Da Veiga, T orcid.org/0000-0002-4286-4590, Pittiglio, G orcid.org/0000-0002-0714-5267, Brockdorff, M et al. (2 more authors) (2023) Six-degree-of-freedom Localization Under Multiple Permanent Magnet Actuation. IEEE Robotics and Automation Letters, 8 (6). pp. 3422-3429. ISSN 2377-3766
Abstract
Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose estimation, these have been either under single external permanent magnet actuation or coil systems. With the advent of new magnetic actuation systems comprised of multiple external permanent magnets for increased control and manipulability, new localization techniques are necessary to account for and leverage the additional magnetic field sources. In this letter, we introduce a novel magnetic localization technique in the Special Euclidean Group SE(3) for multiple external permanent magnetic field actuation and control systems. The method relies on a milli-meter scale three-dimensional accelerometer and a three-dimensional magnetic field sensor and is able to estimate the full 6 ∘ -of-freedom pose without any prior pose information. We demonstrated the localization system with two external permanent magnets and achieved localization errors of 8.5 ± 2.4 mm in position norm and 3.7 ± 3.6 ∘ in orientation, across a cubic workspace with 20 cm length.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This item is protected by copyright. This is an author produced version of an article accepted for publication in IEEE Robotics and Automation Letters, made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Medical robots and systems; localization; magnetic actuation; state estimation; Kalman filter |
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 EPSRC (Engineering and Physical Sciences Research Council) EP/V009818/1 EU - European Union 818045 EPSRC (Engineering and Physical Sciences Research Council) EP/R045291/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 14 Apr 2023 14:33 |
Last Modified: | 10 May 2023 14:59 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2023.3268588 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:198193 |