In Partial Fulfillment of the Requirements for the Degree of Master of Science

Thibault Kensicher

will defend his thesis

Towards MRI-Guided and Actuated Tetherless Milli-Robots

Abstract

Image-guided and robot-assisted surgical procedures are rapidly evolving due to their potential to improve patient management and cost effectiveness. Magnetic Resonance Imaging (MRI) is used for pre-operative planning and is also investigated for real-time intra-operative guidance. A new type of technology is emerging that uses the magnetic field gradients of the MR scanner to maneuver ferromagnetic agents for local delivery of therapeutics. With this approach, MRI is both a sensor and forms a closed-loop controlled entity that behaves as a robot. To actuate such robot, we generate a virtual corridor that represents a safety zone inside the vessel that is then used to access the safety of the MRbot maneuvering. In addition, to improve safety we introduce a control that sets speed based on the local curvature of the vessel.

Date: Tuesday, April 25, 2017
Time: 1:00 PM
Place: PGH 362
Advisor: Dr. Nikolaos V Tsekos

Faculty, students, and the general public are invited.