Proprioceptive magnetic-field sensing for closed-loop control of magnetic capsule endoscopes
Proprioceptive magnetic-field sensing for closed-loop control of magnetic capsule endoscopes
复制标题
用于磁性胶囊内窥镜闭环控制的本体感觉磁场传感
DOI：
10.1109/iros.2012.6385708
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
J. Abbott
中科院分区：
文献类型：
--
作者：
Katie M. Miller;A. Mahoney;T. Schmid;J. Abbott
小肠是胃肠道(GI)最长的部分，但用传统的内窥镜检查很困难。为了解决这个问题，人们创造了可吞咽的胶囊，它可以缓慢地穿过整个胃肠道拍摄图像。目前正在进行磁驱动和定位方面的研究，以提高这些智能药丸的速度和控制。本文主要研究了一种基于本体感知磁场的胶囊内窥镜控制技术。这种感应提供了胶囊框架中的应用场的知识，并使其能够确定其当前状态。
The small intestine is the longest part of the gastrointestinal (GI) tract, but it is difficult to examine with traditional endoscopic procedures. To resolve this, swallowable capsules have been created that slowly pass through the entire GI tract taking images. Research is currently being done in magnetic actuation and localization to increase the speed and control of these smart pills. This paper focuses on a technique to more efficiently control a capsule endoscope based on proprioceptive sensing of the magnetic field. This sensing provides knowledge of the applied field in the frame of the capsule, and enables determination of its current state.