Quirin, Thomas
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Tracking of a magnetically navigated millirobot with a magnetic-field camera
2024-04-10, Vergne, Céline, Pinto Inácio, José Miguel, Quirin, Thomas, Sargent, David, Madec, Morgan, Pascal, Joris
A significant progress has been made in the development of magnetic micromanipulation for minimally invasive surgery. The development of systems to localize millimeter-sized robots during magnetic manipulation without line-of-sight detection remains, however, a challenging task. In this study, we focused on the development of a tracking system aiming to fill this gap. A robot, which consists of a cylindrical magnet of 1-mm diameter, is localized using a 2-D array of 3-D magnetoresistive sensors. The system, also called magnetic-field camera (MFC), provides tracking of the robot with a refresh rate of 2 Hz. The developed tracking algorithm reaches a mean absolute error (MAE) for the position and the orientation of, respectively, 0.56 mm and 5.13° in 2-D. This system can be added to the existing magnetic manipulation systems (MMSs) allowing closed-loop control of the navigation. The performances of the MFC are not affected by an exposure to strong magnetic fields. Exposures up to 3 T have been validated. Increasing the integrability of the MFC into MMSs. The presented tracking system makes it possible to target applications, such as minimally invasive eye surgery or drug delivery. The high spatial and magnetic resolutions allow the tracking of magnetic particles, down to 200- μm diameter, when placed close to the surface. The system could also be suitable for the localization of small objects for 2-D biomanipulation.
Gradiometer-based magnetic localization for medical tools
2023, Fischer, Cedric, Quirin, Thomas, Chautems, Christophe, Boehler, Quentin, Pascal, Joris, Nelson, Bradley J.
Millirobot magnetic manipulation for ocular drug delivery with sub millimeter precision
2022, Vergne, Céline, Ignacio, Jose, Quirin, Thomas, Sargent, David, Pascal, Joris
Significant progress has been made in the development of magnetic micromanipulation for minimally invasive surgery. The development of systems to localize millimetric size robots during magnetic navigation and without line of sight remains however a challenging task. In this study, we focused on the development of a tracking system aiming to fill this gap. A robot which consists of a cylindrical magnet of 1 mm diameter is localized using a 2D array of 3D magneto resistive sensors. The system provides a tracking of the robot with a refreshing rate of 2 Hz. The developed tracking algorithm reaches a mean absolute error for the position and the orientation of, respectively 0.56 mm and 5.13° in 2D. This system can be added to existing magnetic navigation systems allowing closed loop control of the navigation. The presented tracking system makes it possible to target applications such as minimally invasive ocular drug delivery.
Low-field electromagnetic tracking using 3-D magnetometer for assisted surgery
2023-02, Vergne, Céline, Féry, Corentin, Quirin, Thomas, Nicolas, Hugo, Madec, Morgan, Hemm-Ode, Simone, Pascal, Joris
A magnetic camera to assess the risk of magnetic interaction between portable electronics and cardiac implantable electronic devices
2022-06, Quirin, Thomas, Vergne, Céline, Féry, Corentin, Badertscher, Patrick, Nicolas, Hugo, Mannhart, Diego, Osswald, Stefan, Kuhne, Michael, Sticherling, Christian, Madec, Morgan, Hébrard, Luc, Knecht, Sven, Pascal, Joris
Monitoring the exposure to magnetic fields of MRI workers using goggles integrating magnetometers
2023, Jeker, Dominic, Quirin, Thomas, Pascal, Joris
Magnetic field measurements of portable electronic devices. The risk inside pockets for patients with cardiovascular implantable devices
2022-03-15, Féry, Corentin, Desombre, Adrien, Quirin, Thomas, Badertscher, Patrick, Sticherling, Christian, Knecht, Sven, Pascal, Joris