Real-time software platform using MRI for in vivo navigation of magnetic microrobots

K. Belharet, D. Folio and A. Ferreira,     Laboratoire PRISME, Ecole Nationale Supérieure d’ingénieurs de Bourges, France


A magnetic resonance imaging system is described for (MRi) navigation of microrobots for targeted therapy in cardiovascular systems. the software architecture of the robotic platform is presented, the MRi constraints are discussed, and a linear model of the microrobotic system is examined for navigating in vessels. A navigation path planning method is presented, which has ferromagnetic imaging recognition, and ferromagnetic tracking. Microrobot control is discussed and multiple simulation results are presented.

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