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, H. Remco Liefers, Michiel Warlé, Islam S.M. Khalil

*Corresponding author for this work

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

1 Citation (Scopus)
29 Downloads (Pure)

Abstract

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 X-ray 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
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages17763-17769
Number of pages7
ISBN (Electronic)979-8-3503-8457-4
ISBN (Print)979-8-3503-8458-1
DOIs
Publication statusPublished - 2024
Event2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan
Duration: 13 May 202417 May 2024

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Volume2024
ISSN (Print)1050-4729

Conference

Conference2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Country/TerritoryJapan
CityYokohama
Period13/05/2417/05/24

Fingerprint

Dive into the research topics of 'Remote Control of Untethered Magnetic Robots within a Lumen using X-Ray-Guided Robotic Platform'. Together they form a unique fingerprint.

Cite this