Control of untethered magnetically actuated tools with localization uncertainty using a rotating permanent magnet

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

Volumn , Issue , 2012, Pages 1632-1637

  Mahoney, Arthur W ^a   Abbott, Jake J ^a  

^a University of Utah   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AXIS OF ROTATION; CAPSULE ENDOSCOPES; CLINICAL SETTINGS; CLINICAL SYSTEMS; DIPOLE FIELDS; LOCALIZATION ERRORS; MICROROBOTS; POTENTIAL BENEFITS; ROBUST OPERATION; ROTATING MAGNETIC FIELDS; SENSOR NOISE;

MAGNETIC FIELDS;

PERMANENT MAGNETS;

EID: 84867407383     PISSN: 21551774     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BioRob.2012.6290306     Document Type: Conference Paper

References (11)

1. B. J. Nelson, I. K. Kaliakatsos, and J. J. Abbott, "Microrobots for minimally invasive medicine," Annu. Rev. Biomed. Eng., vol. 12, pp. 55-85, 2010.
2. J. L. Toennies, G. Tortora, M. Simi, P. Valdastri, and R. J. Webster III, "Swallowable medical devices for diagnosis and surgery: the state of the art," J. Mech. Eng. Sci., vol. 224, no. 7, pp. 1397-1414, 2010.
3. G. Ciuti, P. Valdastri, A. Menciassi, and P. Dario, "Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures," Robotica, vol. 28, no. 2, pp. 199-207, 2010.
4. S. Yim and M. Sitti, "Design and analysis of a magnetically actuated and compliant capsule endoscopic robot," in Proc. IEEE Int. Conf. Robotics and Automation, 2011, pp. 4810-4815.
5. A. W. Mahoney and J. J. Abbott, "Managing magnetic force applied to a magnetic device by a rotating dipole field," Appl. Phys. Lett., vol. 99, no. 134103, pp. 1-3, 2011.
6. T. W. R. Fountain, P. V. Kailat, and J. J. Abbott, "Wireless control of magnetic helical microrobots using a rotating-permanent-magnet manipulator," in Proc. IEEE Int. Conf. Robotics and Automation, 2010, pp. 576-581.
7. A. W. Mahoney, D. L. Cowan, K. M. Miller, and J. J. Abbott, "Control of untethered magnetically actuated tools using a rotating permanent magnet in any position," in Proc. IEEE Int. Conf. Robotics and Automation, 2012.
8. D. Fischer, R. Schreiber, D. Levi, and R. Eliakim, "Capsule endoscopy: the localization system," Gastrointest. Endoscopy Clin. N. Am., vol. 14, no. 1, pp. 25-31, 2004.
9. M. Salerno, G. Ciuti, G. Lucarini, R. Rizzo, P. Valdastri, A. Menciassi, A. Landi, and P. Dario, "A discrete-time localization method for capsule endoscopy based on on-board magnetic sensing," Meas. Sci. Technol., vol. 23, no. 01570, 2012.
10. M.-G. Kim, Y.-S. Hong, and E.-J. Lim, "Position and orientation detection of capsule endoscopes in spiral motion," Int. J. of Prec. Eng. and Manuf., vol. 11, no. 1, pp. 31-37, 2010.
11. F. Carpi and C. Pappone, "Magnetic maneuvering of endoscopic capsules by means of a robotic navigation system," IEEE Trans. Biomed. Eng., vol. 56, no. 5, pp. 1482-1490, may 2009.