Design and Modeling of a Multi-DoF Magnetic Continuum Robot with Diverse Deformation Mode
Yuanrui, Huang1; Qiangxiang, Zhao2; Jian, Hu2,3; hongbin, liu2,3
Source PublicationIEEE Robotics and Automation Letters
2024
Pages3956-3963
Abstract

Magnetically-actuated continuum robots (MCRs) have the potential to be miniaturized to submillimeter sizes. However, their limited deformation modes hinder their ability to navigate through narrow and tortuous lumens. In this paper, we introduce a novel 2-degrees of freedom (DoF) MCR with diverse deformation modes. To validate the concept, a 20mm-long MCR is fabricated. We also present an optimization algorithm to expand the MCR’s workspace, relying on a deformation estimation algorithm that has been experimentally proven to have an error of less than 1.15mm on the fabricated prototype. The optimized MCR exhibits a 40% larger workspace compared to conventional MCRs. Additionally, we integrate the 2-DoF MCR with mechanical devices and propose a Jacobian-based control scheme for them. Experimental results confirm its capability for tip trajectory tracking tasks with an RMS error of 0.71mm and demonstrate its ability for obstacle avoidance. These innovations hold significant implications for the development of MCRs, paving the way toward more efficient interventional procedures.

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Sub direction classification智能机器人
planning direction of the national heavy laboratory其他
Paper associated data
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57350
Collection多模态人工智能系统全国重点实验室_智能微创医疗技术团队
Corresponding Authorhongbin, liu
Affiliation1.School of Artificial Intelligence, University of Chinese Academy of Sciences
2.Centre of AI and Robotics (CAIR), Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences
3.State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yuanrui, Huang,Qiangxiang, Zhao,Jian, Hu,et al. Design and Modeling of a Multi-DoF Magnetic Continuum Robot with Diverse Deformation Mode[J]. IEEE Robotics and Automation Letters,2024:3956-3963.
APA Yuanrui, Huang,Qiangxiang, Zhao,Jian, Hu,&hongbin, liu.(2024).Design and Modeling of a Multi-DoF Magnetic Continuum Robot with Diverse Deformation Mode.IEEE Robotics and Automation Letters,3956-3963.
MLA Yuanrui, Huang,et al."Design and Modeling of a Multi-DoF Magnetic Continuum Robot with Diverse Deformation Mode".IEEE Robotics and Automation Letters (2024):3956-3963.
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