TY - GEN
T1 - Magnetic-Actuated Flexible Instruments with Enhanced Bending Capability through Magnetic Distribution Optimization
AU - Huang, Yuanrui
AU - Ma, Runyu
AU - Hu, Jian
AU - Chen, Mingcong
AU - Chen, Jian
AU - Liu, Hongbin
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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°.
AB - 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°.
UR - http://www.scopus.com/inward/record.url?scp=85174408372&partnerID=8YFLogxK
U2 - 10.1109/CASE56687.2023.10260404
DO - 10.1109/CASE56687.2023.10260404
M3 - Conference Proceeding
AN - SCOPUS:85174408372
T3 - IEEE International Conference on Automation Science and Engineering
BT - 2023 IEEE 19th International Conference on Automation Science and Engineering, CASE 2023
PB - IEEE Computer Society
T2 - 19th IEEE International Conference on Automation Science and Engineering, CASE 2023
Y2 - 26 August 2023 through 30 August 2023
ER -