Fast-Adaptive Permanent Magnetic Positioning-based Navigation Framework for Continuum Robots in Colonoscopic Biopsy

摘要

The potential of continuum robots in medical applications is considerable, due to their flexibility and capacity to navigate complex anatomical environments. This article introduces a novel framework based on the Fast-Adaptive Permanent Magnetic Tracking method, which has been designed with the objective of enhancing the accuracy and autonomy of colonoscopic biopsies. The system incorporates a permanent magnet positioning methodology, enabling the robot to maintain a trajectory tracking root mean square error of less than 4 mm, with magnet speeds up to 150 mm/s and positioning errors under 2 mm. Furthermore, the framework includes an adaptive obstacle avoidance strategy, allowing the robot to navigate around obstacles and adjust its posture in response to dynamic movement. Extensive experimental validations in both simulation and real-world environments demonstrate the system's effectiveness in delivering precise, responsive, and continuous operation. This work represents a significant advancement in autonomous navigation based on permanent magnetic localization techniques, with the potential to enhance the efficacy and safety of robotic-assisted surgeries.