Hybrid trajectory planning of two permanent magnets for medical robotic applications
Michael Brockdorff,
Tomas da Veiga,
Joshua Davy
et al.
Abstract:Independent robotic manipulation of two large permanent magnets, in the form of the dual External Permanent Magnet (dEPM) system has demonstrated the possibility for enhanced magnetic control by allowing for actuation up to eight magnetic degrees of freedom (DOFs) at clinically relevant scales. This precise off-board control has facilitated the use of magnetic agents as medical devices, including catheter-like soft continuum robots (SCRs). The use of multiple robotically actuated permanent magnets poses the ri… Show more
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