Relevant Publication

• S. Raval, L. Mair, W. Pryor, O. Erin, T. Schwehr, J. Budaraju, A. Krieger, Y. Diaz-Mercado, “Time-Scale Separation Analysis for Surgical Needle Control in Electromagnetic Robotic Systems”, in IFAC-PapersOnLine, Vol. 56, Issue 3, Pages 307-312, Modeling, Estimation and Control Conference (MECC), 2023. [Paper]

Summary

While developing model-based controllers for magnetic robotic systems, it is often assumed that the magnetic tool orientation is aligned with the resultant external magnetic field direction. Although this has enabled the use of open-loop control techniques for orientation control, this assumption might be highly inaccurate for a system with certain parameters. This work primarily focuses on the use of theory of time-scale separation to help ascertain whether the orientation alignment assumption is valid for a given set of parameters for more accurate control design and accurate implementation of surgical tasks using magnetic needles in clinical settings.

Bifurcations in trajectories for different lengths of tool for the same control input