This paper presents an endovascular navigation of a ferromagnetic microdevice using a mri-basedpredictivecontrol. The concept was studied for future development of microrobot designed to perform minimally invasive i...
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ISBN:
(纸本)9781424477098
This paper presents an endovascular navigation of a ferromagnetic microdevice using a mri-basedpredictivecontrol. 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 (3dmri 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 predictivecontroller (MPC) is proposed for robust navigation along a 3d path. The simulation results suggest the validation of the proposed image processing andcontrol algorithms.
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