Leong, F, Mohammadi, A, Tan, Y et al. (3 more authors) (2019) Robustness Evaluation of Internal Model Principle-based Controller in a Magnetically Actuated Surgical System. In: Proceedings of the 2018 Australian & New Zealand Control Conference. ANZCC 2018: Australian & New Zealand Control Conference, 07-08 Dec 2018, Melbourne, VIC, Australia. IEEE , pp. 257-262. ISBN 978-1-5386-6617-3
Abstract
The local magnetic actuation (LMA) surgical method has gained popularity among medical practitioners and researchers in the field of abdominal surgery. The procedure requires the use of magnets on both sides of the abdominal cavity to anchor devices onto abdominal wall while magnetic sources on the external side generate actuation signals to drive robotic manipulators inside the cavity. Due to the transmission of magnetic fields across the abdominal wall and the interactions among multiple LMA units within the vicinity, magnetic interference will affect the performance of the intended rotor driving the degree-of-freedom (DOF) on the robotic manipulator. Since the disturbances due to the neighbouring magnetic sources are found to be sinusoidal signals with a known frequency, they can be rejected by using the internal model principle (IMP) technique. The disturbance due to the abdominal wall tissue dynamics during magnetic actuation causes oscillations on the internally anchored surgical device, which has generally been ignored in the implementation of LMA application. The focus of this paper is to provide a model that incorporates tissue dynamics in the LMA system. Moreover, the robustness of IMP controller in the presence of tissue dynamics is discussed. Simulations are performed and the results demonstrate effective rejection of both disturbances when they are taken into account in the IMP disturbance model.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. This is an author produced version of a paper published in Proceedings of the 2018 Australian & New Zealand Control Conference. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Rotors; Magnetic resonance imaging; Magnetic devices; Cavity resonators; Transfer functions; Surgery; Robots |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 05 Mar 2019 15:27 |
Last Modified: | 05 Mar 2019 15:27 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ANZCC.2018.8606572 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:143250 |