Closed-Loop Control of Local Magnetic Actuation for Robotic Surgical Instruments

Abstract—We propose local magnetic actuation (LMA) as an approach to robotic actuation for surgical instruments. An LMA actuation unit consists of a pair of diametrically magnetized single-dipole cylindrical magnets, working as magnetic gears across the abdominal wall. In this study, we developed a dynamic model for an LMA actuation unit by extending the theory proposed for coaxial magnetic gears. The dynamic model was used for closed-loop con-trol, and two alternative strategies—using either the angular veloc-ity at the motor or at the load as feedback parameter—were com-pared. The amount of mechanical power that can be transferred across the abdominal wall at different intermagnetic distances was also investigated. The proposed dynamic model presented a relative error below 7.5 % in estimating the load torque from the system parameters. Both the strategies proposed for closed-loop control were effective in regulating the load speed with a relative error below 2 % of the desired steady-state value. However, the load-side closed-loop control approach was more precise and allowed the system to transmit larger values of torque, showing, at the same time, less dependence from the angular velocity. In particular, an average value of 1.5 mN·m can be transferred at 7 cm, increasing up to 13.5 mN·m as the separation distance is reduced down to 2 cm. Given the constraints in diameter and volume for a surgi-cal instrument, the proposed approach allows for transferring a larger amount of mechanical power than what would be possible to achieve by embedding commercial dc motors. Index Terms—Magnetic actuation, magnetic coupling, magnetic gear, medical robotics, servo control, two-inertia system