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Pose tracking method using magnetic excitations with frequency division for robotic endoscopic capsules.

Xudong Guo1, Shengnan Li2, Youguo Hao3

  • 1School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China. guoxd@usst.edu.cn.

Biomedical Microdevices
|January 5, 2022
PubMed
Summary

A new magnetic tracking method enhances robotic capsule pose estimation using frequency division and a Back-Propagation neural network. This improves real-time tracking for medical applications.

Keywords:
Frequency divisionGastrointestinal tractMultiple magnetic sources for simultaneous excitationPose trackingRobotic endoscopic capsules

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Magnetic Sensing

Background:

  • Accurate pose estimation of robotic endoscopic capsules is crucial for advanced medical procedures like targeted drug delivery and controlled locomotion.
  • Existing tracking methods face challenges in real-time performance and miniaturization for capsule integration.

Purpose of the Study:

  • To develop and validate a novel, real-time magnetic tracking system for robotic endoscopic capsules.
  • To improve the accuracy and efficiency of capsule pose determination for enhanced medical interventions.

Main Methods:

  • Investigated a novel tracking method utilizing multiple magnetic excitations with frequency division for simultaneous coil operation.
  • Derived a new model relating magnetic flux density to capsule pose, involving a nonlinear equation system.
  • Employed a Back-Propagation (BP) neural network algorithm combined with a mother wavelet for pose solving.
  • Developed a miniaturized wireless magnetic sensing module with digital signal processing for integration into the capsule.

Main Results:

  • A functional prototype of the tracking system was successfully developed and tested.
  • Experimental results demonstrated mean errors of 0.0098 m (x), 0.0122 m (y), 0.0077 m (z), 0.187 rad (α), and 0.161 rad (β).
  • The developed system significantly improved real-time tracking performance.

Conclusions:

  • The novel magnetic tracking system offers improved accuracy and real-time capabilities for robotic endoscopic capsules.
  • The system's miniaturization potential makes it suitable for integration into capsules, advancing targeted drug delivery and locomotion control.
  • This technology holds promise for enhancing minimally invasive diagnostic and therapeutic procedures.