Three-Dimensional Controlled Motion of a Microrobot using Magnetic Gradients

Karim Belharet 1 David Folio 1, * Antoine Ferreira 1
* Auteur correspondant
1 IRAUS
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
Abstract : This paper presents the endovascular navigation of a ferromagnetic microdevice using magnetic resonance imaging (MRI)-based predictive control. The concept was studied for the future development of microrobots 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 three-dimensional (3-D) navigation of a microdevice in blood vessels, namely: (i) vessel path extraction, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the navigation path of the microrobot into the blood vessel is extracted using the Fast Marching Method from the pre-operation images (3-D MRI imaging) to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Model Predictive Controller is proposed for robust time-multiplexed navigation along a 3-D path in the presence of pulsative flow. The simulation results suggest the validation of the proposed image processing and control algorithms.
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Advanced Robotics, Taylor & Francis, 2011, 25 (8), pp.1069-1083. 〈10.1163/016918611X568657〉
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Karim Belharet, David Folio, Antoine Ferreira. Three-Dimensional Controlled Motion of a Microrobot using Magnetic Gradients. Advanced Robotics, Taylor & Francis, 2011, 25 (8), pp.1069-1083. 〈10.1163/016918611X568657〉. 〈hal-00619080〉

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