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Trajectory Planning and Control for Robotic Manipulation of Magnetic Capsules

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Titel: Trajectory Planning and Control for Robotic Manipulation of Magnetic Capsules
Autoren: Ogulcan Isitman, Gokhan Alcan, Ville Kyrki
Weitere Verfasser: Department of Electrical Engineering and Automation, Intelligent Robotics, Aalto-yliopisto, Aalto University
Quelle: IEEE Robotics and Automation Letters. 10:4666-4673
Verlagsinformationen: Institute of Electrical and Electronics Engineers (IEEE), 2025.
Publikationsjahr: 2025
Schlagwörter: Medical Robots and Systems, Manipulation Planning, Optimization and Optimal Control
Beschreibung: Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic interactions, especially when there are complex navigation requirements such as avoidance of sensitive tissues. In this work, we present a novel trajectory planning and control method incorporating dynamics and navigation requirements, using a single EPM fixed to a robotic arm to manipulate an internal permanent magnet (IPM). Our approach employs a constrained iterative linear quadratic regulator that considers the dynamics of the IPM to generate optimal trajectories for both the EPM and IPM. Extensive simulations and real-world experiments, motivated by capsule endoscopy operations, demonstrate the robustness of the method, showcasing resilience to external disturbances and precise control under varying conditions. The experimental results show that the IPM reaches the goal position with a maximum mean error of 0.18 cm and a standard deviation of 0.21 cm. This work introduces a unified framework for constrained trajectory optimization in magnetic manipulation, directly incorporating both the IPM's dynamics and the EPM's manipulability.
Publikationsart: Article
Dateibeschreibung: application/pdf
ISSN: 2377-3774
DOI: 10.1109/lra.2025.3554432
Zugangs-URL: https://aaltodoc.aalto.fi/handle/123456789/134977
Rights: CC BY
Dokumentencode: edsair.doi.dedup.....8d4b7f1623ad8c764dc54aaa7ad17eda
Datenbank: OpenAIRE
Beschreibung
Abstract:Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic interactions, especially when there are complex navigation requirements such as avoidance of sensitive tissues. In this work, we present a novel trajectory planning and control method incorporating dynamics and navigation requirements, using a single EPM fixed to a robotic arm to manipulate an internal permanent magnet (IPM). Our approach employs a constrained iterative linear quadratic regulator that considers the dynamics of the IPM to generate optimal trajectories for both the EPM and IPM. Extensive simulations and real-world experiments, motivated by capsule endoscopy operations, demonstrate the robustness of the method, showcasing resilience to external disturbances and precise control under varying conditions. The experimental results show that the IPM reaches the goal position with a maximum mean error of 0.18 cm and a standard deviation of 0.21 cm. This work introduces a unified framework for constrained trajectory optimization in magnetic manipulation, directly incorporating both the IPM's dynamics and the EPM's manipulability.
ISSN:23773774
DOI:10.1109/lra.2025.3554432