Paper Info
Title
Motion Planning For Multiple Millimeter-Scale Magnetic Capsules In A Fluid Environment
Abstract
There are many examples of minimally invasive surgery in which tethered robots are incapable of accurately reaching target locations deep inside the body either because they are too large and result in tissue damage or because the tortuosity of the path leads to loss of tip control. In these situations, small untethered magnetically-powered robots may hold the potential to act as delivery vehicles for therapeutic agents. While MRI scanners provide a means to power, control and image such robots as they move throughout the body, a substantial challenge arises if the clinical application requires more than one such robot. The resulting system is underactuated and thus its controllability is in question. This paper presents a simple motion planning algorithm for two magnetic capsules and demonstrates through simulation and experiment that nonlinear fluid damping can be exploited to independently control the positions of the capsules.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6225330
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Keywords
Field
DocType
saturation magnetization,damping,path planning,controllability,planning,motion planning,surgery,robots,fluid dynamics,power control,fluids,mobile robots,magnetic resonance image,magnetic resonance imaging
Motion planning,Nonlinear system,Controllability,Control theory,Tortuosity,Control engineering,Fluid dynamics,Engineering,Robot,Underactuation,Mobile robot
Conference
Volume
Issue
ISSN
2012
1
1050-4729
Citations 
PageRank 
References 
16
0.99
6
Authors
3
Name
Order
Citations
PageRank
Panagiotis Vartholomeos1333.71
M. Reza Akhavan-Sharif2160.99
Pierre E Dupont31399187.89