Robot Manipulation and Guidance Using Magnetic Motion Capture Sensor and a Rule-Based Controller
Carlos R. Tercero Villagran*1,*2, Seiichi Ikeda*1,
Toshio Fukuda*1, Kosuke Sekiyama*1, Yuta Okada*1,
Tomomi Uchiyama*3,Makoto Negoro*4, and Ikuo Takahashi*5
*1Micro-Nano Systems Engineering Department, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
*2Electronics Engineering Department, Del Valle de Guatemala University
*3Complex System Science Department, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
*4Department of Neurosurgery, Fujita Health University, 1-98 Dengakugakubo, Kutsukake-cho, Toyoake, Aichi 470-1192, Japan
*5Department of Neurosurgery, Anjo Kosei Hospital, 28 Higashi Hirokute, Anjo-cho, Anjo, Aichi 446-8602, Japan
Magnetic motion capture sensors (MMCS) are not commonly used for robot control due to the need for complex, resource-consuming calibration to correct error introduced by the magnetic sensor. We propose avoiding such calibration using a rule-based controller that only uses spatial coordinates from the magnetic sensor. This controller uses a sparse look-up table of spatial coordinates and actions conducted by the robot and reacts to the presence of the sensor near reference points. The control method was applied to manipulate a robotic camera to track a catheter-shaped sensor inside vessels silicone models. A second evaluation was done guiding a mechanism to reconstruct catheter insertion in major silicone vasculature models. The robotic camera tracked the catheter by reacting to the sensor within 10 mm of each reference point. The catheter insertion mechanism reconstructed the catheter trajectory by reacting to the sensor within 6 mm of each reference point. We found that the proposed method allowed robot control in a bounded space without having to correct for the magnetic tracker output distortion.
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