A hybrid force-magnetic control scheme for flexible medical device steering

doi:10.1016/j.mechatronics.2023.103072

	A hybrid force-magnetic control scheme for flexible medical device steering
	Huang, Yuanrui1,2 ; Ma, Runyu 3; Liu, Hongbin1,2,4,5
发表期刊	MECHATRONICS
ISSN	0957-4158
	2023-11-01
卷号	95 页码:10
通讯作者	Liu, Hongbin(liuhongbin@ia.ac.cn)
摘要	Magnetically-actuated flexible surgical robot has promising applications for ultra-narrow and tortuous orifices, however, how to minimize the energy consumption, physical interaction between the external electromagnet (EEM) and the human body, and the bulky size of the magnetic actuation system remains a major challenge. This work presents a hybrid force-magnetic control scheme that can magnetically steer catheters with the least distance in order to reduce energy consumption and the size of the magnet. In addition, the use of force feedback control allows the motion of magnet adapts to the movement of patient's body, ensuring safety during the operation. The scheme is composed of two parts: a Jacobian-based inverse kinematic model that enables 3D position control of the catheter's distal tip through the EEM, and a force control algorithm based on admittance control that converts external forces applied to the magnet into position errors, making the system compliant that allows for safe contact with the human body. Experiment was conducted to validate the feasibility and accuracy of the proposed control scheme. The results show that the catheter's distal tip can be controlled to follow desired trajectories with a minimum Root Mean Square (RMS) error of 0.43 +/- 0.22 mm, and the hybrid control scheme can reduce electrical power consumption effectively while achieving similar performance with an RMS error of 0.52 +/- 0.41 mm. It is also able to maintain contact forces within a safe range (<15 N) during actuation.
关键词	Soft robotics Magnetic actuation Steerable catheters/needles Force control
DOI	10.1016/j.mechatronics.2023.103072
关键词[WOS]	CATHETER ; GUIDEWIRE ; SYSTEM ; ARRAY
收录类别	SCI
语种	英语
资助项目	Institute of Automation, Chinese Academy of Sciences ; InnoHK programme
项目资助者	Institute of Automation, Chinese Academy of Sciences ; InnoHK programme
WOS研究方向	Automation & Control Systems ; Engineering ; Robotics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Engineering, Mechanical ; Robotics
WOS记录号	WOS:001099852800001
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计	被引频次：1[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/173211/55202
专题	多模态人工智能系统全国重点实验室
通讯作者	Liu, Hongbin
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.Beihang Univ, Sch Gen Engn, Beijing, Peoples R China 4.Chinese Acad Sci, Ctr AI & Robot CAIR, Hong Kong Inst Sci & Innovat, Hong Kong 100045, Peoples R China 5.Kings Coll London, Sch Biomed Engn & Imaging Sci, London, England
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Huang, Yuanrui,Ma, Runyu,Liu, Hongbin. A hybrid force-magnetic control scheme for flexible medical device steering[J]. MECHATRONICS,2023,95:10.
APA	Huang, Yuanrui,Ma, Runyu,&Liu, Hongbin.(2023).A hybrid force-magnetic control scheme for flexible medical device steering.MECHATRONICS,95,10.
MLA	Huang, Yuanrui,et al."A hybrid force-magnetic control scheme for flexible medical device steering".MECHATRONICS 95(2023):10.