Hybrid 6-DoF Magnetic Localization for Robotic Capsule Endoscopes Compatible With High-Grade Magnetic Field Navigation

The paper proposes a hybrid 6 degrees of freedom localization system for endoscopic magnetic capsules, compatible with external high-grade permanent magnetic locomotion. The proposed localization system, which is able to provide an accurate estimation of the endoscopic capsule pose, finds applicatio...

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Bibliographic Details
Published in:IEEE access 2022, Vol.10, p.4414-4430
Main Authors: Bianchi, Federico, Masaracchia, Antonino, Damone, Angelo, Barjuei, Erfan Shojaei, Oddo, Calogero Maria, Dario, Paolo, Ciuti, Gastone
Format: Article
Language:English
Subjects:
Cancer
Capsule endoscopy
Degrees of freedom
Endoscopes
Endoscopy
Localization
Location awareness
Locomotion
magnetic field models
Magnetic fields
Magnetic sensors
magnetic-based navigation and localization
minimally-invasive colonoscopy
Navigation
Optimization
robotic endoscopy
Robots
Sensors
Triangulation
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Summary:The paper proposes a hybrid 6 degrees of freedom localization system for endoscopic magnetic capsules, compatible with external high-grade permanent magnetic locomotion. The proposed localization system, which is able to provide an accurate estimation of the endoscopic capsule pose, finds application in the robotic endoscopy field to provide efficient closed-loop navigation of a magnetically-driven tethered capsule. It takes advantage of two optimization steps based on a triangulation approach, i.e. (1) mathematical approximations of the magnetic field, and (2) minimization of the magnetic field mean square deviation. The proposed localization system was tested in two different in-vitro scenarios for mimicking the clinical cases that a magnetic capsule would encounter during tele-operated magnetic navigation. The development phase was preceded by an in-depth work-space analysis to lay the groundwork for the localization design and implementation. Results of the hybrid 6 degrees of freedom localization system show a significant accuracy in accordance with the state-of-the-art, i.e. about 5 mm in position and 5° in orientation, but introducing benefits in expanding the work-space by increasing the number of electromagnets onto the operating table, as an independent solution with respect to the external magnetic locomotion source.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3136796