Six-Degree-of-Freedom Localization With a 3-Axis Accelerometer and a 2-Axis Magnetometer for Magnetic Capsule Endoscopy

Sperry, Adam J.; Christensen, Jordan; Abbott, Jake J.

doi:10.1109/lra.2022.3143293

Cited by 7 publications

(4 citation statements)

References 19 publications

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“…The approach requires the configuration of external ray detection devices and the careful handling of such high-energy particles when considering industrialization. Furthermore, a capsule robot, equipped with a 3-axis accelerometer and a 2-axis magnetometer, can realize effective positioning in complex environments [57]. However, the addition of internal sensors limits the miniaturization of the structure.…”

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

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“…6-DOF localization with Hall effect sensors was also demonstrated in a system using rotating magnetic dipole fields that could also be used to actuate a magnetic capsule [12]. The combination of Hall effect sensors and IMUs to provide a pose estimate has further been considered in [13], [14]. A method for simultaneous localization and actuation with Hall sensors and an IMU that utilizes both dynamic magnetic fields and static magnetic fields from permanent magnets for actuation was presented in [15].…”

Section: Introductionmentioning

confidence: 99%

Simultaneous Localization and Actuation Using Electromagnetic Navigation Systems

von Arx,

Fischer,

Torlakcik

et al. 2024

IEEE Trans. Robot.

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Manipulators" (SNF) 771565C -Highly Integrated Nanoscale Robots for Targeted Delivery to the Central Nervous System (EC) 180861 -A Submillimeter Minimally Invasive System for Cardiac Arrhythmia Ablations (SNF) 952152 -MAgnetically steerable wireless Nanodevices for the tarGeted delivery of therapeutic agents in any vascular rEgion of the body (EC) 743217 -Soft Micro Robotics (EC) This page was generated automatically upon download from the ETH Zurich Research Collection. For more information, please consult the Terms of use.

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“…It requires, however, on-board power and heterogeneous localization magnetic fields, with 6-DOF localization having been shown for systems with a single external permanent magnet (EPM). Internal sensing methods have been shown for endoscopic capsules, as well as magnetically guided catheters [2], [16], [18], [19].…”

Section: Introductionmentioning

confidence: 99%

Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

Veiga

Pittiglio

Brockdorff

et al. 2023

IEEE Robot. Autom. Lett.

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Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose estimation, these have been either under single external permanent magnet actuation or coil systems. With the advent of new magnetic actuation systems comprised of multiple external permanent magnets for increased control and manipulability, new localization techniques are necessary to account for and leverage the additional magnetic field sources. In this letter, we introduce a novel magnetic localization technique in the Special Euclidean Group SE(3) for multiple external permanent magnetic field actuation and control systems. The method relies on a milli-meter scale three-dimensional accelerometer and a three-dimensional magnetic field sensor and is able to estimate the full 6 degree-of-freedom pose without any prior pose information. We demonstrated the localization system with two external permanent magnets and achieved localization errors of 8.5 ± 2.4 mm in position norm and 3.7 ± 3.6 • in orientation, across a cubic workspace with 20 cm length.

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Six-Degree-of-Freedom Localization With a 3-Axis Accelerometer and a 2-Axis Magnetometer for Magnetic Capsule Endoscopy

Cited by 7 publications

References 19 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

Simultaneous Localization and Actuation Using Electromagnetic Navigation Systems

Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

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