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Intelligent position control of magnetically actuated catheter equipped with external permanent magnet

Sinaki, M. G ; Sharif University of Technology | 2023

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM60803.2023.10412583
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2023
  4. Abstract:
  5. The precise manipulation of the magnetic catheters is of great importance for different applications, ensuring efficacy while minimizing potential complications. This research delves into the position control of a magnetically actuated catheter guided with an external permanent magnet. Due to the complexity of governing equations describing the system's behavior, a neural network approach was deemed suitable for modeling. Using a five degrees of freedom manipulator carrying an external permanent magnet as a payload, data was gathered from real-world positionings, tracking the coordination of the magnetic catheter's end point. These data points served to train the neural network, subsequently allowing for an effective simulation of the system's complex response, The proposed model's accuracy was validated, revealing a Total Percent Error of 0.973%, underscoring the neural network model's high precision in simulating real system behavior. In controlling the simulated plant, two methods were assessed: A traditional PID controller and an adaptive neural network controller. Comparative analysis revealed the adaptive neural network controller's superiority in accuracy and responsiveness. The adaptive neural network controller outperformed the PID with a 0% steadystate error compared to 7%, reduced overshoot to 20% from 150%, and had faster rise and settling times of under 5 seconds and 4.5 seconds, respectively. Furthermore, when system is subjected to eight Gaussian disturbances, the adaptive controller maintained its commendable performance, underscoring its potential for successful practical applications. This study demonstrates the efficacy of intelligent controllers in the realm of magnetic catheter positioning and the advantages of neural network modeling for intricate biomedical systems. © 2023 IEEE
  6. Keywords:
  7. Continuum robot ; Intelligent controller ; Magnetic catheter ; Neural network modeling ; Position control
  8. Source: 11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023 ; 2023 , Pages 84-90 ; 979-835030810-5 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/10412583