Control of Magnetically-Driven Screws in a Viscoelastic Medium
Zhengya Zhang,Anke Klingner,Sarthak Misra,Islam S. M. Khalil,Zhengya Zhang,Anke Klingner,Sarthak Misra,Islam S. M. Khalil
Magnetically-driven screws operating in soft-tissue environments could be used to deploy localized therapy or achieve minimally invasive interventions. In this work, we characterize the closed-loop behavior of magnetic screws in an agar gel tissue phantom using a permanent magnet-based robotic system with an open-configuration. Our closed-loop control strategy capitalizes on an analytical calculat...
