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This research advances electromagnetic navigation systems by applying advanced control theory and dynamic feedback to significantly expand the operational workspace for magnetically guided surgical tools. By optimizing current allocation and leveraging magnetic-field nonlinearity, the study enables stable multi-agent manipulation with drastically reduced power consumption compared to traditional field-centric methods. These system-level improvements represent a critical step toward making complex robotic surgical procedures more scalable and clinically viable.
Expanding the Workspace of Electromagnetic Navigation Systems Using Dynamic Feedback for Single- and Multi-agent Control
arXiv:2511.18486v2 Announce Type: replace Abstract: Electromagnetic navigation systems (eMNS) enable a number of magnetically guided surgical procedures. A challenge in magnetically manipulating surgical tools is that the effective workspace of an eMNS is often severely constrained by power and thermal limits. We show that system-level control design significantly expands this workspace by reducing the currents needed to achieve a desired motion. We identified five key system approaches that enable this expansion: (i) motion-centric torque/force objectives, (ii) energy-optimal current allocation, (iii) real-time pose estimation, (iv) dynamic feedback, and (v) high-bandwidth eMNS components. As a result, we stabilize a 3D inverted pendulum on an eight-coil OctoMag eMNS with significantly lower currents (0.1-0.2 A vs. 8-14 A), by replacing a field-centric field-alignment strategy with a motion-centric torque/force-based approach. We generalize to multi-agent control by simultaneously stabilizing two inverted pendulums within a shared workspace, exploiting magnetic-field nonlinearity and coil redundancy for independent actuation. A structured analysis compares the electromagnetic workspaces of both paradigms and examines current-allocation strategies that map motion objectives to coil currents. Cross-platform evaluation of the clinically oriented Navion eMNS further demonstrates substantial workspace expansion by maintaining stable balancing at distances up to 50 cm from the coils. The results demonstrate that feedback is a practical path to scalable, efficient, and clinically relevant magnetic manipulation.
Abstract:Electromagnetic navigation systems (eMNS) enable a number of magnetically guided surgical procedures. A challenge in magnetically manipulating surgical tools is that the effective workspace of an eMNS is often severely constrained by power and thermal limits. We show that system-level control design significantly expands this workspace by reducing the currents needed to achieve a desired motion. We identified five key system approaches that enable this expansion: (i) motion-centric torque/force objectives, (ii) energy-optimal current allocation, (iii) real-time pose estimation, (iv) dynamic feedback, and (v) high-bandwidth eMNS components. As a result, we stabilize a 3D inverted pendulum on an eight-coil OctoMag eMNS with significantly lower currents (0.1-0.2 A vs. 8-14 A), by replacing a field-centric field-alignment strategy with a motion-centric torque/force-based approach. We generalize to multi-agent control by simultaneously stabilizing two inverted pendulums within a shared workspace, exploiting magnetic-field nonlinearity and coil redundancy for independent actuation. A structured analysis compares the electromagnetic workspaces of both paradigms and examines current-allocation strategies that map motion objectives to coil currents. Cross-platform evaluation of the clinically oriented Navion eMNS further demonstrates substantial workspace expansion by maintaining stable balancing at distances up to 50 cm from the coils. The results demonstrate that feedback is a practical path to scalable, efficient, and clinically relevant magnetic manipulation.
Robotics (cs.RO); Systems and Control (eess.SY)
arXiv:2511.18486 [cs.RO]
(or arXiv:2511.18486v2 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2511.18486 Focus to learn more arXiv-issued DOI via DataCite
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