Modeling and control of local electromagnetic actuation for robotic-assisted surgical devices

Abstract

This paper proposes an electromagnetic-based local magnetic actuation (LMA) as a novel actuation system for cases where it is required to actuate a mechanical system across a physical barrier. The main motivation for LMA is in the area of minimally invasive robotic surgery, where it is desired to actuate the surgical manipulators across the abdominal wall. In the local electromagnetic actuation approach, it is proposed that the magnetic field is produced by a pair of electromagnetic stators, acting across a physical barrier (the abdominal wall), and interacts with the magnetic field of the permanent magnet rotor on the other side of the barrier. The mathematical model of the electromechanica..