Flexible Instruments for Endovascular Interventions: Improved Magnetic Steering, Actuation, and Image-Guided Surgical Instruments

Heunis, Christoff M.; Sikorski, J.; Misra, Sarthak

doi:10.1109/mra.2017.2787784

Cited by 92 publications

(81 citation statements)

References 83 publications

(110 reference statements)

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“…Finally, using the definitions of adjoint and coadjoint actions, and cotangent lift of left translation which are presented in Appendix 6, Eqs 7and 9yields Eqs (10)- (12) and 14- (16) to update rotations and positions of each node.…”

Section: Plos Onementioning

confidence: 99%

“…In addition, Dp a i j t¼t j ¼ p jþ1 a i À p j a i . For discrete Euler-Lagrange equations for rotations, Eqs (10)- (12), one has to solve an implicit expression of the form…”

Section: Discrete Euler-lagrange Equations For Rotationsmentioning

confidence: 99%

“…There are numerous candidate actuation mechanisms for continuum manipulators such as tendon-drives and concentric tubes [8][9][10][11]. Compared to other actuation mechanisms, magnetic actuation benefits from high dexterity, versatility, and wireless actuation [12][13][14][15]. By applying remote magnetic torques on permanent magnets or coils which are embedded inside the body of a manipulator and/or at its tip, one can control the motion and configuration of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling of soft continuum manipulators using lie group variational integration

et al. 2020

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This paper presents the derivation and experimental validation of algorithms for modeling and estimation of soft continuum manipulators using Lie group variational integration. Existing approaches are generally limited to static and quasi-static analyses, and are not sufficiently validated for dynamic motion. However, in several applications, models need to consider the dynamical behavior of the continuum manipulators. The proposed modeling and estimation formulation is obtained from a discrete variational principle, and therefore grants outstanding conservation properties to the continuum mechanical model. The main contribution of this article is the experimental validation of the dynamic model of soft continuum manipulators, including external torques and forces (e.g., generated by magnetic fields, friction, and the gravity), by carrying out different experiments with metal rods and polymerbased soft rods. To consider dissipative forces in the validation process, distributed estimation filters are proposed. The experimental and numerical tests also illustrate the algorithm's performance on a magnetically-actuated soft continuum manipulator. The model demonstrates good agreement with dynamic experiments in estimating the tip position of a Polydimethylsiloxane (PDMS) rod. The experimental results show an average absolute error and maximum error in tip position estimation of 0.13 mm and 0.58 mm, respectively, for a manipulator length of 60.55 mm.

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Section: Plos Onementioning

confidence: 99%

“…In addition, Dp a i j t¼t j ¼ p jþ1 a i À p j a i . For discrete Euler-Lagrange equations for rotations, Eqs (10)- (12), one has to solve an implicit expression of the form…”

Section: Discrete Euler-lagrange Equations For Rotationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling of soft continuum manipulators using lie group variational integration

et al. 2020

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“…Among these, magnetic actuation is one of the preferred strategies because it is transparent and relatively safe to biological tissues and it has good controllability . Even for robots in millimeter scales, motivated by the simultaneous pursuit of good maneuverability and minimal invasion, the contradiction between active modality and small size always exists for the onboard design, and using offboard magnetic actuation has become a feasible solution . Therefore, magnetic miniature robots have been widely developed …”

Section: Introductionmentioning

confidence: 99%

Magnetic Actuation Systems for Miniature Robots: A Review

Yang

Zhang

2020

Advanced Intelligent Systems

227

122

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A magnetic field, which is transparent and relatively safe to biological tissue, is a powerful tool for remote actuation and wireless control of magnetic devices. Furthermore, miniature robots can access complex and narrow regions of the human body as well as manipulate down to subcellular entities; however, integrating onboard components is difficult due to their limited size. Combining these two technologies, magnetic miniature robots have undergone rapid development during the past two decades, mainly because of their high potential in medical and bioengineering applications. To improve the scientific and clinical outcomes of these tiny agents, developing suitable and reliable actuation systems is essential. As a newly emerging field that has progressed in recent years, magnetic actuation systems offer a harmless and effective approach for the remote control of miniature robots via a dynamic magnetic field. Herein, a review on the state‐of‐the‐art magnetic actuation systems for miniature robots is presented with the goal of providing readers with a better understanding of magnetic actuation and guidance for future system design.

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“…These limitations may be mitigated with the use of soft robotic manipulators which are primarily fabricated from elastomeric materials and actuated through a wide range of methods as detailed in [3]. Common methods of actuation are fluid driven [4], tendon driven [5], shape memory alloy [6], electroactive polymer [7] and magnetic [8] systems. For the non-magnetic 'onboard' actuated systems a fundamental trade-off will always exist between dexterity and miniaturisation potential; for each additional degree of freedom (DoF) controlled within the manipulator, a further driveline (e.g.…”

Section: Introductionmentioning

confidence: 99%

A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots

Lloyd

Hoshiar

Veiga

et al. 2020

IEEE Robot. Autom. Lett.

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Flexible Instruments for Endovascular Interventions: Improved Magnetic Steering, Actuation, and Image-Guided Surgical Instruments

Cited by 92 publications

References 83 publications

Dynamic modeling of soft continuum manipulators using lie group variational integration

Dynamic modeling of soft continuum manipulators using lie group variational integration

Magnetic Actuation Systems for Miniature Robots: A Review

A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots

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