An Optically Aided Magnetic Tracking Approach for Magnetically Actuated Capsule Robot

Shi, Qianyu; Liu, Tangyou; Song, Shuang; Wang, Jiaole; Meng, Max Q.-H.

doi:10.1109/tim.2021.3053056

Cited by 25 publications

(2 citation statements)

References 31 publications

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“…Due to limitation of small size of capsule robots, some new techniques are combined with the traditional methods to improve the accuracy of the pose estimation. An optical aided method was proposed to eliminate the influence of external driving magnetic field, which can obtain more accurate internal magnetic field of capsule robot [55]. The solution accuracy of the magnetic field solver method may decrease in the environment of multiple externally driven magnetic fields.…”

Section: Pose Of Capsule Robotsmentioning

confidence: 99%

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Hua,

Deng,

Gołdasz

et al. 2024

Smart Mater. Struct.

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As a new type of medical equipment, capsule robots are actuated wirelessly by space magnetic field, which have important application advantages in the diagnosis and treatment of gastrointestinal diseases. Active locomotion is the basis of medical operation for capsule robots, as well as an important guarantee to avoid misdetection and retention in the body. Furthermore, the pose estimation of the capsule robots in the gastrointestinal tract can provide accurate information for medical operation and improve work efficiency. Specific medical operation is one of the ultimate goals of capsule robots, and it is the key to realize the non-invasive diagnosis and treatment technology. Moreover, replacing traditional chemical batteries with wireless power transfer technology not only reduces the dimensions of the capsule robots, but also provides unlimited possibilities for the development of medical operations. In this work, the state-of-the-art capsule robots are reviewed according to the research directions of the locomotion, pose, medical operation and wireless power transmission reported from 2018 to 2023. In light of the four main directions of the capsule robots, some important research achievements and approaches are summarized. In particular, some outstanding advances on innovative structure, efficient methodology and appropriate application of the capsule robots are introduced in details. Finally, an overview of the significant issues occurred in the capsule robots is reported, and the developing trends are discussed.

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Section: Pose Of Capsule Robotsmentioning

confidence: 99%

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Hua,

Deng,

Gołdasz

et al. 2024

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…The environmental magnetic field can be measured before introducing the magnets in the workspace. Since the pose of the actuator at each time step t can be measured, the actuator's magnetic field measurement at each sensor b (t) i,a can be approximated using the analytical expressions of the actuator's magnetic field model [36] or a finite-element method [31]. In this work, we estimate the theoretical value of the actuator's magnetic field at each sensor b i,a based on the generalized complete elliptic integral model [37], [38]:…”

Section: B System Overviewmentioning

confidence: 99%

Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography

Li¹,

Xu²,

Zhao³

et al. 2023

Preprint

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This paper presents a closed-loop magnetic manipulation framework for robotic transesophageal echocardiography (TEE) acquisitions. Different from previous work on intracorporeal robotic ultrasound acquisitions that focus on continuum robot control, we first investigate the use of magnetic control methods for more direct, intuitive, and accurate manipulation of the distal tip of the probe. We modify a standard TEE probe by attaching a permanent magnet and an inertial measurement unit sensor to the probe tip and replacing the flexible gastroscope with a soft tether containing only wires for transmitting ultrasound signals, and show that 6-DOF localization and 5-DOF closed-loop control of the probe can be achieved with an external permanent magnet based on the fusion of internal inertial measurement and external magnetic field sensing data. The proposed method does not require complex structures or motions of the actuator and the probe compared with existing magnetic manipulation methods. We have conducted extensive experiments to validate the effectiveness of the framework in terms of localization accuracy, update rate, workspace size, and tracking accuracy. In addition, our results obtained on a realistic cardiac tissue-mimicking phantom show that the proposed framework is applicable in real conditions and can generally meet the requirements for teleoperated TEE acquisitions.

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Enhancing magnetic properties of Ni3Si/Fe3O4@PVDF composites via lamellar Ni3Si template fabrication under pulsed magnetic fields

Cui,

Cao,

Yang

et al. 2023

Appl. Phys. A

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An Optically Aided Magnetic Tracking Approach for Magnetically Actuated Capsule Robot

Cited by 25 publications

References 31 publications

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Functional capsule robots: a review of locomotion, pose, medical operation and wireless power transmission reported in 2018–2023

Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography

Enhancing magnetic properties of Ni3Si/Fe3O4@PVDF composites via lamellar Ni3Si template fabrication under pulsed magnetic fields

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