TY - GEN
T1 - X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms
AU - Ligtenberg, Leendert Jan W.
AU - De Boer, Marcus C.J.
AU - Mulder, Iris
AU - Lomme, Roger
AU - Wasserberg, Dorothee
AU - Klein Rot, Emily A.M.
AU - Ben Ami, Doron
AU - Sadeh, Udi
AU - Liefers, H. Remco
AU - Shoseyov, Oded
AU - Jonkheijm, Pascal
AU - Warlé, Michiel
AU - Khalil, Islam S.M.
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024/12/25
Y1 - 2024/12/25
N2 - This paper explores the application of X-ray-guided magnetic fields for the wireless control of untethered magnetic robots (UMRs) within cerebral vascular phantoms. With a focus on addressing challenges associated with strokes and brain aneurysms, the study aims to enhance neurosurgical procedures by improving precision and maneuverability. Experimental findings showcase the feasibility and effectiveness of this innovative approach in navigating UMRs, characterized by a screw-shaped body and a ferromagnetic core, through complex vascular structures. Cone-beam computed tomography is employed to determine the tomography and provide various reference trajectories for the UMR inside the cerebral vascular phantom. Our motion control experiments show that the X-ray-guided magnetic fields enable the UMR to move along any intended path with an average success rate of 89%, allowing the UMR to move between the left and right common carotid artery to the left and right internal and external carotid artery.
AB - This paper explores the application of X-ray-guided magnetic fields for the wireless control of untethered magnetic robots (UMRs) within cerebral vascular phantoms. With a focus on addressing challenges associated with strokes and brain aneurysms, the study aims to enhance neurosurgical procedures by improving precision and maneuverability. Experimental findings showcase the feasibility and effectiveness of this innovative approach in navigating UMRs, characterized by a screw-shaped body and a ferromagnetic core, through complex vascular structures. Cone-beam computed tomography is employed to determine the tomography and provide various reference trajectories for the UMR inside the cerebral vascular phantom. Our motion control experiments show that the X-ray-guided magnetic fields enable the UMR to move along any intended path with an average success rate of 89%, allowing the UMR to move between the left and right common carotid artery to the left and right internal and external carotid artery.
KW - 2025 OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85216493484&partnerID=8YFLogxK
U2 - 10.1109/IROS58592.2024.10802534
DO - 10.1109/IROS58592.2024.10802534
M3 - Conference contribution
AN - SCOPUS:85216493484
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4624
EP - 4629
BT - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
PB - IEEE
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
Y2 - 14 October 2024 through 18 October 2024
ER -