Related papers: Trajectory Planning and Control for Robotic Magnet…
Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic navigation systems are categorized into systems using…
Currently used wireless capsule endoscopy (WCE) is limited in terms of inspection time and flexibility since the capsule is passively moved by peristalsis and cannot be accurately positioned. Different methods have been proposed to…
The ability to have multiple magnetic robots operate independently in the same workspace would increase the clinical potential of these systems allowing collaborative operation. In this work, we investigate the feasibility of actuating two…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-assisted endoscope systems which…
Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial robotic manipulator where personnel is isolated from the robot's work envelope. In this paper, we…
This paper presents a closed-loop magnetic manipulation framework for robotic transesophageal echocardiography (TEE) acquisitions. Different from previous work on intracorporeal robotic ultrasound acquisitions that focus on continuum robot…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
A reliable, real-time simultaneous localization and mapping (SLAM) method is crucial for the navigation of actively controlled capsule endoscopy robots. These robots are an emerging, minimally invasive diagnostic and therapeutic technology…
Targeted drug delivery in the gastrointestinal (GI) tract using magnetic robots offers a promising alternative to systemic treatments. However, controlling these robots is a major challenge. Stationary magnetic systems have a limited…
A predictive control scheme for a permanent-magnet synchronous machine (PMSM) is presented. It is based on a suboptimal method for computationally efficient trajectory generation based on continuous parameterization and linear programming.…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…
This work focuses on the robust optimization of a permanent magnet (PM) synchronous machine while considering a driving cycle. The robustification is obtained by considering uncertainties of different origins. Firstly, there are geometrical…
Magnetically actuated capsule robots promise minimally invasive diagnosis and therapy in the gastrointestinal (GI) tract, but existing systems largely neglect control of capsule pitch, a degree of freedom critical for contact-rich…