external electromagnetic field.

A Review of Microrobot's System: Towards System Integration for Autonomous Actuation In Vivo

Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo clinically. However, the most important question is how to get microrobots to a given position accurately. Therefore, autonomous actuation technology based on medical imaging has become the solution receiving the most attention considering its low precision and efficiency of manual control. This paper investigates key components of microrobot’s autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, hoping to help realize system integration of them. The hardware integration has two situations according to sharing the transmitting equipment or not, with the consideration of interference, efficiency, microrobot’s material and structure. Furthermore, system integration of hybrid actuation and multimodal imaging can improve the navigation effect of the microrobot. The software integration needs to consider the characteristics and deficiencies of the existing actuation algorithms, imaging algorithms, and the complex 3D working environment in vivo. Additionally, considering the moving distance in the human body, the autonomous actuation system combined with rapid delivery methods can deliver microrobots to specify position rapidly and precisely.

Magnetic particle imaging for assessment of cerebral perfusion and ischemia

Stroke is one of the leading worldwide causes of death and sustained disability. Rapid and accurate assessment of cerebral perfusion is essential to diagnose and successfully treat stroke patients. Magnetic particle imaging (MPI) is a new technology with the potential to overcome some limitations of established imaging modalities. It is an innovative and radiation-free imaging technique with high sensitivity, specificity, and superior temporal resolution. MPI enables imaging and diagnosis of stroke and other neurological pathologies such as hemorrhage, tumors, and inflammatory processes. MPI scanners also offer the potential for targeted therapies of these diseases. Due to lower field requirements, MPI scanners can be designed as resistive magnets and employed as mobile devices for bedside imaging. With these advantages, MPI could accelerate and improve the diagnosis and treatment of neurological disorders. This review provides a basic introduction to MPI, discusses its current use for stroke imaging, and addresses future applications, including the potential for clinical implementation. This article is categorized under: Diagnostic Tools > In Vivo Nanodiagnostics and Imaging Therapeutic Approaches and Drug Discovery > Nanomedicine for Neurological Disease.

Navigation of a magnetic micro-robot through a cerebral aneurysm phantom with magnetic particle imaging

Cerebral aneurysms are potentially life threatening and nowadays treated by a catheter-guided coiling or by a neurosurgical clipping intervention. Here, we propose a helically shaped magnetic micro-robot, which can be steered by magnetic fields in an untethered manner and could be applied for a novel coiling procedure. This is shown by navigating the micro-robot through an additively manufactured phantom of a human cerebral aneurysm. The magnetic fields are applied with a magnetic particle imaging (MPI) scanner, which allows for the navigation and tomographic visualization by the same machine. With MPI the actuation process can be visualized with a localization accuracy of 0.68 mm and an angiogram can be acquired both without any radiation exposure. First in-vitro phantom experiments are presented, showing an idea of a robot conducted treatment of cerebral aneurysms.

A wavelet-based sparse row-action method for image reconstruction in magnetic particle imaging

PURPOSE

Magnetic particle imaging (MPI) is a preclinical imaging technique capable of visualizing the spatio-temporal distribution of magnetic nanoparticles. The image reconstruction of this fast and dynamic process relies on efficiently solving an ill-posed inverse problem. Current approaches to reconstruct the tracer concentration from its measurements are either adapted to image characteristics of MPI but suffer from higher computational complexity and slower convergence or are fast but lack in the image quality of the reconstructed images.

METHODS

In this work we propose a novel MPI reconstruction method to combine the advantages of both approaches into a single algorithm. The underlying sparsity prior is based on an undecimated wavelet transform and is integrated into a fast row-action framework to solve the corresponding MPI minimization problem.

RESULTS

Its performance is numerically evaluated against a classical FISTA (Fast Iterative Shrinkage-Thresholding Algorithm) approach on simulated and real MPI data. The experimental results show that the proposed method increases image quality with significantly reduced computation times.

CONCLUSIONS

In comparison to state-of-the-art MPI reconstruction methods, our approach shows better reconstruction results and at the same time accelerates the convergence rate of the underlying row-action algorithm.

