Knowledge Commons of Institute of Automation,CAS
3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots | |
Wang, Heng1; Wang, Shuangyi2; Liu, Hongbin2,3; Rhode, Kawal3; Hou, Zeng-Guang2; Rajamani, Rajesh4 | |
发表期刊 | IEEE ROBOTICS AND AUTOMATION LETTERS |
ISSN | 2377-3766 |
2022-04-01 | |
卷号 | 7期号:2页码:2581-2588 |
通讯作者 | Rajamani, Rajesh(rajamani@umn.edu) |
摘要 | In this letter, a new 3-D electromagnetic position sensing method is proposed for localization of continuum medical robots. An electromagnet and magnetic sensors are placed outside the human body while only a piece of passive mu-metal with high magnetic permeability is attached to the robot moving inside the body, resulting in a wireless non-contacting position estimation system. The mu-metal gets easily magnetized by the electromagnet and thus exerts position-dependent influence on the external magnetic field, which is measured for position estimation using a particle filter. An alternating magnetic field from the electromagnet is used and hence disturbances from nearby ferromagnetic objects can be rejected. The 3-D position estimation system is evaluated on a flexible trans-esophageal robot for ultrasound imaging with motions of insertion and maneuver. Experiments show that the mean position estimation error is about 5 mm and the system is robust in the presence of magnetic disturbances from a ferromagnetic object. This new wireless and robust 3-D position estimation system is demonstrated to have the potential to localize a continuum medical robot, which can enable autonomous navigation of the robot. |
关键词 | Electromagnetic tracking 3D position estimation high-magnetic-permeability metal continuum medical robot |
DOI | 10.1109/LRA.2022.3141464 |
关键词[WOS] | TRACKING ; LOCALIZATION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | University of Minnesota ; National Natural Science Foundation of China[62003339] |
项目资助者 | University of Minnesota ; National Natural Science Foundation of China |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:000748371300028 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/47374 |
专题 | 复杂系统认知与决策实验室_先进机器人 复杂系统管理与控制国家重点实验室 |
通讯作者 | Rajamani, Rajesh |
作者单位 | 1.South China Univ Technol, Sch Intelligent Engn, Guangzhou 511442, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Kings Coll London, St Thomas Hosp, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England 4.Univ Minnesota, Dept Mech Engn, Minneapolis, MN 55455 USA |
推荐引用方式 GB/T 7714 | Wang, Heng,Wang, Shuangyi,Liu, Hongbin,et al. 3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):2581-2588. |
APA | Wang, Heng,Wang, Shuangyi,Liu, Hongbin,Rhode, Kawal,Hou, Zeng-Guang,&Rajamani, Rajesh.(2022).3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),2581-2588. |
MLA | Wang, Heng,et al."3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):2581-2588. |
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