An integrated vision system with autofocus for wireless capsular endoscopy

Cavallotti, C.; Piccigallo, M.; Susilo, E.; Valdastri, Pietro; Menciassi, Arianna; Dario, P.

doi:10.1016/j.sna.2009.01.028

Cited by 40 publications

(29 citation statements)

References 18 publications

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“…Cavallotti et al, [40] Regarding the thermal behaviour of the MCR, the temperature acquired by the PT module reached a plateau of 37°C within about 10 minutes after introducing the capsule into the stomach of the animal. Afterwards, the recorded temperature variation was within 0.6°C.…”

Section: Smac Module Mcrmentioning

confidence: 99%

“…Other examples of MCRs published so far that can be implemented via the SMAC approach range from WCEs, which can swim in a water-filled stomach [10,15,49,50], or crawl inside a colon [16,27,51], or be manipulated by external magnetic fields inside the GI tract [18,[52][53][54], or perform advanced imaging [40,55,56], or execute a therapeutic function inside the intestine [11,13,57]. The modular robotic endoscope for colonoscopy recently reported in [12] can also be implemented via SMAC.…”

Section: Overview Of Mcrs That Can Be Implemented Via Smacmentioning

confidence: 99%

“…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%

See 2 more Smart Citations

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%

Section: Overview Of Mcrs That Can Be Implemented Via Smacmentioning

confidence: 99%

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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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“…Liquid crystal lenses [6,24,25] are based on tuning the refractive index using spatially variant electrical fields. Liquid lenses are based on changing the shape and thickness of the liquid(s) and mainly consist of electrowetting liquid lens [14,18,[20][21][22] and liquid-filled membrane lens [15,[27][28][29]. Currently some of the liquid lenses are commercially available [31,32].…”

Section: Introductionmentioning

confidence: 99%

Design of high-performance adaptive objective lens with large optical depth scanning range for ultrabroad near infrared microscopic imaging

Lan

Mauger

2015

Biomed. Opt. Express

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Abstract:We report on the theory and design of adaptive objective lens for ultra broadband near infrared light imaging with large dynamic optical depth scanning range by using an embedded tunable lens, which can find wide applications in deep tissue biomedical imaging systems, such as confocal microscope, optical coherence tomography (OCT), two-photon microscopy, etc., both in vivo and ex vivo. This design is based on, but not limited to, a home-made prototype of liquid-filled membrane lens with a clear aperture of 8mm and the thickness of 2.55mm ~3.18mm. It is beneficial to have an adaptive objective lens which allows an extended depth scanning range larger than the focal length zoom range, since this will keep the magnification of the whole system, numerical aperture (NA), field of view (FOV), and resolution more consistent. To achieve this goal, a systematic theory is presented, for the first time to our acknowledgment, by inserting the varifocal lens in between a front and a back solid lens group. The designed objective has a compact size (10mm-diameter and 15mm-length), ultrabroad working bandwidth (760nm -920nm), a large depth scanning range (7.36mm in air) -1.533 times of focal length zoom range (4.8mm in air), and a FOV around 1mm × 1mm. Diffraction-limited performance can be achieved within this ultrabroad bandwidth through all the scanning depth (the resolution is 2.22 μm -2.81 μm, calculated at the wavelength of 800nm with the NA of 0.214 -0.171). The chromatic focal shift value is within the depth of focus (field). The chromatic difference in distortion is nearly zero and the maximum distortion is less than 0.05%.

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“…1a are difcult to apply to miniaturized optical devices for consumer applications, such as mobile phones, optical pickup heads and capsule endoscopes, due to the size, power, and cost [1]. Recently, some reliable focus tunable lenses have replaced conventional bulky instruments with small and simple devices such as electrowetting lenses and liquid crystal lenses shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

Variable-Focus Fluid Lens Using an Electromagnetic Actuator

et al. 2013

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A variable-focus uid lens controlled by an electromagnetic actuator and its characteristics are presented in this paper. The repulsive force between an NdFeB magnet and a solenoid through electromagnetic induction causes deections in the elastomeric membranes integrated in the lens resulting in a focal-length change. The controllability of the focal length of the fabricated lens with an aperture size of 2 mm was approximately from innity to 15 mm (with input current of 100 mA). The actuator including the solenoid was carefully designed to avoid thermal crosstalk of the lens uid and magnet from the electromagnetic induction of the solenoid. The settling time to form a convex shape of the lens membrane was approximately 2.5 ms at an input current of 20 mA.

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An integrated vision system with autofocus for wireless capsular endoscopy

Cited by 40 publications

References 18 publications

SMAC — A Modular Open Source Architecture for Medical Capsule Robots

SMAC — A Modular Open Source Architecture for Medical Capsule Robots

Design of high-performance adaptive objective lens with large optical depth scanning range for ultrabroad near infrared microscopic imaging

Variable-Focus Fluid Lens Using an Electromagnetic Actuator

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