Taddese, A, Slawinski, P, Obstein, KL et al. (1 more author) (2016) Closed Loop Control of a Tethered Magnetic Capsule Endoscope. In: Hsu, D, Amato, N, Berman, S and Jacobs, S, (eds.) Robotics Science and Systems Online Proceedings. Robotics: Science and Systems, 17-22 Jun 2016, Ann Arbor, MI, USA. The Robotics: Science and Systems Foundation ISBN 978-0-9923747-2-3
Abstract
Magnetic field gradients have repeatedly been shown to be the most feasible mechanism for gastrointestinal capsule endoscope actuation. An inverse quartic magnetic force variation with distance results in large force gradients induced by small movements of a driving magnet; this necessitates robotic actuation of magnets to implement stable control of the device. A typical system consists of a serial robot with a permanent magnet at its end effector that actuates a capsule with an embedded permanent magnet. We present a tethered capsule system where a capsule with an embedded magnet is closed loop controlled in 2 degree-of-freedom in position and 2 degree-offreedom in orientation. Capitalizing on the magnetic field of the external driving permanent magnet, the capsule is localized in 6- D allowing for both position and orientation feedback to be used in a control scheme. We developed a relationship between the serial robot’s joint parameters and the magnetic force and torque that is exerted onto the capsule. Our methodology was validated both in a dynamic simulation environment where a custom plug-in for magnetic interaction was written, as well as on an experimental platform. The tethered capsule was demonstrated to follow desired trajectories in both position and orientation with accuracy that is acceptable for colonoscopy.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | This is an author produced version of a paper published in Robotics Science and Systems Online Proceedings. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 12 Aug 2016 11:15 |
Last Modified: | 16 Jan 2018 17:48 |
Published Version: | http://dx.doi.org/10.15607/RSS.2016.XII.018 |
Status: | Published |
Publisher: | The Robotics: Science and Systems Foundation |
Identification Number: | 10.15607/RSS.2016.XII.018 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:103683 |