Cellular SPION Uptake and Toxicity in Various Head and Neck Cancer Cell Lines

Superparamagnetic iron oxide nanoparticles (SPIONs) feature distinct magnetic properties that make them useful and effective tools for various diagnostic, therapeutic and theranostic applications. In particular, their use in magnetic drug targeting (MDT) promises to be an effective approach for the treatment of various diseases such as cancer. At the cellular level, SPION uptake, along with SPION-mediated toxicity, represents the most important prerequisite for successful application. Thus, the present study determines SPION uptake, toxicity and biocompatibility in human head and neck tumor cell lines of the tongue, pharynx and salivary gland. Using magnetic susceptibility measurements, microscopy, atomic emission spectroscopy, flow cytometry, and plasma coagulation, we analyzed the magnetic properties, cellular uptake and biocompatibility of two different SPION types in the presence and absence of external magnetic fields. Incubation of cells with lauric acid and human serum albumin-coated nanoparticles (SPION^LA-HSA) resulted in substantial particle uptake with low cytotoxicity. In contrast, uptake of lauric acid-coated nanoparticles (SPION^LA) was substantially increased but accompanied by higher toxicity. The presence of an external magnetic field significantly increased cellular uptake of both particles, although cytotoxicity was not significantly increased in any of the cell lines. SPIONs coated with lauric acid and/or human serum albumin show different patterns of uptake and toxicity in response to an external magnetic field. Consequently, the results indicate the potential use of SPIONs as vehicles for MDT in head and neck cancer.

Recent Progress in Magnetically Actuated Microrobots for Targeted Delivery of Therapeutic Agents

Therapeutic agents, such as drugs and cells, play an essential role in virtually every treatment of injury, illness, or disease. However, the conventional practices of drug delivery often result in undesirable side effects caused by drug overdose and off-target delivery. In the case of cell delivery, the survival rate of the transplanted cells is extremely low and difficulties with the administration route of cells remain a problem. Recently, magnetically actuated microrobots have started offering unique opportunities in targeted therapeutic delivery due to their tiny size and ability to access hard-to-reach lesions in a minimally invasive manner; considerable advances in this regard have been made over the past decade. Here, recent progress in magnetically actuated microrobots, developed for targeted drug/cell delivery, is presented, with a focus on their design features and mechanisms for controlled therapeutic release. Additionally, the practical challenges faced by the microrobots, and future research directions toward the swift bench-to-bedside translation of the microrobots are addressed.

Advances in Magnetic Nanoparticle-Mediated Cancer Immune-Theranostics

Cancer immunotherapy is a cutting-edge strategy that eliminates cancer cells by amplifying the host's immune system. However, the low response rate and risks of inducing systemic toxicity have raised uncertainty in the treatment. Magnetic nanoparticles (MNPs) as a versatile theranostic tool can be used to target delivery of multiple immunotherapeutics and monitor cell/tissue responses. These capabilities enable the real-time characterization of the factors that contribute to immunoactivity so that future treatments can be optimized. The magnetic properties of MNPs further allow the implementation of magnetic navigation and magnetic hyperthermia for boosting the efficacy of immunotherapy. The multimodal approach opens an avenue to induce robust immune responses, minimize safety issues, and monitor immune activities simultaneously. Thus, the object of this review is to provide an overview of the burgeoning fields and to highlight novel technologies for next-generation immunotherapy. The review further correlates the properties of MNPs with the latest treatment strategies to explore the crosstalk between magnetic nanomaterials and the immune system. This comprehensive review of MNP-derived immunotherapy covers the obstacles and opportunities for future development and clinical translation.

Engineering microrobots for targeted cancer therapies from a medical perspective

Systemic chemotherapy remains the backbone of many cancer treatments. Due to its untargeted nature and the severe side effects it can cause, numerous nanomedicine approaches have been developed to overcome these issues. However, targeted delivery of therapeutics remains challenging. Engineering microrobots is increasingly receiving attention in this regard. Their functionalities, particularly their motility, allow microrobots to penetrate tissues and reach cancers more efficiently. Here, we highlight how different microrobots, ranging from tailor-made motile bacteria and tiny bubble-propelled microengines to hybrid spermbots, can be engineered to integrate sophisticated features optimised for precision-targeting of a wide range of cancers. Towards this, we highlight the importance of integrating clinicians, the public and cancer patients early on in the development of these novel technologies.

