LOGIN TO YOUR ACCOUNT

Username
Password
Remember Me
Or use your Academic/Social account:

CREATE AN ACCOUNT

Or use your Academic/Social account:

Congratulations!

You have just completed your registration at OpenAire.

Before you can login to the site, you will need to activate your account. An e-mail will be sent to you with the proper instructions.

Important!

Please note that this site is currently undergoing Beta testing.
Any new content you create is not guaranteed to be present to the final version of the site upon release.

Thank you for your patience,
OpenAire Dev Team.

Close This Message

CREATE AN ACCOUNT

Name:
Username:
Password:
Verify Password:
E-mail:
Verify E-mail:
*All Fields Are Required.
Please Verify You Are Human:
fbtwitterlinkedinvimeoflicker grey 14rssslideshare1
Di Natali, C; Beccani, M; Simaan, N; Valdastri, P (2016)
Publisher: Institute of Electrical and Electronics Engineers
Languages: English
Types: Article
Subjects: Article
The purpose of this study is to validate a Jacobian-based iterative method for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-element solutions to the magnetic field problem and least-squares interpolations to obtain closed-form and fast estimates of the magnetic field. By defining a closed-form expression for the Jacobian of the magnetic field relative to changes in the capsule pose, we are able to obtain an iterative localization at a faster computational time when compared with prior works, without suffering from the inaccuracies stemming from dipole assumptions. This new algorithm can be used in conjunction with an absolute localization technique that provides initialization values at a slower refresh rate. The proposed approach was assessed via simulation and experimental trials, adopting a wireless capsule equipped with a permanent magnet, six magnetic field sensors, and an inertial measurement unit. The overall refresh rate, including sensor data acquisition and wireless communication was 7 ms, thus enabling closed-loop control strategies for magnetic manipulation running faster than 100 Hz. The average localization error, expressed in cylindrical coordinates was below 7 mm in both the radial and axial components and 5? in the azimuthal component. The average error for the capsule orientation angles, obtained by fusing gyroscope and inclinometer measurements, was below 5?.
  • The results below are discovered through our pilot algorithms. Let us know how we are doing!

