Dynamic modeling and guidance analysis of a ferromagnetic continuum robot with geometric discretization and base linear motion

摘要

Abstract With the advancement of robotics in medicine in recent years, diverse and promising applications for ferromagnetic continuum robots (FCRs) have been introduced. These robots utilize an electromagnetic actuation system for movement and control, which leads to reduced tissue damage, significantly shorter surgery durations, and improved patient recovery times. Recent research in FCR modeling highlights the critical challenge of developing a dynamic model to assess system behavior in real-time, crucial for maximizing benefits in medical applications. In this paper, the geometric discretization method and Lagrange’s principle are used to derive the dynamic equations of a FCR under the influence of an external magnetic field. This approach enables the examination of the system’s behavior at any given moment, providing a suitable foundation for designing various controllers based on the model. Given the electromagnetic system used in steering the FCRs, an analysis of the magnetic field in both ideal and real conditions is conducted to enhance reliability for medical applications. Simulation results indicate that the robots deform in a direction different from the magnetic field direction, demonstrating non-planar deformation characteristics. Furthermore, comparison with experimental data demonstrates that the theoretical framework accurately predicts the robot’s deformation, with calculation errors less than 5%.