Real-Time MRI-Based Control of a Ferromagnetic Core for Endovascular Navigation

Tamaz, Samer; Gourdeau, Richard; Chanu, Arnaud; Mathieu, Jean-Baptiste; Martel, Sylvain

doi:10.1109/tbme.2008.919720

Cited by 116 publications

(73 citation statements)

References 20 publications

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“…Using a clinical magnetic resonance imaging (MRI) system, Tamaz et al [8] develop a proportional-integral-derivative (PID) controller capable of navigating a 1500 μm ferromagnetic bead along a predefined path. They conclude that an adaptive controller would significantly decrease complications in the system and allow for more robust uses in the biomedical field.…”

Section: Open Accessmentioning

confidence: 99%

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

2014

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Abstract:Microrobots have a number of potential applications for micromanipulation and assembly, but also offer challenges in power and control. This paper describes an uncalibrated vision-based control system for magnetically actuated microrobots operating untethered at the interface between two immiscible fluids. The microrobots are 20 μm thick and approximately 100-200 μm in lateral dimension. Several different robot shapes are investigated. The robots and fluid are in a 20 × 20 × 15 mm vial placed at the center of four electromagnets. Pulse width modulation of the electromagnet currents is used to control robot speed and direction. Given a desired position, a controller based on recursive least square estimation drives the microrobot to the goal without a priori knowledge of system parameters such as drag coefficients or intrinsic and extrinsic camera parameters. Results are verified experimentally using a variety of microrobot shapes and system configurations.

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Section: Open Accessmentioning

confidence: 99%

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

2014

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“…Second, a large time delay T Sync produces oscillations as the microrobot approaches the reference trajectory leading to position instabilities. Such limitations have been pointed out by Mathieu et al [10] when implementing simple proportional-integral-derivative (PID) controller. We proposed a Generalized Predictive Controller (GPC) including microrobot's motion and dynamics with estimation of the pulsative blood flow and time-multiplexed positioning.…”

Section: A Problem Formulationmentioning

confidence: 99%

“…In [9], Intra-Vascular UltraSound medical imaging technique coupled to pre-operational images of computerized tomography renders possible 3D navigation in blood vessels. Based on these path-planning techniques, only explorative 2D control strategies have been adopted so far using simple proportional-integral-derivative (PID) controller [10]. However, stability and robustness are not ensured against important perturbations.…”

Section: Introductionmentioning

confidence: 99%

Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control

Belharet

Folio

Ferreira

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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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 3D 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 (3D MRI imaging). Then, a set of minimal trajectory is predefined, using Fast Marching Method (FMM), 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 2D path in presence of pulsative flow. The simulation results suggest the validation of the proposed image processing and control algorithms. A series of disturbances introduced in the presence and absence of closed-loop control affirms the robustness and effectiveness of this predictive control system.

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“…These advances have been mainly developed for catheter or guidewire-based operations [5,6], or gastrointestinal endoscopic capsules [7,8]. In contrast, there has been fewer works in the area of untethered microrobots for cardiovascular interventions [1,9]. To date, even in the case of a successfully performed procedure, the choice of a microrobot's design (shape, size, materials, locomotion abilities.…”

Section: Introductionmentioning

confidence: 99%

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in the Arteries

Belharet¹,

Folio²,

Ferreira³

2013

IEEE Trans. Biomed. Eng.

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Abstract-This work presents a preoperative microrobotic surgical simulation and planning application. The main contribution is to support computer-aided minimally invasive surgery (MIS) procedure using untethered microrobots that have to navigate within the arterial networks. We first propose a fast interactive application (with endovascular tissues) able to simulate the blood flow and microrobot interaction. Secondly, we also propose a microrobotic surgical planning framework, based on the anisotropic Fast Marching Method (FMM), that provides a feasible pathway robust to biomedical navigation constraints. We demonstrate the framework performance in a case study of the treatment of peripheral arterial diseases (PAD).Index Terms-Microrobotics, minimally invasive surgery, blood flow simulation, anisotropic path planning.

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Real-Time MRI-Based Control of a Ferromagnetic Core for Endovascular Navigation

Cited by 116 publications

References 20 publications

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in the Arteries

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