Optimal Trajectory for a Microrobot Navigating in Blood Vessels

Laurent Arcèse (1) , Ali Cherry (2) , Matthieu Fruchard (1) , Antoine Ferreira (1)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique

The chemotherapy magnetically controlled under Magnetic Resonance Imaging (MRI) is currently one of the active areas of cancer research. This paper proposes a precise model of a therapeutic microrobot magnetically steered in blood vessels. This modeling approach takes into account the non-Newtonian behavior of blood, as well as wall effect on the blood's profile and robot-to-wall interaction forces. A backstepping approach law is used to ensure a null error between the real trajectory and an optimal reference trajectory deduced from the highly nonlinear model. The strengths and limitations of the overall study are evaluated by simulations.

Domaines: Automatique / Robotique

Laurent Arcèse, Ali Cherry, Matthieu Fruchard, Antoine Ferreira. Optimal Trajectory for a Microrobot Navigating in Blood Vessels. IEEE International Conference on Engineering in Medicine and Biology Society, Sep 2010, Buenos Aires, Argentina. pp 1950-1953. ⟨hal-00655987⟩