Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

830
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
830
Endoscopic Procedures III: Video Capsule Endoscopy01:28

Endoscopic Procedures III: Video Capsule Endoscopy

1.2K
Capsule endoscopy, or wireless or video capsule endoscopy, is a diagnostic procedure for examining the entire gastrointestinal tract. Patients swallow a capsule about the size of a vitamin tablet. The capsule is equipped with a transmitter, a battery, an LED light source, and a color video camera to capture images throughout the gastrointestinal tract. This procedure is particularly useful for diagnosing conditions such as Crohn's disease, ulcerative colitis, tumors, polyps, ulcers,...
1.2K
Magnetic Resonance Imaging01:24

Magnetic Resonance Imaging

10.3K
Magnetic resonance imaging (MRI) is a noninvasive medical imaging technique based on a phenomenon of nuclear physics discovered in the 1930s, in which matter exposed to magnetic fields and radio waves was found to emit radio signals. In 1970, a physician and researcher named Raymond Damadian noticed that malignant (cancerous) tissue gave off different signals than normal body tissue. He applied for a patent for the first MRI scanning device in clinical use by the early 1980s. The early MRI...
10.3K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Systematic ergonomic evaluation of an active back-support exoskeleton.

Applied ergonomics·2026
Same author

Tapered Magnetic Soft Continuum Catheters with Integrated Microchannels for Cerebral Intra-Arterial Chemotherapy Delivery.

Soft robotics·2026
Same author

A miniature ultrasonic surgical device based on a flextensional configuration with a pre-stressed piezoelectric stack.

Communications engineering·2026
Same author

A concentric tube catheter for endoluminal interventions, steered and imaged via magnetic resonance imaging.

Communications engineering·2026
Same author

Enhancing the functionality of soft continuum robots for minimally invasive and endoluminal interventions: a review.

Progress in biomedical engineering (Bristol, England)·2026
Same author

Magnetic field control with dual robotic tunable magnetic end effectors.

Communications engineering·2026

Related Experiment Video

Updated: Mar 22, 2026

Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures
09:13

Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures

Published on: April 21, 2013

28.6K

Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy.

Christian Di Natali1, Marco Beccani1, Nabil Simaan2

  • 1STORM Laboratory Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|April 19, 2016
PubMed
Summary
This summary is machine-generated.

This study validates a fast, Jacobian-based iterative method for real-time localization of magnetic endoscopic capsules. The new algorithm achieves high accuracy without dipole assumptions, enabling precise capsule control.

Keywords:
Capsule endoscopycolonoscopylocalizationmagnetic manipulationmedical robotics

More Related Videos

Optimized Setup and Protocol for Magnetic Domain Imaging with In Situ Hysteresis Measurement
09:43

Optimized Setup and Protocol for Magnetic Domain Imaging with In Situ Hysteresis Measurement

Published on: November 7, 2017

9.9K
Magnetically-Assisted Remote Controlled Microcatheter Tip Deflection under Magnetic Resonance Imaging
11:27

Magnetically-Assisted Remote Controlled Microcatheter Tip Deflection under Magnetic Resonance Imaging

Published on: April 4, 2013

13.0K

Related Experiment Videos

Last Updated: Mar 22, 2026

Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures
09:13

Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures

Published on: April 21, 2013

28.6K
Optimized Setup and Protocol for Magnetic Domain Imaging with In Situ Hysteresis Measurement
09:43

Optimized Setup and Protocol for Magnetic Domain Imaging with In Situ Hysteresis Measurement

Published on: November 7, 2017

9.9K
Magnetically-Assisted Remote Controlled Microcatheter Tip Deflection under Magnetic Resonance Imaging
11:27

Magnetically-Assisted Remote Controlled Microcatheter Tip Deflection under Magnetic Resonance Imaging

Published on: April 4, 2013

13.0K

Area of Science:

  • Robotics and Control Systems
  • Biomedical Engineering
  • Magnetic Field Modeling

Background:

  • Real-time localization of endoscopic capsules is crucial for minimally invasive procedures.
  • Existing methods often rely on dipole assumptions, limiting accuracy.
  • Faster computational methods are needed for closed-loop control.

Purpose of the Study:

  • To validate a Jacobian-based iterative method for precise, real-time localization of magnetically controlled endoscopic capsules.
  • To improve computational speed and accuracy compared to previous localization techniques.
  • To enable advanced closed-loop control strategies for capsule manipulation.

Main Methods:

  • Utilized finite-element solutions for magnetic field calculations.
  • Employed least-squares interpolations for fast magnetic field estimation.
  • Defined a closed-form Jacobian for iterative pose estimation, avoiding dipole approximations.
  • Integrated wireless capsule with sensors and an inertial measurement unit for data acquisition.

Main Results:

  • Achieved a high refresh rate of 7 ms, enabling control frequencies over 100 Hz.
  • Demonstrated average localization errors below 7 mm (radial/axial) and 5° (azimuthal).
  • Obtained average capsule orientation errors below 5° by fusing sensor data.

Conclusions:

  • The validated Jacobian-based method offers a significant advancement in real-time capsule localization.
  • The approach provides accurate and fast pose estimation, suitable for closed-loop magnetic control.
  • This technology has the potential to enhance the safety and efficacy of endoscopic procedures.