MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules

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 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 3-D navigation of a microdevice in blood vessels, namely: (i) vessel path planner, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the position recognition of the microrobot into the blood vessel is extracted using Frangi vesselness filtering from the pre-operation images (3-D MRI imaging). Then, a set of minimal trajectories is predefined, using path-planning algorithms, to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Generalized Predictive Controller (GPC) is proposed for robust time-multiplexed navigation along a two-dimensional (2D) path in presence of pulsative flow.
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Minimally Invasive Therapy & Allied Technologies, 2010, 19 (3), pp.157-169. 〈10.3109/13645706.2010.481402〉
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Karim Belharet, David Folio, Antoine Ferreira. MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules. Minimally Invasive Therapy & Allied Technologies, 2010, 19 (3), pp.157-169. 〈10.3109/13645706.2010.481402〉. 〈hal-00619086〉

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