Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications.
Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications.
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DOI：
10.1109/tro.2016.2623339
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发表时间：
2017-03
期刊：
影响因子：
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通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
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作者：
Kratchman LB;Bruns TL;Abbott JJ;Webster RJ 3rd
磁性尖端的弹性杆可以通过外部磁场进行操纵以执行手术任务。这种杆可用于一系列新的医疗应用，因为它们不需要拉线或其他在小解剖区域中有问题的笨重机构。然而，当前的磁棒转向系统是大的且昂贵的。在这里，我们描述了一种方法来引导杆使用机器人操纵的磁铁位于患者附近。我们解决杆偏转相结合的永久磁铁模型与基尔霍夫弹性杆模型，并使用一个解决率的方法来计算轨迹。实验表明，三维轨迹可以准确地执行没有反馈，系统的冗余可以利用，以避免障碍物。
Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, current magnetic rod steering systems are large and expensive. Here, we describe a method to guide a rod using a robot-manipulated magnet located near a patient. We solve for rod deflections by combining permanent-magnet models with a Kirchhoff elastic rod model and use a resolved-rate approach to compute trajectories. Experiments show that three-dimensional trajectories can be executed accurately without feedback and that the system’s redundancy can be exploited to avoid obstacles.