Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach

The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permane...

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Veröffentlicht in:	IEEE robotics and automation letters 2019-04, Vol.4 (2), p.1224-1231
Hauptverfasser:	Pittiglio, Giovanni, Barducci, Lavinia, Martin, James W., Norton, Joseph C., Avizzano, Carlo A., Obstein, Keith L., Valdastri, Pietro
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Colon Colonoscopy Completion time Dynamic control Endoscopes Force force control Friction reduction Inspection Magnetic devices Magnetic levitation Magnetomechanical effects Medical robots and systems motion control Permanent magnets Robots
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