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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

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.

Original language	English
Title of host publication	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	257-261
Number of pages	5
ISBN (Electronic)	9781538631942
DOIs	https://doi.org/10.1109/CBS.2017.8266111
Publication status	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 - Beijing, China Duration: 17 Oct 2017 → 19 Oct 2017

Publication series

Name	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Country/Territory	China
City	Beijing
Period	17/10/17 → 19/10/17

Keywords

gastrointestinal endoscopy
motion compensation method
soft-tethered magnetic capsule

Access to Document

10.1109/CBS.2017.8266111

Cite this

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. In 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 (pp. 257-261). (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CBS.2017.8266111

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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",

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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. in 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 257-261, 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, Beijing, China, 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 et al.
2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 257-261 (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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

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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

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

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Zhang P, Li J, Hao Y, Ciuti G, Arai T , Huang Q et al. A compensation strategy for accurate orientation of a tethered robotic capsule endoscope. In 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 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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