Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications

Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, cur...

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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 33; no. 1; pp. 227 - 233
Main Authors: Kratchman, Louis B., Bruns, Trevor L., Abbott, Jake J., Webster, Robert J.
Format: Journal Article
Language:English
Published: United States IEEE 01.02.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Catheter
Catheters
Insulators
magnetic guidance
Magnetic resonance imaging
Magnetoelasticity
minimally invasive surgery
Permanent magnets
Redundancy
redundant robots
Robots
Rods
Steering
Torque
Trajectories
Trajectory
Catheter
magnetic guidance
minimally invasive surgery
redundant robots
ISSN:1552-3098, 1941-0468
Online Access:Get full text
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Description
Summary:Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, current magnetic rod steering systems are large and expensive. Here, we describe a method to guide a rod using a robot-manipulated magnet located near a patient. We solve for rod deflections by combining permanent-magnet models with a Kirchhoff elastic rod model and use a resolved-rate approach to compute trajectories. Experiments show that three-dimensional trajectories can be executed accurately without feedback and that the system's redundancy can be exploited to avoid obstacles.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2016.2623339