Conference Proceedings

Magnetic Interactions of Neighbouring Stator Sets in Multi DOF Local Electromagnetic Actuation for Robotic Abdominal Surgery

F Leong, A Mohammadi, Y Tan, D Thiruchelvam, P Valdastri, D Oetomo, A Bicchi (ed.), A Okamura (ed.)

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | IEEE | Published : 2017

Abstract

This paper aims to characterise the magnetic interaction in neighbouring sets of local electromagnetic actuation (LEMA) actuators in a robotic platform for abdominal surgery. The analysis looks into the affect of the magnetic fields contributed by a stator-rotor set (the actuation unit) located adjacent to the rotor of interest. Each rotor drives one of the degree-of-freedoms (DOFs) on a surgical robotic device. In this study, a two-DOF setup is used for the magnetic interaction analysis, which can be expanded to general case n-DOF setup with the Principle of Superposition of magnetic fields from multiple sources. The magnetic model is then used to compute the dynamics of the system, which i..

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