Design and Modeling of a Multi-DoF Magnetic Continuum Robot With Diverse Deformation Modes
文献类型：期刊论文
| 作者 | Huang, Yuanrui1 ; Zhao, Qingxiang2; Hu, Jian2,3; Liu, Hongbin2,3
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2024-04-01 |
| 卷号 | 9期号:4页码:3956-3963 |
| 关键词 | Deformation Bending 2-DOF Magnetic fields Perpendicular magnetic anisotropy Soft magnetic materials Robots Modeling, control, and learning for soft robots surgical robotics: steerable catheters/needles |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3374192 |
| 通讯作者 | Liu, Hongbin(liuhongbin@ia.ac.cn) |
| 英文摘要 | Magnetically-actuated continuum robots (MCRs) have the potential to be miniaturized to submillimeter sizes. However, their limited deformation modes hinder their ability to navigate through narrow and tortuous lumens. In this letter, we introduce a novel 2-degrees of freedom (DoF) MCR with diverse deformation modes. To validate the concept, a 20 mm-long MCR is fabricated. We also present an optimization algorithm to expand the MCR's workspace, relying on a deformation estimation algorithm that has been experimentally proven to have an error of less than 1.15 mm on the fabricated prototype. The optimized MCR exhibits a 40% larger workspace compared to conventional MCRs. Additionally, we integrate the 2-DoF MCR with mechanical devices and propose a Jacobian-based control scheme for them. Experimental results confirm its capability for tip trajectory tracking tasks with an RMS error of 0.71 mm and demonstrate its ability for obstacle avoidance. These innovations hold significant implications for the development of MCRs, paving the way toward more efficient interventional procedures. |
| WOS关键词 | GUIDEWIRE |
| 资助项目 | Institute of Automation, Chinese Academy of Sciences |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001189842600002 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Institute of Automation, Chinese Academy of Sciences |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58007]  |
| 专题 | 智能微创医疗技术团队 |
| 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, Hong Kong Inst Sci & Innovat, Ctr AI & Robot CAIR, Hong Kong 999077, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Huang, Yuanrui,Zhao, Qingxiang,Hu, Jian,et al. Design and Modeling of a Multi-DoF Magnetic Continuum Robot With Diverse Deformation Modes[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(4):3956-3963. |
| APA | Huang, Yuanrui,Zhao, Qingxiang,Hu, Jian,&Liu, Hongbin.(2024).Design and Modeling of a Multi-DoF Magnetic Continuum Robot With Diverse Deformation Modes.IEEE ROBOTICS AND AUTOMATION LETTERS,9(4),3956-3963. |
| MLA | Huang, Yuanrui,et al."Design and Modeling of a Multi-DoF Magnetic Continuum Robot With Diverse Deformation Modes".IEEE ROBOTICS AND AUTOMATION LETTERS 9.4(2024):3956-3963. |
入库方式： OAI收割
来源：自动化研究所
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