3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots
文献类型：期刊论文
| 作者 | Wang, Heng2; Wang, Shuangyi3 ; Liu, Hongbin3,4; Rhode, Kawal4; Hou, Zeng-Guang3; Rajamani, Rajesh1
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2022-04-01 |
| 卷号 | 7期号:2页码:2581-2588 |
| ISSN号 | 2377-3766 |
| 关键词 | Electromagnetic tracking 3D position estimation high-magnetic-permeability metal continuum medical robot |
| DOI | 10.1109/LRA.2022.3141464 |
| 通讯作者 | Rajamani, Rajesh(rajamani@umn.edu) |
| 英文摘要 | In this letter, a new 3-D electromagnetic position sensing method is proposed for localization of continuum medical robots. An electromagnet and magnetic sensors are placed outside the human body while only a piece of passive mu-metal with high magnetic permeability is attached to the robot moving inside the body, resulting in a wireless non-contacting position estimation system. The mu-metal gets easily magnetized by the electromagnet and thus exerts position-dependent influence on the external magnetic field, which is measured for position estimation using a particle filter. An alternating magnetic field from the electromagnet is used and hence disturbances from nearby ferromagnetic objects can be rejected. The 3-D position estimation system is evaluated on a flexible trans-esophageal robot for ultrasound imaging with motions of insertion and maneuver. Experiments show that the mean position estimation error is about 5 mm and the system is robust in the presence of magnetic disturbances from a ferromagnetic object. This new wireless and robust 3-D position estimation system is demonstrated to have the potential to localize a continuum medical robot, which can enable autonomous navigation of the robot. |
| WOS关键词 | TRACKING ; LOCALIZATION |
| 资助项目 | University of Minnesota ; National Natural Science Foundation of China[62003339] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000748371300028 |
| 资助机构 | University of Minnesota ; National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/47373]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Rajamani, Rajesh |
| 作者单位 | 1.Univ Minnesota, Dept Mech Engn, Minneapolis, MN 55455 USA 2.South China Univ Technol, Sch Intelligent Engn, Guangzhou 511442, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Kings Coll London, St Thomas Hosp, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England |
| 推荐引用方式 GB/T 7714 | Wang, Heng,Wang, Shuangyi,Liu, Hongbin,et al. 3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):2581-2588. |
| APA | Wang, Heng,Wang, Shuangyi,Liu, Hongbin,Rhode, Kawal,Hou, Zeng-Guang,&Rajamani, Rajesh.(2022).3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),2581-2588. |
| MLA | Wang, Heng,et al."3-D Electromagnetic Position Estimation System Using High-Magnetic-Permeability Metal for Continuum Medical Robots".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):2581-2588. |
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来源：自动化研究所
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