Lloyd, P, Pittiglio, G, Chandler, JH et al. (1 more author) (2021) Optimal Design of Soft Continuum Magnetic Robots under Follow-the-leader Shape Forming Actuation. In: 2020 International Symposium on Medical Robotics (ISMR). 2020 International Symposium on Medical Robotics (ISMR), 18-20 Nov 2020, Atlanta, GA, USA. IEEE , pp. 111-117. ISBN 978-1-7281-5489-3
Abstract
We describe a novel paradigm for task-specific optimization of millimetre scale, magnetically actuated soft continuum robots for application in endoscopic procedures. In particular, we focus on a multi-segment, elastomeric manipulator whose magnetization and actuating field is optimized for follow-the-leader shape forming during insertion into a known environment. Optimization of length-wise magnetization profile, or magnetic signature, is performed in parallel with that of the actuating magnetic field for a range of desired shapes. We employ a rigid-link model for the mechanics of the manipulator and assume the ability to generate a controlled homogeneous magnetic field across the workspace. To demonstrate the efficacy of the proposed approach, we present our results against those generated via Finite Element Analysis (FEA). Moreover, we compare our proposed method with a traditional tip-driven system exhibiting fixed magnetization; demonstrating a 48% error reduction in shape forming capability. The presented approach is evaluated across three additional navigation scenarios, demonstrating potential as a design tool for soft magnetic medical robots.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. 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. |
Keywords: | Steerable Catheters/Needles; Soft Material Robotics; Image-Guided Intervention |
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) |
Funding Information: | Funder Grant number Royal Society wm150122 EPSRC (Engineering and Physical Sciences Research Council) EP/R045291/1 EU - European Union 818045 |
Depositing User: | Symplectic Publications |
Date Deposited: | 27 Nov 2020 16:01 |
Last Modified: | 17 Oct 2023 14:45 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ISMR48331.2020.9312943 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:168453 |