Millirobot magnetic manipulation for ocular drug delivery with sub millimeter precision
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Authors
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Publication date
2022
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04B - Conference paper
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IEEE
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Parent work
2022 IEEE Sensors
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IEEE
Place of publication / Event location
Dallas
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Abstract
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.
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Subject (DDC)
600 - Technik, Medizin, angewandte Wissenschaften
Event
IEEE Sensors
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Conference start date
30.10.2022
Conference end date
02.11.2022
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ISBN
978-1-6654-8464-0
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Language
English
Created during FHNW affiliation
Yes
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Publication status
Published
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Closed
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Citation
VERGNE, Céline, Jose IGNACIO, Thomas QUIRIN, David SARGENT und Joris PASCAL, 2022. Millirobot magnetic manipulation for ocular drug delivery with sub millimeter precision. In: IEEE (Hrsg.), 2022 IEEE Sensors. Dallas: IEEE. 2022. ISBN 978-1-6654-8464-0. Verfügbar unter: https://irf.fhnw.ch/handle/11654/34631