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capsular endoscopy

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Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures
Gastone Ciuti, Pietro Valdastri, Arianna Menciassi, Paolo Dario
Journal:

Robotica / Volume 28 / Issue 2 / March 2010

Published online by Cambridge University Press:

26 October 2009, pp. 199-207
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This paper describes a novel approach to capsular endoscopy that takes advantage of active magnetic locomotion in the gastrointestinal tract guided by an anthropomorphic robotic arm. Simulations were performed to select the design parameters allowing an effective and reliable magnetic link between the robot end-effector (endowed with a permanent magnet) and the capsular device (endowed with small permanent magnets). In order to actively monitor the robotic endoluminal system and to efficiently perform diagnostic and surgical medical procedures, a feedback control based on inertial sensing was also implemented. The proposed platform demonstrated to be a reliable solution to move and steer a capsular device in a slightly insufflated gastrointestinal lumen.