Image-based feedback control of a magnetic catheter to enhance the path-following capability of the position and orientation at its distal part
- Title
- Image-based feedback control of a magnetic catheter to enhance the path-following capability of the position and orientation at its distal part
- Author
- 장건희
- Issue Date
- 2019-12
- Publisher
- AMER INST PHYSICS
- Citation
- AIP ADVANCES, v. 9, no. 12, article no. 125127
- Abstract
- We have proposed a novel image-based feedback control method to enhance the path-following capability for position and orientation of a magnetic catheter at its distal part. The proposed control method uses only a navigation status of the magnetic catheter for manipulation without utilizing complex analytical models. By comparing the positions of two markers of the magnetic catheter relative to a predefined path, we classify the navigation status of the magnetic catheter into four cases and determine the external magnetic field and feeding velocity according to a proposed control algorithm. Finally, we conduct a path-following experiment in an environment with multiple branches to verify the improved position and minimization of the orientation error regarding the path-following capability of the proposed control method. (C) 2019 Author(s).
- URI
- https://aip.scitation.org/doi/10.1063/1.5129309https://repository.hanyang.ac.kr/handle/20.500.11754/156880
- ISSN
- 2158-3226
- DOI
- 10.1063/1.5129309
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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