Abstract
Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose estimation, these have been either under single external permanent magnet actuation or coil systems. With the advent of new magnetic actuation systems comprised of multiple external permanent magnets for increased control and manipulability, new localization techniques are necessary to account for and leverage the additional magnetic field sources. In this letter, we introduce a novel magnetic localization technique in the Special Euclidean Group SE(3) for multiple external permanent magnetic field actuation and control systems. The method relies on a milli-meter scale three-dimensional accelerometer and a three-dimensional magnetic field sensor and is able to estimate the full 6 degree-of-freedom pose without any prior pose information. We demonstrated the localization system with two external permanent magnets and achieved localization errors of 8.5 ? 2.4 mm in position norm and 3.7 ? 3.6? in orientation, across a cubic workspace with 20 cm length.
Abstract (translated)
磁性驱动的医疗机器人的精确定位对于准确的动作控制和功能交付至关重要。尽管在利用磁场和惯性测量单元进行姿态估计方面已经取得了广泛的进展,但这些通常都基于单个外部永久磁铁或线圈系统。随着新磁驱动系统由多个外部永久磁铁组成的出现,为了增加控制和操纵能力而采用新的定位技术是必要的。在本信中,我们介绍了一种名为SE(3)特别欧几里得组的新磁定位技术,用于多个外部永久磁铁的运动控制和控制系统。该方法依赖于毫米级别的三维加速度计和三维磁场传感器,能够在没有预先的姿态信息的情况下估计完整的六自由度姿态。我们使用两个外部永久磁铁进行了定位演示,并在一个长度为20厘米的立方工作空间中实现了定位误差,其中位置误差为8.5?2.4毫米,方向误差为3.7?3.6?。
URL
https://arxiv.org/abs/2303.11059
