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Design of Fuzzy controller for position control of a magnetic catheter in uniform magnetic fields

Bidgoli, M.Z ; Sharif University of Technology | 2023

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM60803.2023.10412476
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2023
  4. Abstract:
  5. Magnetic catheters have gained popularity as a safer and more precise alternative to manually guided catheters, reducing X-ray exposure for medical professionals. However, achieving precise control of the catheter's tip remains a topic of debate. In this paper, we introduce a fuzzy controller designed to control the position of the magnetic catheter's tip with high accuracy in a controlled environment with a uniform magnetic field and a feeder mechanism, providing a 3DOF setup. We implemented the fuzzy controller using a dynamic Cosserat model of the magnetic catheter and conducted simulations to assess its performance. To evaluate the closed-loop system, two trajectory paths, one following a cubic pattern and the other a helical pattern, were provided as desired inputs to the closed-loop system using the proposed controller. Additionally, Gaussian-distributed noise was added to the feedback loop of the system. The Root Mean Square Error (RMSE) values for a catheter with a variable free length ranging from 3 to 5 cm for these two input trajectories were 0.96 mm and 0.86 mm, respectively. The simulation results indicated that the presented control system has the capability to accurately track various trajectories with high precision. © 2023 IEEE
  6. Keywords:
  7. Continuum robot ; Cosserat rod theory ; Fuzzy controller ; Magnetic actuation ; Magnetic catheter
  8. Source: 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023 ; 2023 , Pages 390-395 ; 979-835030810-5 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/10412476