管道环境中WCE自适应同步磁驱动与定位
Adaptive Simultaneous Magnetic Actuation and Localization for WCE in a Tubular Environment
摘要：
同时磁驱动和定位（SMAL）是一种很有前途的主动式无线胶囊内窥镜（WCE）技术。本文提出了一种自适应SMAL系统，以有效地推进和精确定位的胶囊在管状环境与复杂的形状。为了在大的工作空间中以高的定位精度和更新频率跟踪胶囊，我们提出了一种机制，该机制可以在胶囊运动期间自动激活具有最佳布局的传感器子阵列。对改进的多目标跟踪方法进行了简化，并将其应用于本系统中，实现了实时的估计。此外，我们还研究了磁驱动胶囊在管状环境中的运动，并制定了一种方法来自适应地调整致动器的姿态，以提高推进效率。本文所提出的方法适用于其他永磁型SMAL系统，有助于提高主动WCE的驱动效率。我们验证了我们提出的系统在广泛的实验幻影和离体动物器官的有效性。结果表明，我们的系统可以实现令人信服的性能相比，国家的最先进的驱动效率，工作空间的大小，鲁棒性，定位精度和更新频率。
英文摘要：
Simultaneous Magnetic Actuation and Localization (SMAL) is a promising technology for active wireless capsule endoscopy (WCE). In this paper, an adaptive SMAL system is presented to efficiently propel and precisely locate a capsule in a tubular environment with complex shapes. In order to track the capsule with high localization accuracy and update frequency in a large workspace, we propose a mechanism that can automatically activate a sub-array of sensors with the optimal layout during the capsule movement. The improved multiple objects tracking (IMOT) method is simplified and adapted to our system to estimate the 6-D pose of the capsule in real time. Also, we study the locomotion of a magnetically actuated capsule in a tubular environment, and formulate a method to adaptively adjust the pose of the actuator to improve the propulsion efficiency. Our presented methods are applicable to other permanent magnet-based SMAL systems, and help to improve the actuation efficiency of active WCE. We verify the effectiveness of our proposed system in extensive experiments on phantoms and ex-vivo animal organs. The results demonstrate that our system can achieve convincing performance compared with the state-of-the-art ones in terms of actuation efficiency, workspace size, robustness, localization accuracy and update frequency.
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