Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback

Islam S.M. Khalil; Pedro Ferreira; Ricardo Eleutério; Chris L. de Korte; Sarthak Misra

doi:10.1109/ICRA.2014.6907411

Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback

Islam S.M. Khalil, Pedro Ferreira, Ricardo Eleutério, Chris L. de Korte, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

60 Citations (Scopus)

16 Downloads (Pure)

Abstract

Controlling the motion of microrobots based on feedback provided using an imaging modality is essential to make them clinically viable. In this study, we demonstrate the wireless magnetic-based motion control of paramagnetic microparticles using ultrasound feedback. This control is accomplished by pulling the microparticles using the magnetic field gradients towards the reference position through feedback provided by an ultrasound system. First, position of the mi-croparticles is determined using the ultrasound images. Second, calibration of the ultrasound-based tracking of microparticles is achieved and verified using a calibrated microscopic system. Third, the feedback provided by the ultrasound system is used in the implementation of a proportional-derivative magnetic-based control system. This control system allows us to achieve point-to-point control of microparticles with an average position tracking error of 48±59 μm, whereas a control system based on a microscopic system achieves an average position tracking error of 21±26 μm. The positioning accuracy accomplished using our ultrasound magnetic-based control system demonstrates the ability to control microrobotic systems in situations where visual feedback cannot be provided via microscopic systems.

Original language	English
Title of host publication	Proceedings - 2014 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	3807-3812
Number of pages	6
ISBN (Electronic)	978-1-4799-3685-4
DOIs	https://doi.org/10.1109/ICRA.2014.6907411
Publication status	Published - 22 Sept 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Volume	2014
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated title	ICRA
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

Keywords

n/a OA procedure

Access to Document

10.1109/ICRA.2014.6907411

Cite this

Khalil, I. S. M., Ferreira, P., Eleutério, R., de Korte, C. L., & Misra, S. (2014). Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback. In Proceedings - 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp. 3807-3812). Article 6907411 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2014). IEEE. https://doi.org/10.1109/ICRA.2014.6907411

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title = "Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback",

abstract = "Controlling the motion of microrobots based on feedback provided using an imaging modality is essential to make them clinically viable. In this study, we demonstrate the wireless magnetic-based motion control of paramagnetic microparticles using ultrasound feedback. This control is accomplished by pulling the microparticles using the magnetic field gradients towards the reference position through feedback provided by an ultrasound system. First, position of the mi-croparticles is determined using the ultrasound images. Second, calibration of the ultrasound-based tracking of microparticles is achieved and verified using a calibrated microscopic system. Third, the feedback provided by the ultrasound system is used in the implementation of a proportional-derivative magnetic-based control system. This control system allows us to achieve point-to-point control of microparticles with an average position tracking error of 48±59 μm, whereas a control system based on a microscopic system achieves an average position tracking error of 21±26 μm. The positioning accuracy accomplished using our ultrasound magnetic-based control system demonstrates the ability to control microrobotic systems in situations where visual feedback cannot be provided via microscopic systems.",

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author = "Khalil, {Islam S.M.} and Pedro Ferreira and Ricardo Eleut{\'e}rio and {de Korte}, {Chris L.} and Sarthak Misra",

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year = "2014",

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doi = "10.1109/ICRA.2014.6907411",

language = "English",

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Khalil, ISM, Ferreira, P, Eleutério, R, de Korte, CL & Misra, S 2014, Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback. in Proceedings - 2014 IEEE International Conference on Robotics and Automation (ICRA)., 6907411, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2014, IEEE, Piscataway, NJ, pp. 3807-3812, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907411

Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback. / Khalil, Islam S.M.; Ferreira, Pedro; Eleutério, Ricardo et al.
Proceedings - 2014 IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ: IEEE, 2014. p. 3807-3812 6907411 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Misra, Sarthak

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N2 - Controlling the motion of microrobots based on feedback provided using an imaging modality is essential to make them clinically viable. In this study, we demonstrate the wireless magnetic-based motion control of paramagnetic microparticles using ultrasound feedback. This control is accomplished by pulling the microparticles using the magnetic field gradients towards the reference position through feedback provided by an ultrasound system. First, position of the mi-croparticles is determined using the ultrasound images. Second, calibration of the ultrasound-based tracking of microparticles is achieved and verified using a calibrated microscopic system. Third, the feedback provided by the ultrasound system is used in the implementation of a proportional-derivative magnetic-based control system. This control system allows us to achieve point-to-point control of microparticles with an average position tracking error of 48±59 μm, whereas a control system based on a microscopic system achieves an average position tracking error of 21±26 μm. The positioning accuracy accomplished using our ultrasound magnetic-based control system demonstrates the ability to control microrobotic systems in situations where visual feedback cannot be provided via microscopic systems.

AB - Controlling the motion of microrobots based on feedback provided using an imaging modality is essential to make them clinically viable. In this study, we demonstrate the wireless magnetic-based motion control of paramagnetic microparticles using ultrasound feedback. This control is accomplished by pulling the microparticles using the magnetic field gradients towards the reference position through feedback provided by an ultrasound system. First, position of the mi-croparticles is determined using the ultrasound images. Second, calibration of the ultrasound-based tracking of microparticles is achieved and verified using a calibrated microscopic system. Third, the feedback provided by the ultrasound system is used in the implementation of a proportional-derivative magnetic-based control system. This control system allows us to achieve point-to-point control of microparticles with an average position tracking error of 48±59 μm, whereas a control system based on a microscopic system achieves an average position tracking error of 21±26 μm. The positioning accuracy accomplished using our ultrasound magnetic-based control system demonstrates the ability to control microrobotic systems in situations where visual feedback cannot be provided via microscopic systems.

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Y2 - 31 May 2014 through 7 June 2014

ER -

Khalil ISM, Ferreira P, Eleutério R, de Korte CL , Misra S. Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback. In Proceedings - 2014 IEEE International Conference on Robotics and Automation (ICRA). Piscataway, NJ: IEEE. 2014. p. 3807-3812. 6907411. (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)). doi: 10.1109/ICRA.2014.6907411

Magnetic-based closed-loop control of paramagnetic microparticles using ultrasound feedback

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