Localization method for a magnetic capsule endoscope propelled by a rotating magnetic dipole field

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 5348-5353

  Popek, Katie M ^a   Mahoney, Arthur W ^a   Abbott, Jake J ^a  

^a University of Utah   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

INCREMENTAL METHOD; LOCALIZATION METHOD; MAGNETIC CAPSULE; MAGNETIC DIPOLE FIELDS; NON-ITERATIVE SOLUTIONS; POSITION AND ORIENTATIONS; SIX DEGREE-OF-FREEDOM; WIRELESS CAPSULE ENDOSCOPE;

ENDOSCOPY; MAGNETIC FIELDS; ROBOTICS;

ITERATIVE METHODS;

EID: 84887287255     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631343     Document Type: Conference Paper

References (22)

1. A.Uehara and K.Hoshina.Capsule endoscope NORIKA system.Min Invas Ther and Allied Technol, 1(1):227-334, 2003.
2. X.Wang and M.Q.-H.Meng.Computational aspects in actuation and guidance mechanism for wireless active capsule endoscope.In IEEE Int.Conf.Intelligent Robots and Systems, pages 1198-1203, 2008.
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, 28:199-207, 2010.
4. F.Carpi, N.Kastelein, M.Talcott, and C.Pappone.Magnetically controllable gastrointestinal steering of video capsules.IEEE Trans.Biomed.Eng., 58(2):231-234, 2011.
5. 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 IEEE Int.Conf.Robot.Auto., pages 231-234, 2012.
6. J.Kim, Y.Kwon, and Y.Hong.Automated alignment of rotating magnetic field for inducing a continuous spiral motion on a capsule endoscope with a twistable thread mechanism.Int.J.of Prec.Eng.&Manu., 13(3):371-377, 2012.
7. C.Hu, M.Li, S.Song, W.Yang, R.Zhang, and M.Q.-H.Meng.A cubic 3-axis magnetic sensor array for wirelessly tracking magnet position and orientation.IEEE Sensors J, 10(5):903-913, 2010.
8. W.Yang, C.Hu, M.Li, M.Q.-H.Meng, and S.Song.A new tracking system for three magnetic objectives.IEEE Trans Magnetics, 46(12):4023-4029, 2010.
9. W.Weitschies, H.Blume, and H.Monnikes.Magnetic marker monitoring: High resolution real-time tracking of oral solid dosage forms in the gastrointestinal tract.European J Pharmaceutics and Biopharmaceutics, 74(1):93-101, 2010.
10. X.Guo, G.Yan, and W.He.A novel method of three-dimensional localization based on a neural network algorithm.J of Med Eng &Tech, 33(3):192-198, 2009.
11. M.Kim, Y.Hong, and E.Lim.Position and orientation detection of capsule endoscopes in spiral motion.Int.J of Prec.Eng.and Manu., 11(1):31-37, 2010.
12. 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., 23(1):015701, 2012.
13. H.Son and K.Lee.Distributed multipole models for design and control of PM actuators and sensors.IEEE/ASME Trans.Mech., 13(2):228-238, 2008.
14. W.Yang, C.Hu, M.Q.-H.Meng, S.Song, and H.Dai.A sixdimensional magnetic localization algorithm for a rectangular magnet objective based on a particle swarm optimizer.IEEE Trans.Mag, 45(8):3092-3099, 2009.
15. E.Paperno, I.Sasada, and E.Leonovich.A new method for magnetic position and orientation tracking.IEEE Trans.Magn., 37(4):1938-1940, 2008.
16. X.Ge, Y.Wang, N.Ding, X.Wu, Y.Wang, and Z.Fang.An electromagnetic tracking method using rotating orthogonal coils.IEEE Trans Magnetics, DOI:10.1109/TMAG.2012.2203917, 2012.
17. K.M.Miller, A.W.Mahoney, T.Schmid, and J.J.Abbott.Proprioceptive magnetic-field sensing for closed-loop control of magnetic capsule endoscopes.In IEEE Int.Conf.Intel.Robots &Sys., pages 1994-1999, 2012.
18. A.W.Mahoney and J.J.Abbott.Control of untethered magnetically actuated tools with localization uncertainty using a rotating permanent magnet.In IEEE Int.Conf.Biomedical Robotics and Biomechatronics, pages 1632-1637, 2012.
19. A.J.Petruska and J.J.Abbott.Optimal permanent-magnet geometries for dipole field approximation.IEEE Trans.Mag, 49(2):811-819, 2013.
20. E.P.Furlani.Permanent magnet and electromechanical devices: materials, analysis, and applications.Academic Press, San Diego, California, 1st edition, 2001.
21. D.Koks.Explorations in Mathematical Physics.Springer, New York, 1st edition, 2006.
22. R.M.Murray, Z.Li, and S.S.Sastry.A Mathematical Introduction to Robotic Manipulation.CRC Press, Boca Raton, 1994.