Pittiglio, G, Barducci, L, Martin, JW et al. (4 more authors) (2019) Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach. IEEE Robotics and Automation Letters, 4 (2). pp. 1224-1231. ISSN 2377-3766
Abstract
The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy—a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permanent magnet. Actuation is achieved by manipulating the external magnet with a serial manipulator, which in turn produces forces and torques on the internal magnetic capsule. We propose a control strategy which, counteracting gravity, achieves levitation of the capsule. This technique, based on a nonlinear backstepping approach, is able to limit contact with the colon walls, reducing friction, avoiding contact with internal folds, and facilitating the inspection of nonplanar cavities. The approach is validated on an experimental setup, which embodies a general scenario faced in colonoscopy. The experiments show that we can attain 19.5% of contact with the colon wall, compared to the almost 100% of previously proposed approaches. Moreover, we show that the control can be used to navigate the capsule through a more realistic environment—a colon phantom—with reasonable completion time.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. This is an author produced version of a paper published in IEEE Robotics and Automation Letters. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Medical robots and systems; force control; motion control |
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) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number Royal Society wm150122 National Institute of Health - NIH (PHS) 6R01EB018992 Royal Society CH160052 EPSRC EP/P027938/1 EPSRC ep/k034537/2 University of Turin Not Known |
Depositing User: | Symplectic Publications |
Date Deposited: | 21 Mar 2019 14:15 |
Last Modified: | 23 Mar 2019 12:54 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2019.2894907 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:143941 |