Electromagnetic Actuation System for Focused Capturing of Magnetic Particles With a Half of Static Saddle Potential Energy Configuration

Targeted drug delivery using magnetic particles (MPs) and external magnets for focusing them at the diseased regions, called magnetic drug targeting (MDT), is a next-generation therapeutic method that is being continually improved. However, most existing magnetic systems cannot focus MPs in the targeted region due to there not being enough magnetic capturing force and absence of schemes to generate localized high magnetic field at the wall of the target region. This paper suggests a novel scheme to utilize half of a static saddle potential energy configuration generated using four electromagnets that not only enhances the pushing magnetic forces but also simultaneously generates pushing and attracting forces in the desired direction to help focus spherical MPs on the wall of the target region. Furthermore, by changing amplitudes or directions of the currents, the focal point in the target region can be changed. Through extensive simulations and in vitro experiments, we demonstrate that half of a static saddle magnetic potential energy configuration can be successfully utilized to attract and focus MPs at the wall of a target region.

Theoretical Analysis for Wireless Magnetothermal Deep Brain Stimulation Using Commercial Nanoparticles

A wireless magnetothermal stimulation (WMS) is suggested as a fast, tetherless, and implanted device-free stimulation method using low-radio frequency (100 kHz to 1 MHz) alternating magnetic fields (AMF). As magnetic nanoparticles (MNPs) can transduce alternating magnetic fields into heat, they are targeted to a region of the brain expressing the temperature-sensitive ion channel (TRPV1). The local temperature of the targeted area is increased up to 44 °C to open the TRPV1 channels and cause an influx of Ca²⁺ sensitive promoter, which can activate individual neurons inside the brain. The WMS has initially succeeded in showing the potential of thermomagnetics for the remote control of neural cell activity with MNPs that are internally targeted to the brain. In this paper, by using the steady-state temperature rise defined by Fourier’s law, the bio-heat equation, and COMSOL Multiphysics software, we investigate most of the basic parameters such as the specific loss power (SLP) of MNPs, the injection volume of magnetic fluid, stimulation and cooling times, and cytotoxic effects at high temperatures (43–44 °C) to provide a realizable design guideline for WMS.

Improved sensitivity and limit-of-detection using a receive-only coil in magnetic particle imaging

Magnetic particle imaging (MPI) is an imaging modality capable of quantitatively determining the 3D distribution of a magnetic nanoparticle (MNP) ensemble. In this work, we present a method for reducing the MNP limit of detection by employing a new receive-only coil (Rx-coil) for signal acquisition. The new signal detector is designed to improve the sensitivity and thus quality of reconstructed images. We present characterization measurements conducted with the prototype Rx-coil installed in a preclinical MPI scanner. The gradiometric design of the Rx-coil attenuates the unwanted signal contributions arising from the excitation field, leading to a 17 dB lower background level compared to the conventional dual-purpose coil (TxRx-coil), which is crucial for detecting low amounts of MNP. Network analyzer measurements of the frequency-dependent coil sensitivity, as well as spectral analysis of recorded MPI data demonstrate an overall increase of the coil sensitivity of about  +12 dB for the Rx-coil. Comparisons of the sensitivity distributions revealed no significant degradations in terms of homogeneity for the Rx-coil compared to the TxRx-coil in an imaging volume of 6  ×  3  ×  3 cm³. Finally, the limit of detection was determined experimentally for each coil type using a serial dilution of MNPs, resulting in values of 133 ng of iron for the conventional TxRx-coil and 20 ng for the new Rx-coil, using an acquisition time of 2 s. A linear relationship between the reconstructed signal intensities and the iron mass in the samples was observed with coefficients of determination (R²) of above 99% in the range of the limit of detection to 3 10³ng(Fe). These results open the way for improved image quality and faster acquisition time in pre-clinical MPI scanners.

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.