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ClosedLoop Magnetic Field
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+have+emerged+as+powerful+devices+in+endovascular+interventions+owing+to+their+hyperelastic+fibre+matrix+and+enhanced+magnetic+manipulability.+Effective+closed-loop+control+of+tethered+magnetic+devices+contributes+to+the+achievement+of+autonomous+vascular+robotic+surgery.+In+this+article%252C+we+employ+a+magnetic+actuation+system+equipped+with+a+single+rotatable+permanent+magnet+to+achieve+closed-loop+deflection+control+of+the+MSCR.+To+this+end%252C+we+establish+a+differential+kinematic+model+of+MSCRs+exposed+to+non-uniform+magnetic+fields.+The+relationship+between+the+existence+and+uniqueness+of+Jacobian+and+the+geometric+position+between+robots+is+deduced.+The+control+direction+induced+by+Jacobian+is+demonstrated+to+be+crucial+in+simulations.+Then%252C+the+corresponding+quasi-static+control+(QSC)+framework+integrates+a+linear+extended+state+observer+to+estimate+model+uncertainties.+Finally%252C+the+effectiveness+of+the+proposed+QSC+framework+is+validated+through+comparative+trajectory+tracking+experiments+with+the+PD+controller+under+external+disturbances.+Further+extensions+are+made+for+the+Jacobian+to+path-following+control+at+the+distal+end+position.+The+proposed+control+framework+prevents+the+actuator+from+reaching+the+joint+limit+and+achieves+fast+and+low+error-tracking+performance+without+overshooting.&cdnurl=https%3a%2f%2fth.bing.com%2fth%2fid%2fR.a130a8a0e12e8bb54a93875af2d7ba0a%3frik%3dJM%252f2qHxSQcAG3A%26pid%3dImgRaw%26r%3d0&exph=630&expw=1200&q=Closed+Loop+Magnetic+Field&FORM=IRPRST&ck=E09A694E7DB7D621EBFA691EAABF0444&selectedIndex=87&itb=0)
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