DocumentCode :
3528945
Title :
Force calculation for localized magnetic driven capsule endoscopes
Author :
Salerno, M. ; Rizzo, Rocco ; Sinibaldi, Edoardo ; Menciassi, A.
Author_Institution :
BioRobotics Inst., Scuola Superiore Sant´Anna, Pisa, Italy
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
5354
Lastpage :
5359
Abstract :
Wireless capsule endoscopy recently demonstrated its potential as leading technology for gastrointestinal tract examinations. Many research groups are focusing their efforts on the design of active locomotion methods to allow a complete maneuverability of the device along the gastrointestinal tract. A promising approach for locomotion is represented by master-slave magnetic coupling; however the typical large gradients of magnetic forces make device controllability very hard with important safety concerns: in this framework magnetic capsule localization and interaction force control become extremely relevant. In the present work, a preliminary on-line localization has been implemented obtaining a position feedback closed loop control of a magnetic driven capsule endoscope. Furthermore, interaction forces with the environment have been evaluated by exploiting a dedicated setup for magnetic dragging. Distributed charges-current and dipole-dipole magnetic models applied to capsule endoscopy have been investigated and results have been compared with experimentally measured magnetic forces. Advantages and limitations of employed models have been evaluated and their usability for Real-Time force calculation has been discussed.
Keywords :
closed loop systems; endoscopes; force control; medical control systems; position control; active locomotion methods; complete maneuverability; dipole-dipole magnetic models; distributed charges-current model; force calculation; gastrointestinal tract examinations; interaction force control; localized magnetic driven capsule endoscopes; magnetic capsule localization; magnetic dragging; master-slave magnetic coupling; position feedback closed loop control; preliminary on-line localization; Computational modeling; Force; Magnetic confinement; Magnetic devices; Magnetic forces; Magnetic resonance imaging; Magnetostatics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631344
Filename :
6631344
Link To Document :
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