TY - GEN
T1 - Remote Control of Untethered Magnetic Robots within a Lumen using X-Ray-Guided Robotic Platform
AU - Ligtenberg, Leendert Jan W.
AU - Rabou, Nicole C.A.
AU - Peters, Sander
AU - Vengetela, Trishal
AU - Schut, Vincent
AU - Liefers, H. Remco
AU - Warlé, Michiel
AU - Khalil, Islam S.M.
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85202444143&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10611161
DO - 10.1109/ICRA57147.2024.10611161
M3 - Conference contribution
AN - SCOPUS:85202444143
SN - 979-8-3503-8458-1
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 17763
EP - 17769
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - IEEE
CY - Piscataway, NJ
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -