Adaptive backstepping and MEMS force sensor for an MRI-guided microrobot in the vasculature

Arcese, Laurent; Fruchard, Matthieu; Beyeler, Felix; Ferreira, Antoine; Nelson, Bradley J.

doi:10.1109/icra.2011.5979954

Cited by 17 publications

(8 citation statements)

References 14 publications

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“…Such an enhancement straightforwardly applies to magnetoresponsive carriers at large, e.g. to the controlled navigation of MRI-guided microrobots in the vasculature [3]. Indeed, there is a growing interest in the robotic field for the development of micro/miniaturized interventional tools to be navigated (e.g.…”

Section: Discussionmentioning

confidence: 99%

Pulsatile Viscous Flows in Elliptical Vessels and Annuli: Solution to the Inverse Problem, with Application to Blood and Cerebrospinal Fluid Flow

Berselli¹,

Guerra²,

Mazzolai³

et al. 2014

SIAM J. Appl. Math.

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We consider the fully developed flow of an incompressible Newtonian fluid in a cylindrical vessel with elliptical cross section, and in the annulus between two confocal ellipses. Since flow rate can actually be derived from measurements, we address the inverse problem, namely computing the velocity field associated with a given time-periodic flow rate. We propose a novel numerical strategy, which is nonetheless grounded on several analytical relations and which leads to the solution of systems of ordinary differential equations. We also report numerical results based on measured data for human blood flow in the internal carotid artery, and cerebrospinal fluid flow in the upper cervical region of the human spine. Our method holds promise to be more amenable to implementation than previous ones, based on challenging computation of Mathieu functions, especially for strongly elliptical cross sections. The main goal of this study is to provide an improved source of initial/boundary data, as well as a benchmark solution for pulsatile flows in elliptical sections. In addition to bio-fluid dynamics investigations, the proposed method can be applied to many problems in the biomedical field.1. Introduction. Pulsatile flows are driven by a time-periodic force, which is generally the pressure gradient. A remarkable case is that of heartbeat-driven, human physiological flows, including blood circulation [30] and, even if less directly, cerebrospinal fluid (CSF) flow [18]. In addition to bio-fluid dynamics, time-periodic flows are widely studied with regard to chemical-physics applications, mass and heat transfer problems, and peristaltic pumping [26]. However, in many cases of practical interest the pressure gradient is unknown or hardly measurable, while the fluxhereafter understood as a synonym of the flow rate-can actually be estimated through measurements. For instance, blood and CSF flow are commonly obtained by phasecontrast magnetic resonance imaging (MRI) or Doppler ultrasonography: Flow rate is obtained by somehow integrating low-space-resolution velocity measurements, which, however, are not resolved enough for determining the velocity profile. Anyway, measurement issues are outside the scope of this paper; hence the flux is assumed to be known with reasonable accuracy. Our study is mainly motivated by the fact that many portions of the vasculature are characterized by a rather elliptical cross section, due to the presence of surrounding organs. Moreover, the spinal subarachnoid space can be well approximated by an elliptical annulus [18]; CSF dynamics in such a domain is affected by pulsatility and plays a major role in the (still poorly understood)

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Section: Discussionmentioning

confidence: 99%

Pulsatile Viscous Flows in Elliptical Vessels and Annuli: Solution to the Inverse Problem, with Application to Blood and Cerebrospinal Fluid Flow

Berselli¹,

Guerra²,

Mazzolai³

et al. 2014

SIAM J. Appl. Math.

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“…Even though off-line identification of some biological parameters is a solution, invivo estimation remains a difficult issue. That is why we have developed an adaptive control [39] to on-line estimate some physiological parameters, which greatly improves the robustness to modeling errors on linear parameters. The estimation of non-linearly varying parameters requires further study and remains an outstanding problem.…”

Section: Discussionmentioning

confidence: 99%

“…The force balance is highly sensitive -linearly-to magnetization M , andnonlinearly-to blood permittivity ε, charge q, blood velocity V f . We have already showed in [39] that such uncertainties on linear parameters like M or q 2 ε can be successfully addressed using adaptive backstepping.…”

Section: B Force Balance and Sensitivity Studymentioning

confidence: 99%

Endovascular Magnetically Guided Robots: Navigation Modeling and Optimization

Arcese

Fruchard

Ferreira

2012

IEEE Trans. Biomed. Eng.

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Abstract-This paper deals with the benefits of using a nonlinear model-based approach for controlling magnetically guided therapeutic microrobots in the cardiovascular system. Such robots used for minimally invasive interventions consist of a polymer binded aggregate of nanosized ferromagnetic particles functionalized by drug-conjugated micelles. The proposed modeling addresses wall effects (blood velocity in minor and major vessels' bifurcations, pulsatile blood flow and vessel walls, and effect of robot-to-vessel diameter ratio), wall interactions (contact, van der Waals, electrostatic and steric forces), nonNewtonian behaviour of blood and different driving designs as well. Despite nonlinear and thorough, the resulting model can both be exploited to improve the targeting ability and be controlled in closed-loop using nonlinear control theory tools. In particular, we infer from the model an optimization of both the designs and the reference trajectory to minimize the control efforts. Efficiency and robustness to noise and model parameter's uncertainties are then illustrated through simulations results for a bead pulled robot of radius 250µm in a small artery.Index Terms-Endovascular navigation, magnetic steering, nonlinear modeling, optimal trajectory, nonlinear controller and observer.

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“…The topic of magnetically controlling individual robots has gained much attention, [1], [6], whereas very few results have been presented for controlling groups of magnetic robots. The design of a multi-particle formulation has considerable advantages as it can widen the medical applications that already have been proposed for a single magnetic particle.…”

Section: Introductionmentioning

confidence: 99%

MRI-powered closed-loop control for multiple magnetic capsules

Eqtami

Felfoul

Dupont

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Control of multiple magnetic particles inside the human body may have many potential applications, such as drug delivery in places where conventional procedures cannot reach. A natural candidate for powering as well as tracking these magnetic particles is the MRI scanner. Although it offers the means to control the particles, it also poses difficulties: the magnetic field is applied uniformly to the group, thus making the independent control of each particle a challenging issue, while the actuation and the tracking are interleaved which can result to delays in actuation and measurement. The closed-loop control of a group of millimeter-scale particles, immersed in fluid, driven by the MRI scanner is studied in this paper. More specifically, this problem is presented in a unified manner, handling such issues as delays, constraints, as well as disturbances, and results in a robustly stable controller. We also propose a condition that effectively answers when the system should be in tracking mode versus actuation mode. In addition to theoretical results, the capability of the proposed controller is illustrated through simulation results.

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Adaptive backstepping and MEMS force sensor for an MRI-guided microrobot in the vasculature

Cited by 17 publications

References 14 publications

Pulsatile Viscous Flows in Elliptical Vessels and Annuli: Solution to the Inverse Problem, with Application to Blood and Cerebrospinal Fluid Flow

Pulsatile Viscous Flows in Elliptical Vessels and Annuli: Solution to the Inverse Problem, with Application to Blood and Cerebrospinal Fluid Flow

Endovascular Magnetically Guided Robots: Navigation Modeling and Optimization

MRI-powered closed-loop control for multiple magnetic capsules

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