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Dissertation
Optimize an MRI Gauss Gun
2017
Overview
MRI-based navigation and propulsion of millirobots is a new and promising approach for minimally invasive therapies. The strong constant magnetic field inside the scanner precludes torque-based control. Consequently, prior propulsion techniques have been limited to gradient-based pulling through fluid-filled body lumens using the weaker gradient magnetic coils. Performing interventions requires techniques or mechanism to increase this weak magnetic pulling force. One technique is a self-assembling robotic tool designed by our lab called a Gauss gun. This thesis shows numerical analysis and results for optimizing the kinetic energy generated by a Gauss gun to penetrate tissue, deliver a drug or remove a clot. This analysis based on the equations of energy for an MRI Gauss gun. The numerical method used for this optimization is Nelder Mead, implemented in Mathematica software.
