Towards Autonomous Control of Magnetic Suture Needles
作者： Yancy Diaz-Mercado , Lamar O. Mair , Irving N. Weinberg , Xiaolong Liu , Axel Krieger
DOI: 10.1109/IROS45743.2020.9341425
关键词:
摘要: This paper proposes a magnetic needle steering controller to manipulate mesoscale suture needles for executing planned suturing motion. is an initial step towards our research objective: enabling autonomous control of tasks in minimally invasive surgery. To demonstrate the feasibility accurate motion control, we employ cardinally-arranged four-coil electromagnetic system setup and 2-dimensional environment, i.e., Petri dish filled with viscous liquid. Different from only using field gradients small agents under high damping conditions, dynamics are investigated encoded controller. Based on mathematical formulations force torque applied needle, develop kinematically constrained dynamic model that controls rotate translate along its central axis mimicking behavior surgical sutures. A current combining closed-loop schemes designed commanding achieve desired linear angular velocities. evaluate performance needles, conduct experiments including rotation position by discretized trajectories, velocity time-varying circular trajectory. The experiment results proposed can perform needles.
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