Norton, JC, Slawinski, PR, Lay, HS et al. (8 more authors) (2019) Intelligent magnetic manipulation for gastrointestinal ultrasound. Science Robotics, 4 (31). eaav7725. ISSN 2470-9476
Abstract
Diagnostic endoscopy in the gastrointestinal tract has remained largely unchanged for decades and is limited to the visualization of the tissue surface, the collection of biopsy samples for diagnoses, and minor interventions such as clipping or tissue removal. In this work, we present the autonomous servoing of a magnetic capsule robot for in situ, subsurface diagnostics of microanatomy. We investigated and showed the feasibility of closed-loop magnetic control using digitized microultrasound (μUS) feedback; this is crucial for obtaining robust imaging in an unknown and unconstrained environment. We demonstrated the functionality of an autonomous servoing algorithm that uses μUS feedback, both on benchtop trials and in vivo in a porcine model. We have validated this magnetic μUS servoing in instances of autonomous linear probe motion and were able to locate markers in an agar phantom with 1.0 ± 0.9 mm position accuracy using a fusion of robot localization and μUS image information. This work demonstrates the feasibility of closed-loop robotic μUS imaging in the bowel without the need for either a rigid physical link between the transducer and extracorporeal tools or complex manual manipulation.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. This is the author’s version of the work. It is posted here by permission of the AAAS for personal use, not for redistribution. The definitive version was published in Science Robotics on Volume 4 issue 31, 26 June 2019, DOI: 10.1126/scirobotics.aav7725 |
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 EPSRC ep/k034537/2 University of Turin Not Known EU - European Union 818045 |
Depositing User: | Symplectic Publications |
Date Deposited: | 10 Jun 2019 15:00 |
Last Modified: | 10 Jul 2019 20:33 |
Status: | Published |
Publisher: | American Association for the Advancement of Science |
Identification Number: | 10.1126/scirobotics.aav7725 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:147092 |