ArticleIEEE robotics and automation letters2019
Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach.
Article in IEEE robotics and automation letters, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 23 papers.
What it found
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Who cites it
23 citing papers in PubMed, 136 citations in OpenAlex.
- Global trends and hotspots in robot-assisted gastrointestinal endoscopy: a bibliometric and visualization analysis.Journal of robotic surgery · 2026Review
- Review of Gastrointestinal Capsule Robots: Materials, Actuation, Diagnostics, and Therapeutics.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Review
- Advances in Magnetically Controlled Medical Robotics: A Review of Actuation Systems, Continuum Designs, and Clinical Prospects for Minimally Invasive Therapies.Micromachines · 2025Review
- External Steering of Vine Robots via Magnetic Actuation.Soft robotics · 2025Article
- Propulsion Mechanisms in Magnetic Microrobotics: From Single Microrobots to Swarms.Micromachines · 2025Review
- Advances of surgical robotics: image-guided classification and application.National science review · 2024Review
- Optimal Motion Control of a Capsule Endoscope in the Stomach Utilizing a Magnetic Navigation System with Dual Permanent Magnets.Micromachines · 2024Article
- Development of Precision Controllable Magnetic Field-Assisted Platform for Micro Electrical Machining.Micromachines · 2024Article
- Closed-form Kinematic Model and Workspace Characterization for Magnetic Ball Chain Robots.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
- Patient-Specific Magnetic Catheters for Atraumatic Autonomous Endoscopy.Soft robotics · 2022Article
- Robotic, self-propelled, self-steerable, and disposable colonoscopes: Reality or pipe dream? A state of the art review.World journal of gastroenterology · 2022Review
- Telerobotic neurovascular interventions with magnetic manipulation.Science robotics · 2022Article
- Magnetic Soft Materials and Robots.Chemical reviews · 2022Review
- Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope.Frontiers in robotics and AI · 2022Article
- Application of robotic technologies in lower gastrointestinal tract endoscopy: A systematic review.World journal of gastrointestinal endoscopy · 2021Article
- Orthogonal Optimal Design of Multiple Parameters of a Magnetically Controlled Capsule Robot.Micromachines · 2021Article
- Endoluminal Motion Recognition of a Magnetically-Guided Capsule Endoscope Based on Capsule-Tissue Interaction Force.Sensors (Basel, Switzerland) · 2021Article
- Endorobots for Colonoscopy: Design Challenges and Available Technologies.Frontiers in robotics and AI · 2021Review
- [Robots in the operating room-(co)operation during surgery].Der Gastroenterologe : Zeitschrift fur Gastroenterologie und Hepatologie · 2021Review
- Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation.Nature machine intelligence · 2020Article
Corrections and comments
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Authors and funding
7 authors at 3 institutions in 3 countries.
Funding
Abstract
The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permanent magnet. Actuation is achieved by manipulating the external magnet with a serial manipulator, which in turn produces forces and torques on the internal magnetic capsule. We propose a control strategy which, counteracting gravity, achieves levitation of the capsule. This technique, based on a nonlinear backstepping approach, is able to limit contact with the colon walls, reducing friction, avoiding contact with internal folds, and facilitating the inspection of nonplanar cavities. The approach is validated on an experimental setup, which embodies a general scenario faced in colonoscopy. The experiments show that we can attain 19.5% of contact with the colon wall, compared to the almost 100% of previously proposed approaches. Moreover, we show that the control can be used to navigate the capsule through a more realistic environment-a colon phantom-with reasonable completion time.
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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.