Design and Synchronous Control of a Magnetically-Actuated and Ultrasound-Guided Multi-Arm Robotic System
Zhengyang Li,Qingsong Xu,Zhengyang Li,Qingsong Xu
This paper presents the design of a new multi-arm robotic system with mobile magnetic actuation and extracorpo-real ultrasound guidance dedicated to magnetic catheterization. The kinematic model of the external mobile actuation arm (EMAA) and extracorporeal ultrasound-integrated tracking arm (EUTA) are derived based on Denavit-Hartenberg (DH) parameters, including specially designed end-effectors....
