title: Optimal trajectory for a microrobot navigating in blood vessels.
abstract: The chemotherapy magnetically controlled under Magnetic Resonance Imaging (MRI) is currently one of the active areas of cancer research. This paper proposes a precise model of a therapeutic microrobot magnetically steered in blood vessels. This modeling approach takes into account the non-Newtonian behavior of blood, as well as wall effect on the blood's profile and robot-to-wall interaction forces. A backstepping approach law is used to ensure a null error between the real trajectory and an optimal reference trajectory deduced from the highly nonlinear model. The strengths and limitations of the overall study are evaluated by simulations.
authors.affiliation: Institut PRISME UPRES 4229, IUT de Bourges, 63 Av de Lattre de Tassigny, 18020, France. laurent.arcese@bourges.univ-orleans.fr
authors.forename: Laurent
authors.initials: L
authors.lastname: Arcese
authors.forename: Ali
authors.initials: A
authors.lastname: Cherry
authors.forename: Matthieu
authors.initials: M
authors.lastname: Fruchard
authors.forename: Antoine
authors.initials: A
authors.lastname: Ferreira
mesh_terms: D000465:Algorithms; D001783:Blood Flow Velocity; D001808:Blood Vessels / Q000473:pathology*; D003198:Computer Simulation; D006801:Humans; D057446:Hydrodynamics; D008279:Magnetic Resonance Imaging / Q000379:methods; D008280:Magnetics; D008955:Models, Cardiovascular; D053758:Nanoparticles / Q000737:chemistry; D036103:Nanotechnology / Q000379:methods; D009369:Neoplasms / Q000188:drug therapy / Q000473:pathology*; D011108:Polymers / Q000737:chemistry; D055672:Static Electricity; D013997:Time Factors
chemical_list: D011108:Polymers