Medical technologies and challenges of robot-assisted minimally invasive intervention and diagnostics
Emerging paradigms furthering the reach of medical technology into human anatomy
present unique modeling, control, and sensing problems. This review provides a brief history …
present unique modeling, control, and sensing problems. This review provides a brief history …
From passive tool holders to microsurgeons: safer, smaller, smarter surgical robots
C Bergeles, GZ Yang - IEEE Transactions on Biomedical …, 2013 - ieeexplore.ieee.org
Within only a few decades from its initial introduction, the field of surgical robotics has
evolved into a dynamic and rapidly growing research area with increasing clinical uptake …
evolved into a dynamic and rapidly growing research area with increasing clinical uptake …
Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy
AW Mahoney, JJ Abbott - The International Journal of …, 2016 - journals.sagepub.com
This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position
and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid …
and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid …
Generating rotating magnetic fields with a single permanent magnet for propulsion of untethered magnetic devices in a lumen
AW Mahoney, JJ Abbott - IEEE Transactions on Robotics, 2013 - ieeexplore.ieee.org
To date, untethered magnetic devices actuated with a single rotating permanent magnet,
such as active capsule endoscopes and magnetic microrobots, have been constrained to …
such as active capsule endoscopes and magnetic microrobots, have been constrained to …
Localization strategies for robotic endoscopic capsules: a review
F Bianchi, A Masaracchia… - Expert review of …, 2019 - Taylor & Francis
Introduction: Nowadays, mass screening campaigns for colorectal cancer diagnosis in the
early and curable stage is essential yet limited due to many reasons, for example …
early and curable stage is essential yet limited due to many reasons, for example …
A 5-D localization method for a magnetically manipulated untethered robot using a 2-D array of Hall-effect sensors
This paper introduces a new 5-D localization method for an untethered meso-scale
magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The …
magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The …
Localization of wireless capsule endoscope: A systematic review
Wireless capsule endoscope (WCE) is a notable invention introduced in the biomedical
industry. It involves swallowing a small disposable video capsule that takes photographic …
industry. It involves swallowing a small disposable video capsule that takes photographic …
6-D magnetic localization and orientation method for an annular magnet based on a closed-form analytical model
Magnetic tracking technology is emerging to provide an occlusion-free tracking scheme for
the estimation of full pose (position and orientation) of various instruments. This brings …
the estimation of full pose (position and orientation) of various instruments. This brings …
Jacobian-based iterative method for magnetic localization in robotic capsule endoscopy
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 …
localization of magnetically controlled endoscopic capsules. The proposed approach …
A novel system for closed-loop simultaneous magnetic actuation and localization of WCE based on external sensors and rotating actuation
Simultaneous magnetic actuation and localization (SMAL) is a promising technology for
accelerating and positioning the capsule in the human intestine for wireless capsule …
accelerating and positioning the capsule in the human intestine for wireless capsule …