ArticleRobotics science and systems : online proceedings2016
Closed Loop Control of a Tethered Magnetic Capsule Endoscope.
Article in Robotics science and systems : online proceedings, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
10 citing papers in PubMed.
- Optimal Motion Control of a Capsule Endoscope in the Stomach Utilizing a Magnetic Navigation System with Dual Permanent Magnets.Micromachines · 2024Article
- A Novel Biopsy Capsule Robot Based on High-Speed Cutting Tissue.Cyborg and bionic systems (Washington, D.C.) · 2022Article
- Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators.IEEE robotics and automation letters · 2020Article
- Sensitivity Ellipsoids for Force Control of Magnetic Robots with Localization Uncertainty.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2019Article
- Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope.IEEE robotics and automation letters · 2019Article
- Intelligent magnetic manipulation for gastrointestinal ultrasound.Science robotics · 2019Article
- Explicit Model Predictive Control of a Magnetic Flexible Endoscope.IEEE robotics and automation letters · 2019Article
- Enhanced Real-Time Pose Estimation for Closed-Loop Robotic Manipulation of Magnetically Actuated Capsule Endoscopes.The International journal of robotics research · 2018Article
- Autonomous Retroflexion of a Magnetic Flexible Endoscope.IEEE robotics and automation letters · 2017Article
- Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Capsule Endoscope.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2016Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors.
Funding
Abstract
Magnetic field gradients have repeatedly been shown to be the most feasible mechanism for gastrointestinal capsule endoscope actuation. An inverse quartic magnetic force variation with distance results in large force gradients induced by small movements of a driving magnet; this necessitates robotic actuation of magnets to implement stable control of the device. A typical system consists of a serial robot with a permanent magnet at its end effector that actuates a capsule with an embedded permanent magnet. We present a tethered capsule system where a capsule with an embedded magnet is closed loop controlled in 2 degree-of-freedom in position and 2 degree-of-freedom in orientation. Capitalizing on the magnetic field of the external driving permanent magnet, the capsule is localized in 6-D allowing for both position and orientation feedback to be used in a control scheme. We developed a relationship between the serial robot's joint parameters and the magnetic force and torque that is exerted onto the capsule. Our methodology was validated both in a dynamic simulation environment where a custom plug-in for magnetic interaction was written, as well as on an experimental platform. The tethered capsule was demonstrated to follow desired trajectories in both position and orientation with accuracy that is acceptable for colonoscopy.
Identifiers
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.