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检索条件"主题词=closed-loop navigation control"

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3D MRI-based Predictive control of a Ferromagnetic Microrobot Navigating in Blood Vessels

3D MRI-based Predictive Control of a Ferromagnetic Microrobo...

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3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Belharet, Karim Folio, David Ferreira, Antoine ENSI Bourges Inst PRISME EA 4229 F-18020 Bourges France

ISBN: (纸本)9781424477098

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.

关键词： 3D MRI-based predictive control 3D navigation anarchic vessel network biomedical MRI blood vessels blood vessels cardiovascular system closed-loop navigation control control algorithm endovascular navigation fast marching method ferromagnetic microdevice ferromagnetic microrobot navigation human cardiovascular system image processing injection point magnetic devices magnetic gradient steering medical image processing microrobot design microrobots minimally invasive intervention model predictive controller predictive control preoperation imaging robust navigation software architecture technological forecasting tracking tumor area tumours vessel path extraction

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Endovascular navigation of a Ferromagnetic Microrobot Using MRI-based Predictive control

Endovascular Navigation of a Ferromagnetic Microrobot Using ...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Belharet, Karim Folio, David Ferreira, Antoine Inst PRISME EA 4229 F-18020 Bourges France

ISBN: (纸本)9781424466757

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.

关键词： Frangi vesselness filtering GPC MRI-based predictive control anarchic vessel network biomedical MRI blood vessel blood vessels cardiovascular system closed loop systems closed-loop navigation control endovascular navigation ferromagnetic microcapsule ferromagnetic microrobot ferromagnetism human cardiovascular system image processing magnetic gradient steering magnetic resonance imaging medical image processing medical robotics microdevice microrobots path planning pose estimation position recognition predictive control preoperation image pulsatile flow pulsative flow remote site software architecture telerobotics time-multiplexed navigation tumor tumours vessel path planner

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