Knowledge Commons of Institute of Automation,CAS
A hybrid force-magnetic control scheme for flexible medical device steering | |
Huang, Yuanrui1,2; Ma, Runyu3; 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 | |
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. |
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