Knowledge Commons of Institute of Automation,CAS
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 | |
2023 | |
会议名称 | 2023 IEEE 19th International Conference on Automation Science and Engineering |
会议日期 | 26-30 August 2023 |
会议地点 | Auckland, New Zealand |
摘要 | 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°. |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57351 |
专题 | 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 |
通讯作者 | Hongbin, Liu |
作者单位 | 1.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 |
推荐引用方式 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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Magnetic-Actuated_Fl(2049KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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