On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments

Xu，Yangxin1; Li，Keyu2; Zhao，Ziqi3; Meng，Max Q.H.4

2021

10.1109/TMRB.2021.3123407

IEEE Transactions on Medical Robotics and Bionics   影响因子和分区

2576-3202

2576-3202

Active wireless capsule endoscopy (WCE) based on simultaneous magnetic actuation and localization (SMAL) techniques holds great promise for improving diagnostic accuracy, reducing examination time and relieving operator burden. To date, the rotating magnetic actuation methods have been constrained to use a continuously rotating permanent magnet. In this paper, we first propose the reciprocally rotating magnetic actuation (RRMA) approach for active WCE to enhance patient safety. We first show how to generate a desired reciprocally rotating magnetic field for capsule actuation, and provide a theoretical analysis of the potential risk of causing volvulus due to the capsule motion. Then, an RRMA-based SMAL workflow is presented to automatically propel a capsule in an unknown tubular environment. We validate the effectiveness of our method in real-world experiments to automatically propel a robotic capsule in an ex-vivo pig colon. The experiment results show that our approach can achieve efficient and robust propulsion of the capsule with an average moving speed of 2.48mm/s in the pig colon, and demonstrate the potential of using RRMA to enhance patient safety, reduce the inspection time, and improve the clinical acceptance of this technology.

Actuators Cancer Endoscopes Force Intestines Magnetic actuation and localization Medical robots and systems Propulsion Robot programming Robots Wireless capsule endoscopy.

EI

英语

其他

20214511129860

Magnetic actuators ; Magnetism ; Permanent magnets ; Propulsion ; Risk assessment ; Robot programming ; Robotic surgery ; Robotics ; Safety engineering

Medicine and Pharmacology:461.6 ; Magnetism: Basic Concepts and Phenomena:701.2 ; Electric Components and Equipment:704 ; Electric Components:704.1 ; Computer Programming:723.1 ; Robotics:731.5 ; Robot Applications:731.6 ; Control Equipment:732.1 ; Safety Engineering:914 ; Accidents and Accident Prevention:914.1

2-s2.0-85114167556

Scopus

1.Department of Electronic Engineering, the Chinese University of Hong Kong, Hong Kong SAR, China. (e-mail: yxxu@link.cuhk.edu.hk)
2.Department of Electronic Engineering, the Chinese University of Hong Kong, Hong Kong SAR, China.
3.Department of Electronic and Electrical Engineering, the Southern University of Science and Technology, Shenzhen, China.
4.Department of Electronic and Electrical Engineering of the Southern University of Science and Technology in Shenzhen, China, on leave from the Department of Electronic Engineering, the Chinese University of Hong Kong, Hong Kong SAR, China, and also with the Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China.

Xu，Yangxin,Li，Keyu,Zhao，Ziqi,et al. On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments[J]. IEEE Transactions on Medical Robotics and Bionics,2021,3(4):919-927.

Xu，Yangxin,Li，Keyu,Zhao，Ziqi,&Meng，Max Q.H..(2021).On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments.IEEE Transactions on Medical Robotics and Bionics,3(4),919-927.

Xu，Yangxin,et al."On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments".IEEE Transactions on Medical Robotics and Bionics 3.4(2021):919-927.