未知管状环境中机器人胶囊的往复旋转磁驱动
On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments
摘要：
基于同步磁致动和定位（SMAL）技术的主动无线胶囊内窥镜（WCE）在提高诊断准确性、减少检查时间和减轻操作者负担方面具有很大的前景。迄今为止，旋转磁致动方法已被限制为使用连续旋转的永磁体。在本文中，我们首先提出了主动WCE的双旋转磁致动（RRMA）方法，以提高患者的安全性。我们首先展示了如何产生一个所需的旋转磁场胶囊驱动，并提供了一个理论分析的潜在风险，导致肠扭转，由于胶囊运动。然后，一个基于RRMA的SMAL工作流程，提出了在一个未知的管状环境中自动推进胶囊。我们验证了我们的方法在现实世界的实验中自动推进机器人胶囊在离体猪结肠的有效性。实验结果表明，我们的方法可以实现有效和强大的推进胶囊的平均移动速度为$2.48 mm/s$在猪结肠，并证明了使用RRMA，以提高患者的安全性，减少检查时间，并提高临床接受这项技术的潜力。
英文摘要：
Active wireless capsule endoscopy (WCE) based on simultaneous magnetic actuation and localization (SMAL) techniques holds great promise for improving diagnostic accuracy, reducing examination time and relieving operator burden. To date, the rotating magnetic actuation methods have been constrained to use a continuously rotating permanent magnet. In this paper, we first propose the reciprocally rotating magnetic actuation (RRMA) approach for active WCE to enhance patient safety. We first show how to generate a desired reciprocally rotating magnetic field for capsule actuation, and provide a theoretical analysis of the potential risk of causing volvulus due to the capsule motion. Then, an RRMA-based SMAL workflow is presented to automatically propel a capsule in an unknown tubular environment. We validate the effectiveness of our method in real-world experiments to automatically propel a robotic capsule in an ex-vivo pig colon. The experiment results show that our approach can achieve efficient and robust propulsion of the capsule with an average moving speed of $2.48 mm/s$ in the pig colon, and demonstrate the potential of using RRMA to enhance patient safety, reduce the inspection time, and improve the clinical acceptance of this technology.
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