Tracking of a magnetically navigated millirobot with a magnetic-field camera
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Author (Corporation)
Publication date
10.04.2024
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01A - Journal article
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Parent work
IEEE Sensors Journal
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DOI of the original publication
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Volume
24
Issue / Number
6
Pages / Duration
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Publisher / Publishing institution
IEEE
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Abstract
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.
Keywords
Sensors, Magnetic sensors, Magnetic resonance imaging, Sensor arrays, Navigation, Magnetic confinement, Magnetic field measurement
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ISBN
ISSN
1530-437X
1558-1748
1558-1748
Language
English
Created during FHNW affiliation
Yes
Strategic action fields FHNW
Publication status
Published
Review
Peer review of the complete publication
Open access category
Closed
License
Citation
Vergne, C., Pinto Inácio, J. M., Quirin, T., Sargent, D., Madec, M., & Pascal, J. (2024). Tracking of a magnetically navigated millirobot with a magnetic-field camera. IEEE Sensors Journal, 24(6). https://doi.org/10.1109/JSEN.2023.3264496