title: MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules.
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.
authors.affiliation: Institut PRISME, ENSI Bourges, Bourges, France.
authors.forename: Karim
authors.initials: K
authors.lastname: Belharet
authors.forename: David
authors.initials: D
authors.lastname: Folio
authors.forename: Antoine
authors.initials: A
authors.lastname: Ferreira
mesh_terms: D000465:Algorithms; D001808:Blood Vessels; D002214:Capsules; D002318:Cardiovascular Diseases / Q000601:surgery*; D003199:Computer Systems; D016503:Drug Delivery Systems / Q000295:instrumentation; D005240:Feasibility Studies; D006801:Humans; D008279:Magnetic Resonance Imaging / Q000295:instrumentation*; D058185:Magnetite Nanoparticles; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D012984:Software; D013598:Systems Theory
chemical_list: D002214:Capsules; D058185:Magnetite Nanoparticles