    • [1] P. Valdastri, M. Simi, and R. J. Webster III, “Advanced technologies for gastrointestinal endoscopy,” Annual Review of Biomedical Engineering, vol. 14, pp. 397-429, 2012.
    • [2] A. W. Mahoney and J. J. Abbott, “Five-degree-offreedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy,” The International Journal of Robotics Research, 2015, in press, available on-line.
    • [3] C. Di Natali, M. Beccani, and P. Valdastri, “Real-time pose detection for magnetic medical devices,” IEEE Trans. Magn., vol. 49, no. 7, pp. 3524-3527, 2013.
    • [4] C. Di Natali, M. Beccani, K. Obstein, and P. Valdastri, “A wireless platform for in vivo measurement of resistance properties of the gastrointestinal tract,” Physiological measurement, vol. 35, no. 7, p. 1197, 2014.
    • [5] T. D. Than, G. Alici, H. Zhou, and W. Li, “A Review of Localization Systems for Robotic Endoscopic Capsules.” IEEE Trans. Bio-Med. Eng., vol. 59, no. 9, pp. 2387- 2399, 2012.
    • [6] C. Hu, M. Li, S. Song, R. Zhang, M.-H. Meng et al., “A cubic 3-axis magnetic sensor array for wirelessly tracking magnet position and orientation,” Sensors Journal, IEEE, vol. 10, no. 5, pp. 903-913, 2010.
    • [7] S. Song, B. Li, W. Qiao, C. Hu, H. Ren, H. Yu, Q. Zhang, M. Q.-H. Meng, and G. Xu, “6-d magnetic localization and orientation method for an annular magnet based on a closed-form analytical model,” Magnetics, IEEE Transactions on, vol. 50, no. 9, pp. 1-11, 2014.
    • [8] D. M. Pham and S. M. Aziz, “A real-time localization system for an endoscopic capsule,” in Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), 2014 IEEE Ninth International Conference on. IEEE, 2014, pp. 1-6.
    • [9] K. M. Popek, A. W. Mahoney, and J. J. Abbott, “Localization method for a magnetic capsule endoscope propelled by a rotating magnetic dipole field,” in Robotics and Automation (ICRA), 2013 IEEE International Conference on. IEEE, 2013, pp. 5348-5353.
    • [10] S. Yim and M. Sitti, “3-d localization method for a magnetically actuated soft capsule endoscope and its applications,” Robotics, IEEE Transactions on, vol. 29, no. 5, pp. 1139-1151, 2013.
    • [11] M. Salerno, R. Rizzo, E. Sinibaldi, and A. Menciassi, “Force calculation for localized magnetic driven capsule endoscopes,” in Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013, pp. 5354-5359.
    • [12] D. Whitney, “Resolved Motion Rate Control of Manipulators and Human Prostheses,” IEEE Transactions on Man Machine Systems, vol. 10, no. 2, pp. 47-53, Jun. 1969.
    • [13] J. Nocedal and S. J. Wright, Numerical Optimization, T. V. Mikosh, S. M. Robinson, and S. Resnick, Eds. Springer, 2006.
    • [14] E. P. Furlani, Permanent Magnet and Electromechanical Devices. Elsevier, 2001, pp. 131-135.
    • [15] --, Permanent magnet and electromechanical devices [electronic resource]: materials, analysis, and applications. Access Online via Elsevier, 2001.
    • [16] E. Furlani and M. Knewtson, “A three-dimensional field solution for permanent-magnet axial-field motors,” Magnetics, IEEE Transactions on, vol. 33, no. 3, pp. 2322- 2325, 1997.
    • [17] G. S. Chirikjian and J. W. Burdick, “A Modal Approach to Hyper-Redundant Manipulator Kinematics,” IEEE Transactions on Robotics and Automation, vol. 10, no. 3, pp. 343-354, 1994.
    • [18] J. Zhang, K. Xu, N. Simaan, and S. Manolidis, “A pilot study of robot-assisted cochlear implant surgery using steerable electrode arrays,” in Medical Image Computing and Computer-Assisted Intervention-MICCAI 2006. Springer, 2006, pp. 33-40.
    • [19] J. Zhang, J. T. Roland, S. Manolidis, and N. Simaan, “Optimal path planning for robotic insertion of steerable electrode arrays in cochlear implant surgery,” Journal of medical devices, vol. 3, no. 1, 2009.
    • [20] H. F. Davis, Fourier series and orthogonal functions. DoverPublications. com, 1963.
    • [21] N. Csanyi and C. K. Toth, “Some aspects of using Fourier analysis to support surface modeling,” in Proceedings of Pecora 16, Global Priorities in Land Remote Sensing, Sioux Falls, South Dakota, October 2005, pp. 1-12.
    • [22] J. Brewer, “Kronecker products and matrix calculus in system theory,” Circuits and Systems, IEEE Transactions on, vol. 25, no. 9, pp. 772-781, 1978.
    • [23] P. Lancaster and Miron Tismensky, The Theory of Matrices, 2nd ed. Academic Press, 1985.
