Magnetic-Actuated Flexible Instruments with Enhanced Bending Capability through Magnetic Distribution Optimization
Yuanrui, Huang,1,2; Runyu, Ma3; Jian, Hu2,4; Mingcong, Chen2,4; Jian, Chen2,4; Hongbin, Liu2,4
Conference Name2023 IEEE 19th International Conference on Automation Science and Engineering
Conference Date26-30 August 2023
Conference PlaceAuckland, New Zealand

Magnetically-actuated flexible surgical robot has promising applications for ultra-narrow and tortuous orifices. However, maximizing its bending capability and manipulability remains a significant hurdle for clinical use. In this study, we introduce an objective function that can accurately predict a catheter's bending angle with given numbers of internal permanent magnets (IPMs) under various magnetic fields through iterative calculation. The optimal magnets distribution that yields the maximal controllable bending angle, could be determined by optimizing this objective function. The effectiveness of this method is validated through simulations and experiments. Additionally, we propose a simple control scheme to control the bending angle of the magnetically-actuated catheter based on the piecewise constant curvature model. The experimental results demonstrate that the proposed method significantly improves the motion accuracy of the catheter. The catheter with the optimized magnet distribution achieved superior tracking performance with an Integral Absolute Error (IAE) of 1.08 rad·s and maximal controllable bending angle of 150°.

Sub direction classification智能机器人
planning direction of the national heavy laboratory其他
Paper associated data
Document Type会议论文
Corresponding AuthorHongbin, Liu
Affiliation1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
2.State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
3.School of General Engineering, Beihang University, Beijing 100190, China
4.Centre of AI and Robotics (CAIR), Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yuanrui, Huang,,Runyu, Ma,Jian, Hu,et al. Magnetic-Actuated Flexible Instruments with Enhanced Bending Capability through Magnetic Distribution Optimization[C],2023.
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