A Novel Electromagnetic Driving System for 5-DOF Manipulation in Intraocular Microsurgery

• DOI: 10.34133/cbsystems.0083
• Publication Date: 2023-12-12T13:17:23Z
• Authors: Yangyu Liu; Dezhi Song; Guanghao Zhang; Qingyu Bu; Yuanqing Dong; Chengzhi Hu; Chaoyang Shi
• Keywords: Electromagnet; Robustness

This work presents a novel electromagnetic driving system that consists of eight optimized electromagnets arranged in an optimal configuration and employs control framework based on active disturbance rejection controller (ADRC) virtual boundary. The enhances the system’s compatibility with other ophthalmic surgical instruments, while also improving its capacity to generate magnetic force vertical direction. Besides, electromagnet parameters provide superior comprehensive performance field generation thermal power. Hence, presented design achieves stronger for sustained work. Furthermore, ADRC effectively monitors further compensates total as well gravity enhance robustness. Meanwhile, implementation boundaries substantially interactive security via collision avoidance. tests have been performed verify optimization. proposed can 2.071 mT at distance 65 mm applied current 1 A. Moreover, it demonstrates minimal temperature elevation from room (25 °C) 46 °C through natural heat dissipation 3 h, thereby supporting prolonged manipulation intraocular microsurgery. trajectory tracking experiments disturbances liquid environment similar practical surgery scenarios, robustness framework. maximum root mean square (RMS) error different operation modes remains 35.8 μm, providing stable support