电磁微型导丝在大工作空间中的控制
Electromagnetic Micro-Guidewire Control in Large Workspaces
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中文总结 AI 辅助
本研究提出结合实时位姿反馈与优化控制的电磁导航方法，在55厘米距离内实现微型导丝高精度转向，显著降低电流需求，推动临床适用性。
中文摘要 AI 辅助
电磁导航由于磁场体积和线圈电流有限，需要在临床相关距离处提供足够的驱动力。我们将实时位姿反馈与约束凸优化、动态反馈和重复控制相结合，在逼真的解剖模型中实现节能的微型导丝转向。实验采用临床导向的三线圈电磁导航系统和直径0.6毫米的尖端磁体，在距线圈罩最远55厘米的距离处，角度跟踪的均方根误差低于0.25度。零空间电流重新分配在主动45安培线圈电流约束下保持了精确跟踪。与传统场对齐相比，我们证明了基于位姿的力矩分配显著降低了电流需求，并且在15赫兹的位姿反馈速率下保持了这一效率优势。这些结果展示了实时状态信息和优化如何将电磁导丝控制扩展到临床相关的工作距离。
英文摘要
Electromagnetic navigation requires sufficient actuation at clinically relevant distances due to limited magnetic volumes and coil currents. We combine real-time pose feedback with constrained convex optimization, dynamic feedback, and repetitive control to achieve energy-efficient micro-guidewire steering inside realistic anatomical models. Experiments with a clinically oriented, three-coil electromagnetic navigation system and a 0.6 mm-diameter tip magnet demonstrate angular tracking with root-mean-square errors below 0.25 degrees at distances up to 55 cm from the coil cover. Nullspace current redistribution maintains accurate tracking under active 45 A coil-current constraints. Compared with conventional field alignment, we demonstrate that pose-dependent torque-based allocation substantially reduces current demand, with the efficiency benefit retained at a pose-feedback rate of 15 Hz. These results demonstrate how real-time state information and optimization can extend electromagnetic guidewire control toward clinically relevant working distances.
发表机构
- Multi-Scale Robotics Lab, ETH Zurich（苏黎世联邦理工学院多尺度机器人实验室）
- Medical Robotics Lab, ETH Zurich（苏黎世联邦理工学院医疗机器人实验室）
- Learning and Dynamical Systems Group, Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所学习与动力系统组）
机构由 AI 辅助整理，请以论文原文为准。
