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A Flexible Magnetically Controlled Continuum Robot Steering in the Enlarged Effective Workspace with Constraints for Retrograde Intrarenal Surgery
Lin DJ(林道京)1,2; Wang JY(王敬依)1,2; Jiao ND(焦念东)1,2; Wang ZD(王志东)3; Liu LQ(刘连庆)1,2
Department机器人学研究室
Source PublicationAdvanced Intelligent Systems
ISSN2640-4567
2021
Volume3Issue:10Pages:1-14
Indexed ByEI
EI Accession number20212310473965
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China (grant nos. 61925307, 91748212, 91848201, and 61821005) ; Key Research Program of Frontier Sciences, CAS (grant no. QYZDB-SSW-JSC008) ; CAS/SAFEA International Partnership Program for Creative Research Teams
Keywordconstraints Cosserat rod heterogeneous fields magnetic continuum robots retrograde intrarenal surgery
Abstract

Flexible magnetic continuum robots (MCRs) can be fabricated in small dimensions with great manipulability as their tips can deflect under fields, without the need for complicated mechanical structures to govern control, and it helps improve operating conditions during retrograde intrarenal surgery (RIRS). However, the limited effective workspace of an electromagnet-based magnetic navigation system (MNS) influences the practical applications. Herein, the method of steering a flexible MCR in the enlarged workspace of a common MNS for RIRS is presented. First, the field heterogeneity is parameterized to quantitatively analyze its influence on the motion of the MCR. Then, a kinematic model of the MCR is constructed, by coupling the heterogeneous-field and Cosserat-rod models, to predict its large deformation in the enlarged workspace with constraints. The model is validated with the maximum mean error of 0.53 ± 0.39 mm for the tip position in all the experiments. It is demonstrated that the effective workspace can be enlarged to 75% of the physical workspace. In addition, experiments in phantoms, which simulate two challenges during RIRS, are performed to prove its manipulability. This study enlarges the effective workspace of the MNS, which helps expand the practical application of the MCR.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/29055
Collection机器人学研究室
Corresponding AuthorJiao ND(焦念东); Liu LQ(刘连庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.Department of Advanced Robotics, Chiba Institute of Technology, Chiba 275-0016, Japan
Recommended Citation
GB/T 7714
Lin DJ,Wang JY,Jiao ND,et al. A Flexible Magnetically Controlled Continuum Robot Steering in the Enlarged Effective Workspace with Constraints for Retrograde Intrarenal Surgery[J]. Advanced Intelligent Systems,2021,3(10):1-14.
APA Lin DJ,Wang JY,Jiao ND,Wang ZD,&Liu LQ.(2021).A Flexible Magnetically Controlled Continuum Robot Steering in the Enlarged Effective Workspace with Constraints for Retrograde Intrarenal Surgery.Advanced Intelligent Systems,3(10),1-14.
MLA Lin DJ,et al."A Flexible Magnetically Controlled Continuum Robot Steering in the Enlarged Effective Workspace with Constraints for Retrograde Intrarenal Surgery".Advanced Intelligent Systems 3.10(2021):1-14.
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