Remote Control of Untethered Magnetic Robots within a Lumen using X-Ray-Guided Robotic Platform

Leendert-Jan W. Ligtenberg, Nicole C. A. Rabou, Sander Peters, Trishal Vengetela, Vincent Schut, Herman Remco Liefers, Michiel C. Warlé, Islam S.M. Khalil

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Until now, the potential of untethered magnetic
robots (UMRs), propelled by external time-periodic magnetic
fields, has been hindered by the limitations of wireless manipulation systems or noninvasive imaging techniques combined. The need for simultaneous actuation and noninvasive localization imposes a strict constraint on both functionalities. This study addresses this challenge by substantiating the feasibility through experimental validation, showcasing the direct teleoperation of UMRs within a fluid-filled lumen. This teleoperation capability is facilitated by a scalable X-ray-guided robotic platform, extendable to match the dimensions required for in vivo applications, marking a noteworthy advancement. Our
methodology is demonstrated by teleoperating a 12-mm-long
screw-shaped UMR (5 mm in diameter) within a bifurcated
lumen, filled with blood. This navigation is achieved using
controlled rotating magnetic fields, guided by real-time Xray
Fluoroscopy images. Incorporating a two-degree-of-freedom
control system, we demonstrate the operator’s capability to use
X-ray Fluoroscopy images to keep the UMR coupled with the
external field during wireless teleoperations, resulting in a success rate of 76.6% when moving along the intended pathways,
with a mean absolute position error of 1.6 ± 2.1 mm.
Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation (ICRA 2024)
Publication statusPublished - 13 May 2024


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