The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Magnetic control of continuum devices
Abstract
In this paper we apply Cosserat rod theory to catheters with permanent magnetic components that are subject to spatially varying magnetic fields. The resulting model formulation captures the magnetically coupled catheter behavior and provides numerical solutions for rod equilibrium configurations in real-time. The model is general, covering cases with different catheter geometries, multiple magnetic components, and various boundary constraints. The necessary Jacobians for quasi-static, closed-loop control using an electromagnetic coil system and a motorized advancer are derived and incorporated into a visual-feedback controller. We address the issue of solution bifurcations caused by the magnetic field by proposing an additional, stabilizing control method that makes use of system redundancies. We demonstrate the effectiveness of the model by performing 3D tip-position trajectories with root-mean-square distance errors of 2.7 mm in open-loop, 0.30 mm in closed-loop, and 0.42 mm in stabilizing closed-loop modes. The stabilizing controller achieved on average a factor of 1.6 increase in the restoring wrenches for the least stable direction.
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Citations
Cites
Calkins, H., Reynolds, M. R., Spector, P., Sondhi, M., Xu, Y., Martin, A., Williams, C. J., & Sledge, I. (2009) · Circulation Arrhythmia and Electrophysiology · doi:10.1161/circep.108.824789 · Cited by 847 · cited 1×
“AF can be treated with antiarrhythmic drugs or cardiac ablation, with a combined treatment plan showing the best results (Calkins et al., 2009).”
Background
Cited by
Ferromagnetic soft continuum robots
Kim, Y., Parada, G. A., Liu, S., & Zhao, X. (2019) · Science Robotics · doi:10.1126/scirobotics.aax7329 · Cited by 1,312
Soft Materials by Design: Unconventional Polymer Networks Give Extreme Properties
Zhao, X., Chen, X., Yuk, H., Lin, S., Liu, X., & Parada, G. (2021) · Chemical Reviews · doi:10.1021/acs.chemrev.0c01088 · Cited by 1,161
Magnetic Soft Materials and Robots
Kim, Y., & Zhao, X. (2022) · Chemical Reviews · doi:10.1021/acs.chemrev.1c00481 · Cited by 873
Zhang, M., Yang, L., Yang, H., Su, L., Xue, J., Wang, Q., Hao, B., Jiang, Y., Chan, K. F., Sung, J. J. Y., et al. (2025) · Science Advances · doi:10.1126/sciadv.adv1682 · Cited by 36
Metadata
- Authors
- Edelmann, J., Petruska, A. J., & Nelson, B. J.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2017-01
- Volume
- 36
- Issue
- 1
- Pages
- 68-85
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2575426328
- Cited by
- 194
- References
- 1
- FWCI
- 5.35
- Type
- journal article
- Language
- en
- Open access
- closed
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- Edelmann, J., Petruska, A. J., & Nelson, B. J. (2017). Magnetic control of continuum devices. The International Journal of Robotics Research. https://doi.org/10.1177/0278364916683443
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
