Scheggi Stefano, Chandrasekar Krishna Kumar T, Yoon ChangKyu, Sawaryn Ben, van de Steeg Gert, Gracias David H, Misra Sarthak
Surgical Robotics Laboratory, Department of Biomechanical Engineering, MIRA - Institute for Biomedical Technology and Technical Medicine, University of Twente, 7522 NB, The Netherlands.
Department of Materials Science and Engineering, The Johns Hopkins University, MD 21218, USA.
IEEE Int Conf Robot Autom. 2017 May-Jun;2017:6156-6161. doi: 10.1109/ICRA.2017.7989730. Epub 2017 Jul 24.
Soft miniaturized untethered grippers can be used to manipulate and transport biological material in unstructured and tortuous environments. Previous studies on control of soft miniaturized grippers employed cameras and optical images as a feedback modality. However, the use of cameras might be unsuitable for localizing miniaturized agents that navigate within the human body. In this paper, we demonstrate the wireless magnetic motion control and planning of soft untethered grippers using feedback extracted from B-mode ultrasound images. Results show that our system employing ultrasound images can be used to control the miniaturized grippers with an average tracking error of 0.4±0.13 mm without payload and 0.36±0.05 mm when the agent performs a transportation task with a payload. The proposed ultrasound feedback magnetic control system demonstrates the ability to control miniaturized grippers in situations where visual feedback cannot be provided via cameras.
柔软的微型无系绳夹具可用于在非结构化和曲折的环境中操纵和运输生物材料。先前关于软微型夹具控制的研究采用相机和光学图像作为反馈方式。然而，相机的使用可能不适用于定位在人体内导航的微型智能体。在本文中，我们展示了利用从B超图像中提取的反馈对软无系绳夹具进行无线磁运动控制和规划。结果表明，我们的超声图像系统可用于控制微型夹具，在无负载时平均跟踪误差为0.4±0.13毫米，当智能体执行带负载的运输任务时平均跟踪误差为0.36±0.05毫米。所提出的超声反馈磁控制系统展示了在无法通过相机提供视觉反馈的情况下控制微型夹具的能力。