    • [24] F. C. A. Devices, “Using an accelerometer for inclination sensing,” Application note AN-1057, 2011.
    • [25] H. J. Luinge, P. H. Veltink, and C. T. Baten, “Estimating orientation with gyroscopes and accelerometers,” Technology and health care, vol. 7, no. 6, pp. 455-459, 1999.
    • [26] M. Ignagni, “Optimal strapdown attitude integration algorithms,” Journal of Guidance, Control, and Dynamics, vol. 13, no. 2, pp. 363-369, 1990.
    • [27] J. Favre, B. Jolles, O. Siegrist, and K. Aminian, “Quaternion-based fusion of gyroscopes and accelerometers to improve 3d angle measurement,” Electronics Letters, vol. 42, no. 11, pp. 612-614, 2006.
    • [28] Y. Nakamura, Advanced Robotics: Redundancy and Optimization, 1st ed. Boston, MA, USA: Addison-Wesley Longman Publishing Co., Inc., 1990.
    • [29] J. C. Springmann, J. W. Cutler, and H. Bahcivan, “Magnetic sensor calibration and residual dipole characterization for application to nanosatellites,” in Proceedings of the AIAA/AAS Astrodynamics Specialist Conference, Toronto, Canada, August 2010, pp. 1-14.
    • [30] P. Valdastri, R. J. Webster III, C. Quaglia, M. Quirini, A. Menciassi, and P. Dario, “A new mechanism for mesoscale legged locomotion in compliant tubular environments,” IEEE Trans. Robot., vol. 25, no. 5, pp. 1047- 1057, 2009.
    • [31] M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. J. Leonard, and F. Dellaert, “isam2: Incremental smoothing and mapping using the bayes tree,” The International Journal of Robotics Research, p. 0278364911430419, 2011.
    • [32] V. Indelman, S. Williams, M. Kaess, and F. Dellaert, “Factor graph based incremental smoothing in inertial navigation systems,” in Information Fusion (FUSION), 2012 15th International Conference on. IEEE, 2012, pp. 2154-2161.
    • [33] L. Carlone, R. Aragues, J. A. Castellanos, and B. Bona, “A fast and accurate approximation for planar pose graph optimization,” The International Journal of Robotics Research, p. 0278364914523689, 2014.
    • [34] M. S. Grewal, L. R. Weill, and A. P. Andrews, Global positioning systems, inertial navigation, and integration. John Wiley & Sons, 2007.
    • [35] B. Barshan and H. F. Durrant-Whyte, “Inertial navigation systems for mobile robots,” Robotics and Automation, IEEE Transactions on, vol. 11, no. 3, pp. 328-342, 1995.
    • Christian Di Natali (S'10) received B.S. and M.S. degrees (Hons.) in Biomedical Engineering from the University of Pisa, in 2008 and 2010. In 2011, he joined the Institute of BioRobotics of Scuola Superiore Sant'Anna (SSSA), Pisa, Italy, as Research Assistant. In 2015, he graduated with a PhD in Mechanical Engineering from Vanderbilt University, Nashville, TN, where he was actively involved in the design of advanced magnetic coupling for surgery and endoscopy, controlled mechatronic platforms and magnetic localization.
    • Marco Beccani (S'11) received a Master's degree in Electronic Engineering from the University of Pisa, Pisa, Italy, in 2010. In 2015, he graduated with a PhD in Mechanical Engineering from Vanderbilt University, Nashville, TN. He is currently a post-doctoral fellow at University of Pennsylvania, Philadelphia, PA.
    • Nabil Simaan (SM 04) received his Ph.D. in mechanical engineering from the Technion: Israel Institute of Technology, Haifa, Israel, in 2002. In 2005, he joined Columbia University, New York, NY, as an Assistant Professor. In 2009 he received the NSF Career award to design new algorithms and robots for safe interaction with the anatomy. He was promoted to Associate Professor in 2010 and subsequently he joined Vanderbilt University, Nashville, TN in Fall 2010.
    • Pietro Valdastri (M'05, SM'13) received a Master's (Hons.) degree in Electronic Engineering from the University of Pisa, Italy, in 2002, and a Ph.D. degree in Biomedical Engineering from SSSA, Pisa, Italy. He is Assistant Professor in the Department of Mechanical Engineering at Vanderbilt University and Director of the STORM Lab. In 2015, he received the NSF Career award to study and design capsule robots for medical applications.
  • No related research data.
  • No similar publications.

Share - Bookmark

Funded by projects

  • NSF | CPS: Synergy: Integrated Mo...
  • NSF | CAREER: Lifesaving Capsule ...
  • NIH | A magnetic capsule endoscop...

Cite this article