Nonlinear modeling and robust controller-observer for a magnetic microrobot in a fluidic environment using MRI gradients

Arcese, Laurent; Fruchard, Matthieu; Ferreira, Antoine

doi:10.1109/iros.2009.5354600

Cited by 34 publications

(25 citation statements)

References 19 publications

(22 reference statements)

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“…The linear model that was used in this work, derived from the nonlinear model developed in a previous study [22]. In [22], we used this model to combine the backstepping controller and high gain observer in order to control the trajectory of microrobot inside a vessel using the MRI gradients, as shown on Fig.…”

Section: Model Descriptionmentioning

confidence: 99%

“…In [22], we used this model to combine the backstepping controller and high gain observer in order to control the trajectory of microrobot inside a vessel using the MRI gradients, as shown on Fig. 3.…”

Section: Model Descriptionmentioning

confidence: 99%

“…Our controller is entended to be above our low level robust controller designed in [22] (see Fig. 3).…”

Section: Model Descriptionmentioning

confidence: 99%

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Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control

Belharet

Folio

Ferreira

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-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 3D 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 (3D MRI imaging). Then, a set of minimal trajectory is predefined, using Fast Marching Method (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 Generalized Predictive Controller (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.

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Section: Model Descriptionmentioning

confidence: 99%

Section: Model Descriptionmentioning

confidence: 99%

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Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control

Belharet

Folio

Ferreira

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

Section: Model Descriptionmentioning

confidence: 99%

“…In [22], we used this model to combine the backstepping controller and high gain observer in order to control the trajectory of microrobot inside a vessel using the MRI gradients.…”

Section: Model Descriptionmentioning

confidence: 99%

MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules

Belharet

Folio

Ferreira

2010

Minimally Invasive Therapy & Allied Technologies

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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 trajectory 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.

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Radio Frequency Sensing‐Based In Situ Temperature Measurements during Magnetic Resonance Imaging Interventional Procedures

Bilgin

Tiryaki

Lazović

et al. 2022

Adv Materials Technologies

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attention in the medical robotics as a potential alternative to traditional 2D fluoroscopic imaging methods with the MRI's ionizing-radiation-free nature and 3D high-resolution soft tissue imaging capabilities. [1][2][3][4][5][6] By developing different MRI-based medical robot or device designs, such as MRI-compatible guide wires, [7,8] soft pneumatic actuators, [9,10] piezo actuators, [11,12] focused ultrasound (FUS) systems, [5,13,14] active catheters, [15,16] needle insertion systems, [4,17,18] and magnetic microrobots [19][20][21][22][23][24][25] and millirobots, [26][27][28][29] researchers have demonstrated promising interventional procedures, such as laser ablation, [30][31][32][33][34] local hyperthermia, [14,35,36] and FUS ablation. [13,34,37] The usage of MRI is mainly limited to the position tracking and the steering control of such medical robots or devices with fiducial markers based on radiofrequency (RF) markers, [3,[38][39][40][41][42] magnetic markers, [43][44][45] and contrast agents. [46][47][48] One of the key challenges during many interventional MRI procedures is the risks associated with overheating, which threatens the safety of the patients. Numerous reports have been published concerning the heating of metallic components during the MR imaging; [49][50][51][52][53][54][55][56][57][58][59][60][61][62][63][64][65] therefore, a continuous in situ temperature monitoring is required for safe interventional MRI applications. MRI thermometry has been developed as an in situ temperature monitoring method. [66][67][68][69] Researchers have used MRI thermometry-based temperature feedback to control FUS hyperthermia operations [35,36,70] or to evaluate MRI-guided laser ablation therapies [6,31,71] and MRIguided active catheters. [72,73] While MRI thermometry methods can provide accurate in situ temperature mapping in 3D, they decrease the overall MRI-based visual feedback rate by adding an extra sequence, hindering the real-time MRI feedback. In a different approach, some researchers have proposed RFbased telemetric devices for measuring the in situ temperature remotely. [74][75][76][77][78] However, such methods have included sophisticated circuitries and metallic components that may distort MR images. [79][80][81] Therefore, a safe method for in situ temperature monitoring without decreasing the MRI feedback rate is highly desirable inside the interventional MR scanners.Previously, various RF marker designs have been reported; however, their main focus has been on device 3D tracking inside MRI. [3,[38][39][40][41][42] Recent studies explored new designs for ensuring functionality independent of the marker orientation. [82][83][84] Beyond tracking, a recent study used an RF marker design Magnetic resonance imaging (MRI)-tuned radio-frequency (RF) sensors are used as a radiation-free alternative for tracking minimally invasive medical tool positions. However, in situ temperature sensing capabilities of the MRI-tuned RF sensors have not been thoroughly investigated yet. A self-resonating RF sensor c...

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Nonlinear modeling and robust controller-observer for a magnetic microrobot in a fluidic environment using MRI gradients

Cited by 34 publications

References 19 publications

Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control

Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control

MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules

Radio Frequency Sensing‐Based In Situ Temperature Measurements during Magnetic Resonance Imaging Interventional Procedures

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