3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots

doi:10.1109/LRA.2022.3141464

	3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots
	Wang, Heng 1; Wang, Shuangyi2 ; Liu, Hongbin2,3 ; Rhode, Kawal 3; Hou, Zeng-Guang2 ; Rajamani, Rajesh 4
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	被引频次：4[WOS] [WOS记录] [WOS相关记录]
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.