Dynamic behavior investigation for trajectory control of a microrobot in blood vessels

This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior of blood is considered, as well as wall effects and interactions, resulting...

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Hauptverfasser:	Arcese, L, Cherry, A, Fruchard, M, Ferreira, A
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Blood Drag Force Magnetic forces Magnetic resonance imaging Robots Trajectory
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creator	Arcese, L Cherry, A Fruchard, M Ferreira, A
description	This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior of blood is considered, as well as wall effects and interactions, resulting in a highly nonlinear model. A backstepping approach is synthesized to ensure Lyapunov stability along a pre-planned trajectory inherited from the model, with robustness concerns.
doi_str_mv	10.1109/IROS.2010.5650895
format	Conference Proceeding
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subjects	Blood Drag Force Magnetic forces Magnetic resonance imaging Robots Trajectory
title	Dynamic behavior investigation for trajectory control of a microrobot in blood vessels
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