A magnetic internal mechanism for precise orientation of the camera in wireless endoluminal applications

Valdastri, Pietro; Quaglia, Claudio; Buselli, Elisa; Arezzo, Alberto; Lorenzo, Nicola Di; Morino, Mario; Menciassi, Arianna; Dario, P.

doi:10.1055/s-0029-1244170

Cited by 54 publications

(23 citation statements)

References 17 publications

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“…Miller et al, [54]  X X X X X Cavallotti et al, [40]  X X X X X Valdastri et al, [55]  X X X X X AlRawhani et al, [56]  X X X X X Valdastri et al, [57]  X X X X X Quaglia et al, [13]  X X X X X…”

Section: Smac Module Mcrmentioning

confidence: 99%

SMAC — A Modular Open Source Architecture for Medical Capsule Robots

Beccani

Susilo

et al. 2014

International Journal of Advanced Robotic Systems

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The field of Medical Capsule Robots (MCRs) is gaining momentum in the robotics community, with applications spanning from abdominal surgery to gastrointestinal (GI) endoscopy. MCRs are miniature multifunctional devices usually constrained in both size and on-board power supply. The design process for MCRs is time consuming and resource intensive, as it involves the development of custom hardware and software components. In this work, we present the STORM Lab Modular Architecture for Capsules (SMAC), a modular open source architecture for MCRs aiming to provide the MCRs research community with a tool for shortening the design and development time for capsule robots. The SMAC platform consists of both hardware modules and firmware libraries that can be used for developing MCRs. In particular, the SMAC modules are miniature boards of uniform diameter (i.e., 9.8 mm) that are able to fulfill five different functions: signal coordination combined with wireless data transmission, sensing, actuation, powering and vision/illumination. They are small in size, low power, and have reconfigurable software libraries for the Hardware Abstraction Layer (HAL), which has been proven to work reliably for different types of MCRs. A design template for a generic SMAC application implementing a robust communication protocol is presented in this work, together with its finite state machine abstraction, capturing all the architectural components involved. The reliability of the wireless link is assessed for different levels of data transmission power and separation distances. The current consumption for each SMAC module is quantified and the timing of a SMAC radio message transmission is characterized. Finally, the applicability of SMAC in the field of MCRs is discussed by analysing examples from the literature.

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Section: Smac Module Mcrmentioning

confidence: 99%

SMAC — A Modular Open Source Architecture for Medical Capsule Robots

Beccani

Susilo

et al. 2014

International Journal of Advanced Robotic Systems

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“…The former aims to develop a self-propelled miniaturized robotic pill for advanced diagnostics and treatment in the digestive tract. Over the last few months, the topic of the feasibility and effectiveness of the combined use of external static magnetic fields to achieve wirelessly controllable and precise camera steering has been published (Gao et al,2010;Swain et al,2010;Valdastri et al,2010)The second study is looking into the detection of surface and deep seated pathology by photonic technologies that enable optical biopsies. This would eliminate the need to take biopsy specimens and perform histological examination (Swain, 2008).…”

Section: Next Generation Capsule Endoscopymentioning

confidence: 99%

Capsule Endoscopy: A Comprehensive Review

Jain¹,

Jain²

2011

New Techniques in Gastrointestinal Endoscopy

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“…This type of device is anchored, guided and actuated by external units, with power and torque transmitted across the abdominal wall through magnetic linkage 7 .…”

Section: Introductionmentioning

confidence: 99%