Explicit Model Predictive Control of a Magnetic Flexible Endoscope

Scaglioni, Bruno; Previtera, Luca; Martin, James; Norton, Joseph C.; Obstein, Keith L.; Valdastri, Pietro

doi:10.1109/lra.2019.2893418

Cited by 27 publications

(6 citation statements)

References 25 publications

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“…The results shown in this paper build upon the work carried out in 12 years of development, in which the foundations of the MFE platform have been developed. In previous works, our group evaluated different control strategies, aimed at tackling particular aspects of navigation such as pre-defined trajectories on benchtop 34 , levitation 45 , or overcoming obstacles 46 , but this is the first example of full control of the navigation process, successfully piloting the MFE in a porcine model. Additionally, we demonstrate autonomous navigation of magnetically manipulated endoscopes, in-vivo, for the first time.…”

Section: Discussionmentioning

confidence: 99%

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

et al. 2020

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Early diagnosis of colorectal cancer substantially improves survival. However, over half of cases are diagnosed late due to the demand for colonoscopy-the 'gold standard' for screening-exceeding capacity. Colonoscopy is limited by the outdated design of conventional endoscopes, which are associated with high complexity of use, cost and pain. Magnetic endoscopes are a promising alternative and overcome the drawbacks of pain and cost, but they struggle to reach the translational stage as magnetic manipulation is complex and unintuitive. In this work, we use machine vision to develop intelligent and autonomous control of a magnetic endoscope, enabling non-expert users to effectively perform magnetic colonoscopy in vivo. We combine the use of robotics, computer vision and advanced control to offer an intuitive and effective endoscopic system. Moreover, we define the characteristics required to achieve autonomy in robotic endoscopy. The paradigm described here can be adopted in a variety of applications where navigation in unstructured environments is required, such as catheters, pancreatic endoscopy, bronchoscopy and gastroscopy. This work brings alternative endoscopic technologies closer to the translational stage, increasing the availability of early-stage cancer treatments.

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Section: Discussionmentioning

confidence: 99%

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

et al. 2020

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“…In the permanent magnetbased systems, a capsule with embedded magnet(s) is actuated by an external permanent magnet, and their magnetic fields are measured by magnetic sensors to locate the capsule. Some permanent magnet-based systems directly use the magnetic force to drag the capsule to track a manually specified trajectory [15] [16] [17] [18] or automatically explore an unknown environment [19]. Instead of exclusively utilizing the magnetic force for dragging, Mahoney et al [20] and Popek et al [21] [22] used a continuously rotating spherical-magnet actuator [23] to generate a rotating magnetic field for helical propulsion of a capsule in a tubular environment, which we refer to as continuously rotating magnetic actuation (CRMA).…”

Section: Introductionmentioning

confidence: 99%

On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments

Xu,

Li,

Zhao

et al. 2021

Preprint

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Active wireless capsule endoscopy (WCE) based on simultaneous magnetic actuation and localization (SMAL) techniques holds great promise for improving diagnostic accuracy, reducing examination time and relieving operator burden. To date, the rotating magnetic actuation methods have been constrained to use a continuously rotating permanent magnet. In this paper, we first propose the reciprocally rotating magnetic actuation (RRMA) approach for active WCE to enhance patient safety. We first show how to generate a desired reciprocally rotating magnetic field for capsule actuation, and provide a theoretical analysis of the potential risk of causing volvulus due to the capsule motion. Then, an RRMA-based SMAL workflow is presented to automatically propel a capsule in an unknown tubular environment. We validate the effectiveness of our method in real-world experiments to automatically propel a robotic capsule in an ex-vivo pig colon. The experiment results show that our approach can achieve efficient and robust propulsion of the capsule with an average moving speed of 2.48mm/s in the pig colon, and demonstrate the potential of using RRMA to enhance patient safety, reduce the inspection time, and improve the clinical acceptance of this technology.

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“…In [11], the capsule's mass was regarded as a slowly varying parameter, and an adaptive controller (AC) was utilized for TF and capsule levitation. In [12], the explicit model predictive controller (eMPC) was first used for TF of a capsule.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Following Strategies for Wireless Capsule Endoscopy under Reciprocally Rotating Magnetic Actuation in a Tubular Environment

Xu¹,

Li²,

Zhao³

et al. 2021

Preprint

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Currently used wireless capsule endoscopy (WCE) is limited in terms of inspection time and flexibility since the capsule is passively moved by peristalsis and cannot be accurately positioned. Different methods have been proposed to facilitate active locomotion of WCE based on simultaneous magnetic actuation and localization technologies. In this work, we first investigate the trajectory following (TF) problem of a robotic capsule under reciprocally rotating magnetic actuation in a tubular environment, in order to safely, efficiently and accurately perform inspection of the intestine at given points. Specifically, four TF strategies are proposed and analyzed based on the PD controller, adaptive controller, model predictive controller and robust multi-stage model predictive controller. Moreover, we take into consideration the intestinal peristalsis and friction in our controller design by explicitly modeling the interdigestive migrating motor complex (MMC) mechanism in the intestine. We validate our methods in real-world experiments in various tubular environments including phantoms with different shapes and an ex-vivo pig colon. The results show that our approach can effectively actuate a reciprocally rotating capsule to follow a desired trajectory in complex tubular environments, thereby enabling repeated and accurate inspection of the intestine for high-quality diagnosis.

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Explicit Model Predictive Control of a Magnetic Flexible Endoscope

Cited by 27 publications

References 25 publications

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments

Trajectory Following Strategies for Wireless Capsule Endoscopy under Reciprocally Rotating Magnetic Actuation in a Tubular Environment

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