Etude des parametres physiques en vue d'applications medicales de l'actionnement magnetique de dispositifs medicaux par un systeme d'imagerie par resonance magnetique

An actuation and control method for medical devices based on the magnetic gradient coils of a Magnetic Resonance Imaging (MRI) was proposed for the first time in 2002 by NanoRobotics Laboratory [1].;In light of these results, the aim of this thesis is the study of the physical parameters involved in the development of a first medical application: the steering of magnetic particles in MRI in the context of drug targeting. It was demonstrated that an MRI system equipped with a set of magnetic gradient coils with enhanced amplitude was able to apply a high enough actuation force to act upon magnetic microparticles suspended in a liquid.;General rules for MRI actuation were identified. First of all, increasing the amplitude of the main magnetic field of the MRI leads to the increase of the actuation force amplitude only until the ferromagnetic body reaches its saturation magnetization. Moreover, soft ferromagnetic bodies appear to be better candidates for MRI based magnetic actuation because they can reach high saturation magnetizations. Magnetic gradient amplitude appears as a foremost factor to increase the amplitude of the magnetic force. Clinical MRI systems do not provide gradients with high enough amplitude for the applications studied here. Theoretical models developed in this thesis predict that a one order of magnitude increase in gradient amplitude would be required. Implementing actuation dedicated gradient coils is therefore suggested. Finally, a larger ferromagnetic body will lead to higher magnetophoretic velocities for magnetic particles.;In the context of magnetic microparticle targeting for cancer treatment through embolisation, the scaling laws bridging from the preliminary works with millimeter sized beads to magnetic microparticles suspensions were studied. Magnetic microparticles suspensions injected through branching channels were guided in MRI under the influence of magnetic gradients. The goal of these experiments was to maximize the amount of particles flowing through one of the outlets of the channel. The outcome of the experiments was quantified using an optical set-up as well as by analyzing the suspension at each outlet of the channels. The most important parameters that were identified are the magnetic force amplitude, the interactions and aggregation between magnetic particles of the suspension, the size, geometry and density of the particles or aggregates driven, the dimensions of the channel and the intensity of the flow. Mathematical models based on analyses of particle trajectories and on non dimensionalization of the experimental parameters were proposed. The model predicts steering efficiencies in the order of what was recorded experimentally. Nevertheless, some parameters that remain to be quantified more precisely like the effects of magnetic aggregation and friction forces cause discrepancies between theoretical and experimental data. Despite these differences, the knowledge gained in the field of magnetic suspension steering appears to be sufficient to envision in vivo experiments lead in parallel with improving the theoretical predictions. Hence, an experimental set-up and an experimental protocol are being designed to adapt the steering methods to interventional procedures and animal subjects.;The work undertaken in the present thesis began in the context of demonstrating the concept of automatic navigation of a magnetic bead in vivo. From the point of view of actuation, models and experimental data correlate. A maximum velocity of 13cm/s was measured for a 1.5mm diameter chrome steel bead in the carotid artery of a living swine. The bead was under the influence of magnetic gradients applied by a clinical MRI system without any hardware modification.;Finally, the same principles used for microparticle steering can be applied for magnetic catheter navigation. Hence, on the side of the main subject of this thesis, the deflection of magnetic catheters by MRI was also studied as a second medical application. Using magnetic catheter and guide wires could facilitate the placement of medical instruments and accelerate medical procedures. The recorded deflections are lower than the ones measured with other magnetic guidance systems. The parameters and performances obtained are functions of the amplitude of the applied magnetic force and material strength properties of the catheters or guide wires. Hence, deflection could be enhanced by adapting the mechanical properties of the devices, by increasing the amplitude of the magnetic gradient or the volume and magnetization of the magnetic tip. These latter results are the object of an upcoming patent application. Hence, the paper relating them could not be submitted prior to the submission date of this thesis. For this reason, this paper's manuscript is presented as an annex of the present document.