Closed loop control of local magnetic actuation for robotic surgical instruments

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Engineering

CLOSED-LOOP CONTROL OF LOCAL MAGNETIC ACTUATION
FOR ROBOTIC SURGICAL INSTRUMENTS
ABSTRACT
We propose local magnetic actuation (LMA) as an approach to robotic actuation for
surgical instruments. An LMA actuation unit consists of a pair of diametrically magnetized
singledipole cylindrical magnets, working as magnetic gears across the abdominalwall. In this
study,we developed a dynamic model for an LMA actuation unit by extending the theory
proposed for coaxial magnetic gears. The dynamic model was used for closed-loop control, and
two alternative strategies—using either the angular velocity at the motor or at the load as
feedback parameter—were compared. The amount of mechanical power that can be transferred
across the abdominal wall at different intermagnetic distances was error below 7.5% in
estimating the load torque from the system parameters. Both the strategies proposed for closed-
loop control were effective in regulating the load speed with a relative error below 2%of the
desired steady-state value. However, the load-side closed-loop control approach was more
precise and allowed the system to transmit larger values of torque, showing, at the same time,
less dependence from the angular velocity. In particular, an average value of 1.5 mN·m can be
transferred at 7 cm, increasing up to 13.5 mN·m as the separation distance is reduced down to 2
cm. Given the constraints in diameter and volume for a surgical instrument, the proposed
approach allows for transferring a larger amount of mechanical power than what would be
possible to achieve by embedding commercial dc motors.

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Closed loop control of local magnetic actuation for robotic surgical instruments

1. CLOSED-LOOP CONTROL OF LOCAL MAGNETIC ACTUATION FOR ROBOTIC SURGICAL INSTRUMENTS ABSTRACT We propose local magnetic actuation (LMA) as an approach to robotic actuation for surgical instruments. An LMA actuation unit consists of a pair of diametrically magnetized singledipole cylindrical magnets, working as magnetic gears across the abdominalwall. In this study,we developed a dynamic model for an LMA actuation unit by extending the theory proposed for coaxial magnetic gears. The dynamic model was used for closed-loop control, and two alternative strategies—using either the angular velocity at the motor or at the load as feedback parameter—were compared. The amount of mechanical power that can be transferred across the abdominal wall at different intermagnetic distances was error below 7.5% in estimating the load torque from the system parameters. Both the strategies proposed for closed- loop control were effective in regulating the load speed with a relative error below 2%of the desired steady-state value. However, the load-side closed-loop control approach was more precise and allowed the system to transmit larger values of torque, showing, at the same time, less dependence from the angular velocity. In particular, an average value of 1.5 mN·m can be transferred at 7 cm, increasing up to 13.5 mN·m as the separation distance is reduced down to 2 cm. Given the constraints in diameter and volume for a surgical instrument, the proposed approach allows for transferring a larger amount of mechanical power than what would be possible to achieve by embedding commercial dc motors.

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