3D MRI-based predictive control of a ferromagnetic microrobot navigating in blood vessels

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

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

This paper presents an endovascular navigation of a ferromagneticmicrodevice using a MRI-based predictive control. The concept wasstudied for future development of microrobot designed to performminimally invasive interventions in remote sites accessible throughthe human cardiovascular system. A system software architecture ispresented illustrating the different software modules to allow 3Dnavigation of a microdevice in blood vessels, namely: (i) vesselpath extraction, (ii) magnetic gradient steering, (iii) trackingand (iv) closed-loop navigation control. First, the navigation pathof the microrobot into the blood vessel is extracted using Fast MarchingMethod (FMM) from the pre-operation images (3D MRI imaging) to guidethe microrobot from the injection point to the tumor area throughthe anarchic vessel network. Based on the pre-computed path, a ModelPredictive Controller (MPC) is proposed for robust navigation alonga 3D path. The simulation results suggest the validation of the proposedimage processing and control algorithms.

Mots clés: Micro-robotics; Blood vessels navigation; Magnetic resonance imaging; Navigation; Propulsion

Domaines: Automatique / Robotique

Karim Belharet, David Folio, Antoine Ferreira. 3D MRI-based predictive control of a ferromagnetic microrobot navigating in blood vessels. 3rd IEEE RAS and EMBS International Conference on Biomedical Roboticsand Biomechatronics (BioRob'2010), Sep 2010, Tokyo, Japan, France. pp.808-813, ⟨10.1109/BIOROB.2010.5628063⟩. ⟨hal-00635334⟩