A magnetically-guided capsule endoscope, embedding flexible force sensors, is designed to measure the capsule-tissue interaction force. The flexible force sensor is composed of eight force-sensitive elements surrounding the internal permanent magnet (IPM). The control of interaction force acting on the intestinal wall can reduce patient's discomfort and maintain the magnetic coupling between the external permanent magnet (EPM) and the IPM during capsule navigation. A flexible force sensor can achieve this control. In particular, by analyzing the signals of the force sensitive elements, we propose a method to recognize the status of the motion of the magnetic capsule, and provide corresponding formulas to evaluate whether the magnetic capsule follows the motion of the external driving magnet. Accuracy of the motion recognition in Ex Vivo tests reached 94% when the EPM was translated along the longitudinal axis. In addition, a method is proposed to realign the EPM and the IPM before the loss of their magnetic coupling. Its translational error, rotational error, and runtime are 7.04 ± 0.71 mm, 3.13 ± 0.47∘, and 11.4 ± 0.39 s, respectively. Finally, a control strategy is proposed to prevent the magnetic capsule endoscope from losing control during the magnetically-guided capsule colonoscopy.


    Access

    Download


    Export, share and cite



    Title :

    Endoluminal Motion Recognition of a Magnetically-Guided Capsule Endoscope Based on Capsule-Tissue Interaction Force


    Contributors:

    Publication date :

    2021-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Magnetic control capsule gastroscopy trolley and magnetic body for magnetically driving magnetic control capsule

    LIAO ZHUAN / LI ZHAOSHEN / JIANG BIN | European Patent Office | 2023

    Free access

    The Concept and Prototype System of Medicine-Jet Capsule Endoscope

    Chiu, C. L. / Chen, C. T. | British Library Online Contents | 2005


    Force-bearing layer blended fabric for aerostat capsule body, aerostat capsule body and aerostat

    LIU JUNHU / JI XUEMEI / GE XUZHAO et al. | European Patent Office | 2022

    Free access

    LIFE CAPSULE AND ASSEMBLE INCLUDING THE CAPSULE

    CHUNG BYUNG YUN / PARK GAP SUNG | European Patent Office | 2016

    Free access

    Navigation of a robotic capsule endoscope with a novel ultrasound tracking system

    Gumprecht, J. D. / Lueth, T. C. / Khamesee, M. B. | British Library Online Contents | 2013