X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms

Leendert Jan W. Ligtenberg; Marcus C.J. De Boer; Iris Mulder; Roger Lomme; Dorothee Wasserberg; Emily A.M. Klein Rot; Doron Ben Ami; Udi Sadeh; H. Remco Liefers; Oded Shoseyov; Pascal Jonkheijm; Michiel Warlé; Islam S.M. Khalil

doi:10.1109/iros58592.2024.10802534

X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms

Leendert Jan W. Ligtenberg, Marcus C.J. De Boer, Iris Mulder, Roger Lomme, Dorothee Wasserberg, Emily A.M. Klein Rot, Doron Ben Ami, Udi Sadeh, H. Remco Liefers, Oded Shoseyov, Pascal Jonkheijm, Michiel Warlé, Islam S.M. Khalil

Institute of Plant Sciences and Genetics in Agriculture

The Hebrew University of Jerusalem

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

Abstract

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.

Original language	English
Title of host publication	2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4624-4629
Number of pages	6
ISBN (Electronic)	9798350377705
DOIs	https://doi.org/10.1109/iros58592.2024.10802534
State	Published - 2024
Event	2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 - Abu Dhabi, United Arab Emirates Duration: 14 Oct 2024 → 18 Oct 2024

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
Country/Territory	United Arab Emirates
City	Abu Dhabi
Period	14/10/24 → 18/10/24

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/iros58592.2024.10802534

Cite this

Ligtenberg, L. J. W., De Boer, M. C. J., Mulder, I., Lomme, R., Wasserberg, D., Klein Rot, E. A. M., Ben Ami, D., Sadeh, U., Liefers, H. R., Shoseyov, O., Jonkheijm, P., Warlé, M., & Khalil, I. S. M. (2024). X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 (pp. 4624-4629). (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/iros58592.2024.10802534

Ligtenberg, Leendert Jan W. ; De Boer, Marcus C.J. ; Mulder, Iris et al. / X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024. Institute of Electrical and Electronics Engineers Inc., 2024. pp. 4624-4629 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{5c411a39185c44b6bd205a0acdf8c35d,

title = "X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms",

abstract = "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.",

author = "Ligtenberg, \{Leendert Jan W.\} and \{De Boer\}, \{Marcus C.J.\} and Iris Mulder and Roger Lomme and Dorothee Wasserberg and \{Klein Rot\}, \{Emily A.M.\} and \{Ben Ami\}, Doron and Udi Sadeh and Liefers, \{H. Remco\} and Oded Shoseyov and Pascal Jonkheijm and Michiel Warl{\'e} and Khalil, \{Islam S.M.\}",

note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 ; Conference date: 14-10-2024 Through 18-10-2024",

year = "2024",

doi = "10.1109/iros58592.2024.10802534",

language = "الإنجليزيّة",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4624--4629",

booktitle = "2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024",

address = "الولايات المتّحدة",

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Ligtenberg, LJW, De Boer, MCJ, Mulder, I, Lomme, R, Wasserberg, D, Klein Rot, EAM, Ben Ami, D, Sadeh, U, Liefers, HR, Shoseyov, O, Jonkheijm, P, Warlé, M & Khalil, ISM 2024, X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms. in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024. IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4624-4629, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, 14/10/24. https://doi.org/10.1109/iros58592.2024.10802534

X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms. / Ligtenberg, Leendert Jan W.; De Boer, Marcus C.J.; Mulder, Iris et al.
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024. Institute of Electrical and Electronics Engineers Inc., 2024. p. 4624-4629 (IEEE International Conference on Intelligent Robots and Systems).

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

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.

PY - 2024

Y1 - 2024

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.

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U2 - 10.1109/iros58592.2024.10802534

DO - 10.1109/iros58592.2024.10802534

M3 - منشور من مؤتمر

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 - Institute of Electrical and Electronics Engineers Inc.

T2 - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024

Y2 - 14 October 2024 through 18 October 2024

ER -

Ligtenberg LJW, De Boer MCJ, Mulder I, Lomme R, Wasserberg D, Klein Rot EAM et al. X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024. Institute of Electrical and Electronics Engineers Inc. 2024. p. 4624-4629. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/iros58592.2024.10802534

X-Ray-Guided Magnetic Fields for Wireless Control of Untethered Magnetic Robots in Cerebral Vascular Phantoms

Abstract

Publication series

Conference

UN SDGs

All Science Journal Classification (ASJC) codes

Access to Document

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