Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control

Karim Belharet (1) , David Folio (1) , Antoine Ferreira (1)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

This paper presents real-time MRI-based control of a ferromagnetic microcapsule for endovascular navigation. The concept was studied for future development of microdevices designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow navigation ofa microdevice in blood vessels, namely: (i) vessel path planner,(ii) magnetic gradient steering, (iii) tracking and (iv) closed-loopnavigation control. First, the position recognition of the microrobotinto the blood vessel is extracted using Frangi vesselness filtering from the pre-operation images. Then, a set of minimal trajectoryis predefined, using FMM, to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Basedon the pre-computed path, a GPC is proposed for robust time-multiplexed navigation along a 2D path in presence of pulsative flow. The simulation results suggest the validation of the proposed image processing andcontrol algorithms. A series of disturbances introduced in the presence and absence of closed-loop control affirms the robustness and effectiveness of this predictive control system.

Domaines: Automatique / Robotique

Karim Belharet, David Folio, Antoine Ferreira. Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2010), Oct 2010, Taipei, Taiwan, France. pp.2804 -2809, ⟨10.1109/IROS.2010.5650803⟩. ⟨hal-00635340⟩