Reciprocally Rotating Magnetic Actuation and Automatic Trajectory Following for Wireless Capsule Endoscopy

Yangxin Xu1; Keyu Li1; Ziqi Zhao2; Fei Meng1; Li Liu1,3; Max Q.-H. Meng1,2,3

10.1109/ICRA48506.2021.9561833

2021-10-18

IEEE International Conference on Robotics and Automation

1050-4729

2577-087X

978-1-7281-9078-5

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)

2021-May

6768-6774

2021.5.31-2021.6.4

Xi'an, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Active wireless capsule endoscopy (WCE) under magnetic actuation is a promising technology to reduce the inspection time and relieve the burden of physicians. In this paper, we propose a reciprocally rotating magnetic actuation method for trajectory following of a capsule and develop its dynamic model. For the trajectory following task, we investigate the closed-loop tracking control strategies based on different controllers to actuate the capsule in the complex environments. The effectiveness of our method is validated in extensive experiments in a simulation environment as well as in an ex-vivo pig colon. The results demonstrate that the proposed method can accurately and efficiently actuate the capsule to follow the desired trajectory in the complex environments, achieving tracking errors on the order of millimeter. Moreover, the experiments on the ex-vivo pig colon show that the proposed reciprocally rotating magnetic actuation method has the potential to reduce the clinical risks and improve the safety and clinical acceptability of this technology.

Medical robots and systems Trajectory following Robust control Wireless capsule endoscopy Magnetic actuation and localization

通讯

英语

CPCI-S ; EI

National Key R&D program of China[2019YFB1312400]

Automation & Control Systems ; Robotics

Automation & Control Systems ; Robotics

WOS:000771405400012

20220911738134

Endoscopy ; Magnetism ; Mammals ; Trajectories

Medicine and Pharmacology:461.6 ; Magnetism: Basic Concepts and Phenomena:701.2 ; Automatic Control Principles and Applications:731

人工提交

1.The Chinese University of Hong Kong, China
2.The Southern University of Science and Technology, Shenzhen, China
3.Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China

Yangxin Xu,Keyu Li,Ziqi Zhao,et al. Reciprocally Rotating Magnetic Actuation and Automatic Trajectory Following for Wireless Capsule Endoscopy[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:6768-6774.