Robustness evaluation of internal model principle-based controller in a magnetically actuated surgical system

Abstract

The local magnetic actuation (LMA) surgical method has gained popularity among medical practitioners and researchers in the field of abdominal surgery. The procedure requires the use of magnets on both sides of the abdominal cavity to anchor devices onto abdominal wall while magnetic sources on the external side generate actuation signals to drive robotic manipulators inside the cavity. Due to the transmission of magnetic fields across the abdominal wall and the interactions among multiple LMA units within the vicinity, magnetic interference will affect the performance of the intended rotor driving the degree-of-freedom (DOF) on the robotic manipulator. Since the disturbances due to the neig..