Robotics (Jan 2023)

Observed Control of Magnetic Continuum Devices

  • Richard L. Pratt,
  • Brooke E. Suesser,
  • Andrew J. Petruska

DOI
https://doi.org/10.3390/robotics12010011
Journal volume & issue
Vol. 12, no. 1
p. 11

Abstract

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This paper models an extensible catheter with an embedded magnet at its distal tip subject to an external magnetic field. We implement a control method coined observed control to perform model-based predictive control of the catheter using a Kalman smoother framework. Using this same smoother framework, we also solve for catheter shape and orientation given magnetic and insertion control using Cosserat rod theory and implement a disturbance observer for closed-loop control. We demonstrate observed control experimentally by traversing a 3D cube trajectory with the catheter tip. The catheter achieved positional accuracy of 3.3 mm average error in open-loop, while closed-loop control improved the accuracy to 0.33 mm.

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