The propulsion of ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the ferromagnetic objects, and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment, integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for controlled interventional targeted therapeutic applications. Through MRI–based sensing analysis, this article aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in the human body. The proposed approaches are validated with different experiments.

借助MRI梯度来推动铁磁物体是实现新疗法形式的一种有前途的方法。在这项工作中，提出了使该方法起作用的必要技术。这包括处理MRI数据的路径规划算法，铁磁伪像成像和为铁磁物体提供位置反馈的跟踪算法，以及能够进行交错式磁推进和成像的推进序列。使用专用的软件环境，集成了路径规划方法和实时跟踪，临床MRI系统适用于为受控介入性靶向治疗应用提供此新功能。通过基于MRI的感应分析，本文旨在提出一个框架，以规划一个健壮的途径，以增强到达人体深处的导航能力。通过不同的实验验证了所提出的方法。