Design, Sensing, and Control of a Magnetic Compliant Continuum Manipulator

Continuum manipulators coupled with magnetic actuation have great potential as steerable instruments for diverse surgical applications. They can be maneuvered inside the human body to reach difficult-to-access sites contactless actuation. This paper presents a new design of compliant continuum manipulator diameter 3 mm and length 70 mm, capable spatial bending under A quasi-static model is developed estimate 3D motion manipulator. Experiments report an overall mean error in whole shape estimation between ground truth 1.7 4.8 when suspended vertically horizontally from its base, respectively. Furthermore, fiber Bragg grating (FBG) sensors are integrated enable sensing. Closed-loop control demonstrated trace different trajectories tip square trajectory straight line generated average position 4.1 desired estimated positions. The instrument validated by maneuvering it phantoms bifurcating arterial system heart visual guidance miniature camera.