A compensation strategy for accurate orientation of a tethered robotic capsule endoscope

Peisen Zhang; Jing Li; Yang Hao; Gastone Ciuti; Tatsuo Arai; Qiang Huang; Paolo Dario

doi:10.1109/CBS.2017.8266111

A compensation strategy for accurate orientation of a tethered robotic capsule endoscope

Peisen Zhang, Jing Li, Yang Hao, Gastone Ciuti, Tatsuo Arai, Qiang Huang, Paolo Dario

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

A robotic platform is built to simulate the motion of a magnetically-driven endoscopic capsule on the sagittal plane. Magnetic model is used to analyze the force and torque between external and internal magnets. A compensation method for the external permanent magnet has been proposed to make a soft-tethered magnetic capsule rotates around a fixed point on the body sagittal plane. The compensation method includes rotation compensation, which aims to rotate the capsule to certain angle, and translation compensation, which aims to restrain capsules displacement during its rotation. The effect of capsules tether is qualitatively analyzed and also considered in the proposed compensation method.

源语言	英语
主期刊名	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
出版商	Institute of Electrical and Electronics Engineers Inc.
页	257-261
页数	5
ISBN（电子版）	9781538631942
DOI	https://doi.org/10.1109/CBS.2017.8266111
出版状态	已出版 - 2 7月 2017
活动	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 - Beijing, 中国期限: 17 10月 2017 → 19 10月 2017

出版系列

姓名	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
卷	2018-January

会议

会议	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
国家/地区	中国
市	Beijing
时期	17/10/17 → 19/10/17

访问文件

10.1109/CBS.2017.8266111

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhang, P., Li, J., Hao, Y., Ciuti, G., Arai, T., Huang, Q., & Dario, P. (2017). A compensation strategy for accurate orientation of a tethered robotic capsule endoscope. 在 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 (页码 257-261). (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; 卷 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CBS.2017.8266111

@inproceedings{160a9eae7faf41cf8c7c75e7b08292b5,

title = "A compensation strategy for accurate orientation of a tethered robotic capsule endoscope",

abstract = "A robotic platform is built to simulate the motion of a magnetically-driven endoscopic capsule on the sagittal plane. Magnetic model is used to analyze the force and torque between external and internal magnets. A compensation method for the external permanent magnet has been proposed to make a soft-tethered magnetic capsule rotates around a fixed point on the body sagittal plane. The compensation method includes rotation compensation, which aims to rotate the capsule to certain angle, and translation compensation, which aims to restrain capsules displacement during its rotation. The effect of capsules tether is qualitatively analyzed and also considered in the proposed compensation method.",

keywords = "gastrointestinal endoscopy, motion compensation method, soft-tethered magnetic capsule",

author = "Peisen Zhang and Jing Li and Yang Hao and Gastone Ciuti and Tatsuo Arai and Qiang Huang and Paolo Dario",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 ; Conference date: 17-10-2017 Through 19-10-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/CBS.2017.8266111",

language = "English",

series = "2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "257--261",

booktitle = "2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017",

address = "United States",

}

Zhang, P, Li, J, Hao, Y, Ciuti, G, Arai, T , Huang, Q & Dario, P 2017, A compensation strategy for accurate orientation of a tethered robotic capsule endoscope. 在 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, 卷 2018-January, Institute of Electrical and Electronics Engineers Inc., 页码 257-261, 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, Beijing, 中国, 17/10/17. https://doi.org/10.1109/CBS.2017.8266111

A compensation strategy for accurate orientation of a tethered robotic capsule endoscope. / Zhang, Peisen; Li, Jing; Hao, Yang 等.
2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 257-261 (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; 卷 2018-January).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A compensation strategy for accurate orientation of a tethered robotic capsule endoscope

AU - Zhang, Peisen

AU - Li, Jing

AU - Hao, Yang

AU - Ciuti, Gastone

AU - Arai, Tatsuo

AU - Huang, Qiang

AU - Dario, Paolo

PY - 2017/7/2

Y1 - 2017/7/2

N2 - A robotic platform is built to simulate the motion of a magnetically-driven endoscopic capsule on the sagittal plane. Magnetic model is used to analyze the force and torque between external and internal magnets. A compensation method for the external permanent magnet has been proposed to make a soft-tethered magnetic capsule rotates around a fixed point on the body sagittal plane. The compensation method includes rotation compensation, which aims to rotate the capsule to certain angle, and translation compensation, which aims to restrain capsules displacement during its rotation. The effect of capsules tether is qualitatively analyzed and also considered in the proposed compensation method.

AB - A robotic platform is built to simulate the motion of a magnetically-driven endoscopic capsule on the sagittal plane. Magnetic model is used to analyze the force and torque between external and internal magnets. A compensation method for the external permanent magnet has been proposed to make a soft-tethered magnetic capsule rotates around a fixed point on the body sagittal plane. The compensation method includes rotation compensation, which aims to rotate the capsule to certain angle, and translation compensation, which aims to restrain capsules displacement during its rotation. The effect of capsules tether is qualitatively analyzed and also considered in the proposed compensation method.

KW - gastrointestinal endoscopy

KW - motion compensation method

KW - soft-tethered magnetic capsule

UR - http://www.scopus.com/inward/record.url?scp=85050487647&partnerID=8YFLogxK

U2 - 10.1109/CBS.2017.8266111

DO - 10.1109/CBS.2017.8266111

M3 - Conference contribution

AN - SCOPUS:85050487647

T3 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

SP - 257

EP - 261

BT - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

Y2 - 17 October 2017 through 19 October 2017

ER -

Zhang P, Li J, Hao Y, Ciuti G, Arai T , Huang Q 等. A compensation strategy for accurate orientation of a tethered robotic capsule endoscope. 在 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc. 2017. 页码 257-261. (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017). doi: 10.1109/CBS.2017.8266111

A compensation strategy for accurate orientation of a tethered robotic capsule endoscope

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