ICRA'09 Paper Abstract


Paper FrC12.3

Felfoul, Ouajdi (Ecole Polytechnique de Montreal (EPM)), Aboussouan, Eric (Barrow Neurological Inst.), Chanu, Arnaud (Ecole Polytechnique of Montreal), Martel, Sylvain (Ecole Polytechnique de Montreal (EPM))

Real-time Positioning and Tracking Technique for Endovascular Untethered Microrobots Propelled by MRI Gradients

Scheduled for presentation during the Regular Sessions "Medical Robotics - I" (FrC12), Friday, May 15, 2009, 14:10−14:30, Room: 504

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Medical Robots and Systems, Micro/Nano Robots, Life Sciences: Biotechnology, Pharmaceutical and Health Care


A real-time positioning and tracking technique for untethered devices or robots magnetically propelled by a clinical magnetic resonance imaging (MRI) system is described. The local magnetic field induced by the device, composed of a ferromagnetic material, is used as a signature to localize the device on three one-dimensional projections. A high-precision 3D circular-motion system was used to assess the precision and accuracy of this method. The integration of this technique inside propulsion and imaging MRI sequences was also achieved to demonstrate the feasibility of this tracking scheme in a closed-loop control scheme. Finally, in vivo tracking during automatic navigation of an untethered device in the carotid artery of a living animal is demonstrated



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