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Di Natali, Christian; Beccani, Marco; Simaan, Nabil; Valdastri, Pietro (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!

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    • 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.
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