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A hybrid force-magnetic control scheme for flexible medical device steering

文献类型：期刊论文

作者Huang, Yuanrui1,2; Ma, Runyu3; Liu, Hongbin1,2,4,5
刊名MECHATRONICS
出版日期2023-11-01
卷号95页码:10
关键词Soft robotics Magnetic actuation Steerable catheters/needles Force control
ISSN号0957-4158
DOI10.1016/j.mechatronics.2023.103072
通讯作者Liu, Hongbin(liuhongbin@ia.ac.cn)
英文摘要Magnetically-actuated flexible surgical robot has promising applications for ultra-narrow and tortuous orifices, however, how to minimize the energy consumption, physical interaction between the external electromagnet (EEM) and the human body, and the bulky size of the magnetic actuation system remains a major challenge. This work presents a hybrid force-magnetic control scheme that can magnetically steer catheters with the least distance in order to reduce energy consumption and the size of the magnet. In addition, the use of force feedback control allows the motion of magnet adapts to the movement of patient's body, ensuring safety during the operation. The scheme is composed of two parts: a Jacobian-based inverse kinematic model that enables 3D position control of the catheter's distal tip through the EEM, and a force control algorithm based on admittance control that converts external forces applied to the magnet into position errors, making the system compliant that allows for safe contact with the human body. Experiment was conducted to validate the feasibility and accuracy of the proposed control scheme. The results show that the catheter's distal tip can be controlled to follow desired trajectories with a minimum Root Mean Square (RMS) error of 0.43 +/- 0.22 mm, and the hybrid control scheme can reduce electrical power consumption effectively while achieving similar performance with an RMS error of 0.52 +/- 0.41 mm. It is also able to maintain contact forces within a safe range (<15 N) during actuation.
WOS关键词CATHETER ; GUIDEWIRE ; SYSTEM ; ARRAY
资助项目Institute of Automation, Chinese Academy of Sciences ; InnoHK programme
WOS研究方向Automation & Control Systems ; Engineering ; Robotics
语种英语
WOS记录号WOS:001099852800001
出版者PERGAMON-ELSEVIER SCIENCE LTD
资助机构Institute of Automation, Chinese Academy of Sciences ; InnoHK programme
源URL[http://ir.ia.ac.cn/handle/173211/55201]  
专题多模态人工智能系统全国重点实验室
通讯作者Liu, Hongbin
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
3.Beihang Univ, Sch Gen Engn, Beijing, Peoples R China
4.Chinese Acad Sci, Ctr AI & Robot CAIR, Hong Kong Inst Sci & Innovat, Hong Kong 100045, Peoples R China
5.Kings Coll London, Sch Biomed Engn & Imaging Sci, London, England
推荐引用方式
GB/T 7714		 Huang, Yuanrui,Ma, Runyu,Liu, Hongbin. A hybrid force-magnetic control scheme for flexible medical device steering[J]. MECHATRONICS,2023,95:10.
APA Huang, Yuanrui,Ma, Runyu,&Liu, Hongbin.(2023).A hybrid force-magnetic control scheme for flexible medical device steering.MECHATRONICS,95,10.
MLA Huang, Yuanrui,et al."A hybrid force-magnetic control scheme for flexible medical device steering".MECHATRONICS 95(2023):10.

入库方式： OAI收割

来源：自动化研究所

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