ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2016
Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Capsule Endoscope.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
What it found
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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
12 citing papers in PubMed.
- Development of Precision Controllable Magnetic Field-Assisted Platform for Micro Electrical Machining.Micromachines · 2024Article
- Robotic wireless capsule endoscopy: recent advances and upcoming technologies.Nature communications · 2024Review
- Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope.Frontiers in robotics and AI · 2022Article
- Closed-loop control of soft continuum manipulators under tip follower actuation.The International journal of robotics research · 2021Article
- Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation.Nature machine intelligence · 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
- Adaptive Dynamic Control for Magnetically Actuated Medical Robots.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
- Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach.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
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
In this paper, we demonstrate velocity-level closed-loop control of a tethered magnetic capsule endoscope that is actuated via serial manipulator with a permanent magnet at its end-effector. Closed-loop control (2 degrees-of-freedom in position, and 2 in orientation) is made possible with the use of a real-time magnetic localization algorithm that utilizes the actuating magnetic field and thus does not require additional hardware. Velocity control is implemented to create smooth motion that is clinically necessary for colorectal cancer diagnostics. Our control algorithm generates a spline that passes through a set of input points that roughly defines the shape of the desired trajectory. The velocity controller acts in the tangential direction to the path, while a secondary position controller enforces a nonholonomic constraint on capsule motion. A soft nonholonomic constraint is naturally imposed by the lumen while we enforce a strict constraint for both more accurate estimation of tether disturbance and hypothesized intuitiveness for a clinician's teleoperation. An integrating disturbance force estimation control term is introduced to predict the disturbance of the tether. This paper presents the theoretical formulations and experimental validation of our methodology. Results show the system's ability to achieve a repeatable velocity step response with low steady-state error as well as ability of the tethered capsule to maneuver around a bend.
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.