Belharet, Karim and Folio, David and Ferreira, Antoine


This paper presents an endovascular navigation of a ferromagnetic microdevice using a MRI-based predictive control. The concept was studied for future development of microrobot 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 extraction, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the navigation path of the microrobot into the blood vessel is extracted using Fast Marching Method (FMM) from the pre-operation images (3D MRI imaging) to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Model Predictive Controller (MPC) is proposed for robust navigation along a 3D path. The simulation results suggest the validation of the proposed image processing and control algorithms


  • microrobot
  • magnetic gradient control
  • navigation
  • predictive control
  • coils
  • micromagnetics


  title = {3D MRI-based predictive control of a ferromagnetic microrobot navigating in blood vessels},
  author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
  booktitle = {IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob\'2010)},
  year = {2010},
  address = {Tokyo, Japan},
  month = sep,
  pages = {808--813},
  doi = {10.1109/BIOROB.2010.5628063},
  hal = {00635334},
  ieeexplore = {5628063},
  issn = {2155-1774},
  keywords = {Microrobot, Magnetic Gradient Control, Navigation, Predictive Control,Coils, Micromagnetics}