Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators

In the past decade, remote actuation through magnetic fields has been used for position and orientation control of continuum manipulators (CMs) with a single magnet at distal tip. By leveraging multiple points along length CM it is possible to achieve increasingly complex shapes, which could be interest in navigation tasks, example, minimally invasive surgery. this study we present an approach multi-point discretely magnetized CMs. The demonstrated manipulator that contains two permanent magnets, are each actuated inside non-homogeneous field. We formulate accurate field model conforms Maxwell's equations apply available system. Furthermore, Cosserat rod theory deformation under external wrenches, utilized numerically compute Jacobian necessary calculate inputs. During experiments, stereo vision setup shape feedback. Target orientations manually provided as input show independent magnets. Additionally, simulations extended virtual clone electromagnetic system performed capability achieving more shapes. both scenarios, observed algorithm able independently interconnected magnets non-uniform