Dynamic Behavior Investigation for Trajectory Control of a Microrobot 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

This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior of blood is considered, as well as wall effects and interactions, resulting in a highly nonlinear model. A backstepping approach is synthesized to ensure Lyapunov stability along a pre-planned trajectory inherited from the model, with robustness concerns.

Domaines: Automatique / Robotique

Laurent Arcèse, Ali Cherry, Matthieu Fruchard, Antoine Ferreira. Dynamic Behavior Investigation for Trajectory Control of a Microrobot in Blood Vessels. 2010 IEEE International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp 5774-5779. ⟨hal-00655998⟩