Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach
| Autor: | Pietro Valdastri, Lavinia Barducci, Giovanni Pittiglio, James W. Martin, Joseph C. Norton, Carlo Alberto Avizzano, Keith L. Obstein |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Endoscope Computer science motion control Biomedical Engineering Colonoscopy 02 engineering and technology Article Serial manipulator Medical robots and systems 020901 industrial engineering & automation Artificial Intelligence Control theory medicine Magnetic levitation medicine.diagnostic_test Mechanical Engineering Colon wall force control 021001 nanoscience & nanotechnology Motion control equipment and supplies Computer Science Applications Human-Computer Interaction Control and Systems Engineering Magnet Levitation Computer Vision and Pattern Recognition 0210 nano-technology human activities |
| ISSN: | 2377-3766 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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