Belharet, Karim and Folio, David and Ferreira, Antoine


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 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. Then, a set of minimal trajectory is predefined, using 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 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


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


  title = {Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control},
  author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS\'2010)},
  year = {2010},
  address = {Taipei, Taiwan},
  month = oct,
  pages = {2804--2809},
  doi = {10.1109/IROS.2010.5650803},
  hal = {00635340},
  ieeexplore = {5650803},
  issn = {2153-0858},
  keywords = {Microrobot, Magnetic Gradient Control, Navigation, Predictive Control,Coils, Micromagnetics}