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Design of a Control System Based on the Permanent Magnet for Control of a Magnetic Catheter

Hatami Pouya, Mohammad | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57071 (07)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat Pishkenari, Hossein
  7. Abstract:
  8. Currently, the use of robots and microrobots in medical applications has significantly increased due to their extensive and unique capabilities. One such application involves the utilization of magnetic continuum robots controlled by an external magnetic field in minimally invasive surgeries. This research focuses on discussing methods for effectively controlling magnetic-continuum robots and applying external magnetic fields. Two primary methods for applying the external magnetic field are explored: the use of electromagnetic coils and permanent magnets. Based on these methods, systems for applying the field and controlling the magnetic continuum robot have been constructed and commercialized. In this study, the design and construction of a magnetic field generation system using two permanent magnets and a total of four degrees of freedom are discussed. This system can control and guide the distal end position of the magnetic continuum robot in a two-dimensional workspace. Additionally, by expanding this system and adding another degree of freedom, the workspace can be extended to three dimensions. Next, a control algorithm based on a neural network and a PI controller is employed to control the distal end position of a magnetic continuum robot in a two-dimensional workspace. The mean square error for a rectangular trajectory has been reduced to 1.2 mm. Subsequently, an algorithm for guiding the continuum robot in the workspace using a joystick is presented. With this algorithm, users can guide the position of the distal end of the robot along a desired path. During a test, the user successfully guided the continuum robot
  9. Keywords:
  10. Magnetic Fields ; Minimally Invasive Procedures ; Permanent Magnet ; Micro Robotic ; Minimally Invasive Surgery ; Magnetic Continuum Robot

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