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Millirobot Magnetic Manipulation for Ocular Drug Delivery with Sub Millimeter Precision

Title: Millirobot Magnetic Manipulation for Ocular Drug Delivery with Sub Millimeter Precision Author: Céline Vergne{2}, José Inácio{2}, Thomas Quirin{2}, David Sargent{1}, Joris Pascal{2} Affiliation: {1}Magnebotix AG, Switzerland; {2}University of Applied Sciences and Arts Northwestern, Switzerland Abstract: Significant progress has been made in the development of magnetic micromanipulation for minimally invasive surgery. The development of systems to localize millimetric size robots during magnetic navigation and without line of sight remains however a challenging task. In this study, we focused on the development of a tracking system aiming to fill this gap. A robot which consists of a cylindrical magnet of 1 mm diameter is localized using a 2D array of 3D magnetoresistive sensors. The developed tracking algorithm reaches a mean absolute error for the position and the orientation of, respectively 0.56 mm and 5.13° in 2D.