5 papers
Learning Dynamic Swing-Up of an Inverted Pendulum using Remote Magnetic Actuation
Viacheslav Sydora, Jasan Zughaibi, Denis von Arx +2
Electromagnetic Navigation Systems (eMNS) have gained considerable attention for minimally invasive surgery and targeted drug delivery. While most of the literature relies on quasi…
Remote Magnetic Levitation Using Reduced Attitude Control and Parametric Field Models
Neelaksh Singh, Jasan Zughaibi, Denis von Arx +2
Electromagnetic navigation systems (eMNS) are increasingly used in minimally invasive procedures such as endovascular interventions and targeted drug delivery due to their ability…
Structured Learning for Electromagnetic Field Modeling and Real-Time Inversion
Antonio Bernardes, Jasan Zughaibi, Michael Muehlebach +1
Precise magnetic field modeling is fundamental to the closed-loop control of electromagnetic navigation systems (eMNS) and the analytical Multipole Expansion Model (MPEM) is the cu…
Expanding the Workspace of Electromagnetic Navigation Systems Using Dynamic Feedback for Single- and Multi-agent Control
Jasan Zughaibi, Denis von Arx, Maurus Derungs +5
Electromagnetic navigation systems (eMNS) enable a number of magnetically guided surgical procedures. A challenge in magnetically manipulating surgical tools is that the effective…
Dynamic Electromagnetic Navigation
Jasan Zughaibi, Bradley J. Nelson, Michael Muehlebach
Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic…