title: Design and implementation of magnetically maneuverable capsule endoscope system with direction reference for image navigation.
abstract: This article describes a novel magnetically maneuverable capsule endoscope system with direction reference for image navigation. This direction reference was employed by utilizing a specific magnet configuration between a pair of external permanent magnets and a magnetic shell coated on the external capsule endoscope surface. A pair of customized Cartesian robots, each with only 4 degrees of freedom, was built to hold the external permanent magnets as their end-effectors. These robots, together with their external permanent magnets, were placed on two opposite sides of a "patient bed." Because of the optimized configuration based on magnetic analysis between the external permanent magnets and the magnetic shell, a simplified control strategy was proposed, and only two parameters, yaw step angle and moving step, were necessary for the employed robotic system. Step-by-step experiments demonstrated that the proposed system is capable of magnetically maneuvering the capsule endoscope while providing direction reference for image navigation.
authors: School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
authors: Zhen-Jun
authors: ZJ
authors: Sun
authors: School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China.
authors: Bo
authors: B
authors: Ye
authors: National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
authors: Yi
authors: Y
authors: Sun
authors: School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
authors: Hong-Hai
authors: HH
authors: Zhang
authors: School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China victor_liu63@126.com.
authors: Sheng
authors: S
authors: Liu
mesh_terms: D053705:Capsule Endoscopes; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D007089:Image Enhancement / Q000295:instrumentation* / Q000379:methods; D059346:Magnets; D008328:Man-Machine Systems; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014584:User-Computer Interface; D059015:Wireless Technology / Q000295:instrumentation
keywords: Capsule endoscope; configuration optimization; direction reference; image navigation; magnetic maneuvering