Denny Thiruchelvam

Disturbance Rejection in Multi-DOF Local Magnetic Actuation for the Robotic Abdominal Surgery

The potential of multi-degrees-of-freedom (DOFs) local magnetic actuation (LMA) has been established in recent years for dexterous minimally invasive surgical manipulations. Nonetheless, having multiple magnetic based units, one for each DOF, within a close vicinity to each other leads to magnetic f