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 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



  title = {MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules},
  author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
  journal = {Minimally Invasive Therapy \& Allied Technologies},
  year = {2010},
  month = jun,
  number = {3},
  pages = {157--169},
  volume = {19},
  doi = {10.3109/13645706.2010.481402},
  eprint = {http://informahealthcare.com/doi/pdf/10.3109/13645706.2010.481402},
  hal = {00619086},
  keywords = {Blood vessels, magnetic resonance imaging, minimally invasive interventions, real-time control}