Loading...

Development of a Control System with Capability of Generating Magnetic Field to Steer a Flexible Tool

Zahedi Bidgoli, Mohammad Hossein | 2024

0 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57155 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat Pishkenari, Hossein; Taheri, Alireza
  7. Abstract:
  8. Nowadays, continuum robots have found many applications in the field of medicine, especially in minimally invasive treatments, due to their relative advantages over rigid robots. These advantages include more degrees of freedom, the ability to manufacture on micro and nano scales, and so on. Following the widespread popularity of these robots in various surgeries, including brain, cardiovascular, pulmonary, etc., the importance of their precise steering and control within the human body has also been identified. One of the methods for achieving this precision is through the use of a magnetic field to actuate these robots. This approach not only ensures safety for the human body but also enables remote actuation without direct contact. The purpose of this research is to design a control system to actuate and control a flexible magnetic tool using a permanent magnet. To achieve this objective, a four-degree-of-freedom (DOF) system was designed and built in the Micro-Nano Robotics Laboratory. This system includes two permanent magnets capable of rotating independently, along with translational movement in the direction of the robot. Additionally, a feeder was installed to adjust the free length of the flexible robot. The designed system enables two-dimensional control of the robot within a single plane. In the following, two examples of model-based controllers were practically implemented on the mentioned system, and various desirable inputs, including the movement of the distal end of the robot in trajectories with different speeds, were provided to the control loop. These controllers utilize a multilayer perceptron neural network as the inverse model of the robot. During practical tests with the implementation of the closed-loop control system, the distal end of the continuum robot was able to traverse a triangular trajectory with an average speed of 1.41 mm/s and an RMSE value of 0.67 mm
  9. Keywords:
  10. Magnetic Continuum Robot ; Multi-Layer Perceptron (MLP) ; Magnetic Robots ; Magnetic Robot Two Dimensional Control ; Magnetic Field Generation System with Permanent Magnet ; Flexible Tools

 Digital Object List

 Bookmark

No TOC