Use of 3D Potential Field and an Enhanced Breadth-first Search Algorithms for the Path Planning of Microdevices Propelled in the Cardiovascular System

Author

Sabra, Wael ; Khouzam, Matthew ; Chanu, Arnaud ; Martel, Sylvain

Author_Institution

Dept. of Comput. Eng., Montreal Univ., Que.

fYear

2006

Firstpage

3916

Lastpage

3920

Abstract

Potential field algorithms often used in path finding applications on a 2D plane are expanded onto a 3D map trajectories for navigation planning of a microdevice designed to be propelled through the cardiovascular system using magnetic gradients generated by a clinical MRI system. This system assembles a 3D reconstruction of a cardiovascular system through magnetic resonance angiography images. The method also allows the extraction of the physiological properties of the given network

Keywords

bioMEMS; biomagnetism; biomedical MRI; cardiovascular system; image reconstruction; 3D potential field; 3D reconstruction; cardiovascular system; clinical MRI system; enhanced breadth-first search algorithms; magnetic gradients; magnetic resonance angiography images; microdevices; navigation planning; path planning; Algorithm design and analysis; Assembly systems; Cardiovascular system; Image reconstruction; Magnetic resonance; Magnetic resonance imaging; Navigation; Path planning; Propulsion; Trajectory; DICOM; Image processing; angiogram; local minima; magnetic resonance imagery; microsurgery; path planning; potential field; wave propagation;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2005. IEEE-EMBS 2005. 27th Annual International Conference of the

Conference_Location

Shanghai

Print_ISBN

0-7803-8741-4

Type

conf

DOI

10.1109/IEMBS.2005.1615318

Filename

1615318