用单个外部磁铁精准控制体内磁体，实现胃镜检查的无创导航。
Trajectory Planning and Control for Robotic Magnetic Manipulation
- 基于约束迭代线性二次调节器，融合体内磁体动力学与外部磁铁可操作性。
- 实验中体内磁体定位误差最大均值0.18厘米，标准差0.21厘米。
- 适用于需避让敏感组织的复杂路径规划，适合医疗机器人场景。
机器人磁操控为胃肠道检查中的胶囊内镜提供了一种微创方式。然而，使用外部永磁体（EPM）控制时，由于磁力非线性交互，尤其在需要避开敏感组织等复杂导航任务下，控制难度较大。本文提出一种融合动力学与导航需求的新轨迹规划与控制方法，采用固定于机械臂上的单个EPM操控内部永磁体（IPM）。方法基于考虑IPM动力学的约束迭代线性二次调节器，生成EPM与IPM的最优轨迹。大量仿真与真实实验表明，该方法对扰动具有鲁棒性，且在不同条件下仍能实现精确控制。实验结果显示，IPM到达目标位置的最大平均误差为0.18厘米，标准差为0.21厘米。本工作建立了磁操控中带约束轨迹优化的统一框架，直接整合了IPM动力学与EPM可操作性。
原文摘要 · Abstract (English)
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic interactions, especially when there are complex navigation requirements such as avoidance of sensitive tissues. In this work, we present a novel trajectory planning and control method incorporating dynamics and navigation requirements, using a single EPM fixed to a robotic arm to manipulate an internal permanent magnet (IPM). Our approach employs a constrained iterative linear quadratic regulator that considers the dynamics of the IPM to generate optimal trajectories for both the EPM and IPM. Extensive simulations and real-world experiments, motivated by capsule endoscopy operations, demonstrate the robustness of the method, showcasing resilience to external disturbances and precise control under varying conditions. The experimental results show that the IPM reaches the goal position with a maximum mean error of 0.18 cm and a standard deviation of 0.21 cm. This work introduces a unified framework for constrained trajectory optimization in magnetic manipulation, directly incorporating both the IPM's dynamics and the EPM's manipulability.
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