Independent Electromagnetic Field Control for Practical Approach to Actively Locomotive Wireless Capsule Endoscope

Hoang, Manh Cuong; Nguyen, Kim Tien; Le, Viet Ha; Kim, Jayoung; Choi, Eunpyo; Kang, Byungjeon; Park, Jong-Oh; Kim, Chang‐Sei

doi:10.1109/tsmc.2019.2917298

Cited by 64 publications

(25 citation statements)

References 43 publications

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“…Based on the Helmholtz and Maxwell coil configuration, we built the system with a barrel shape so that the patient could easily access it. Figure 1 shows the conceptual design of the system, and a detailed configuration can be found in our previous development [44]. To guarantee a powerful system, we used 10 electromagnets including a pair of Helmholtz coils, 2 pairs Maxwell coils, and 2 pairs of rectangle coils.…”

Section: Active Control Through Electromagnetic Actuationmentioning

confidence: 99%

See 1 more Smart Citation

Automated Bowel Polyp Detection Based on Actively Controlled Capsule Endoscopy: Feasibility Study

Hoang

Nguyen²,

Kim³

et al. 2021

Diagnostics

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This paper presents an active locomotion capsule endoscope system with 5D position sensing and real-time automated polyp detection for small-bowel and colon applications. An electromagnetic actuation system (EMA) consisting of stationary electromagnets is utilized to remotely control a magnetic capsule endoscope with multi-degree-of-freedom locomotion. For position sensing, an electronic system using a magnetic sensor array is built to track the position and orientation of the magnetic capsule during movement. The system is integrated with a deep learning model, named YOLOv3, which can automatically identify colorectal polyps in real-time with an average precision of 85%. The feasibility of the proposed method concerning active locomotion and localization is validated and demonstrated through in vitro experiments in a phantom duodenum. This study provides a high-potential solution for automatic diagnostics of the bowel and colon using an active locomotion capsule endoscope, which can be applied for a clinical site in the future.

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Section: Active Control Through Electromagnetic Actuationmentioning

confidence: 99%

“…In our previous study [44], 𝑩 𝑭 was defined by six parameters. As an advancement from the previous study, we newly present an end-user-oriented control algorithm in this paper.…”

Section: Active Control Through Electromagnetic Actuationmentioning

confidence: 99%

Automated Bowel Polyp Detection Based on Actively Controlled Capsule Endoscopy: Feasibility Study

Hoang

Nguyen²,

Kim³

et al. 2021

Diagnostics

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“…where D = [B F] T denotes the desired matrix and M u ∈ R 12×4 denotes the unit matrix corresponding to the four coils in the range of the ROI. To obtain the value of the input current in (8), matrix inversion is applied to M u , and a pseudo inversion is applied to obtain the current matrix via the following equation in analogy with the methodology of [30].…”

Section: Ffp Generationmentioning

confidence: 99%

Localization and Actuation for MNPs Based on Magnetic Field-Free Point: Feasibility of Movable Electromagnetic Actuations

Kim

Kim²,

Park

et al. 2020

Micromachines

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Targeted drug delivery (TDD) based on magnetic nanoparticles (MNPs) and external magnetic actuation is a promising drug delivery technology compared to conventional treatments usually utilized in cancer therapy. However, the implementation of a TDD system at a clinical site based on considerations for the actual size of the human body requires a simplified structure capable of both external actuation and localization. To address these requirements, we propose a novel approach to localize drug carriers containing MNPs by manipulating the field-free point (FFP) mechanism in the principal magnetic field. To this end, we devise a versatile electromagnetic actuation (EMA) system for FFP generation based on four coils affixed to a movable frame. By the Biot–Savart law, the FFP can be manipulated by appropriately controlling the gradient field strength at the target area using the EMA system. Further, weighted-norm solutions are utilized to correct the positions of FFP to improve the accuracy of FFP displacement in the region of interest (ROI). As MNPs, ferrofluid is used to experiment with 2D and 3D localizations in a blocked phantom placed in the designed ROI. The resultant root mean square error of the localizations is observed to be approximately 1.4 mm in the 2D case and 1.6 mm in the 3D case. Further, the proposed movable EMA is verified to be capable of simultaneously scanning multiple points as well as the actuation and imaging of MNPs. Based on the success of the experiments in this study, further research is intended to be conducted in scale-up system development to design precise TDD systems at clinical sites.

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“…Various methodologies for robotic capsule endoscope (RCE) localization have been comprehensively studied to date. Posture information provided by the localization system, such as the feedback control achieved by incorporating an external magnetic actuation (EMA) system, can significantly enhance the performance of an RCE [1][2] [3]. However, the existing localization system is still in a state of underdevelopment, owing to limitations such as a narrow workspace, low accuracy, and slow response time.…”

Section: Introductionmentioning

confidence: 99%

Six-Dimensional Localization of a Robotic Capsule Endoscope Using Magnetoquasistatic Field

Liu

Kim²,

Hong

et al. 2022

IEEE Access

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This study presents a six-dimensional (6D) localization method and theoretical analysis for a robotic capsule endoscope (RCE). Herein, the challenge of implementing 6D localization for an RCE, with the simultaneous localization of 3D position and 3D orientation, is resolved using optimization with an induced magnetostatic field and RCE kinematics. The optimization is achieved using three transmitting coils (Txs) that are placed in a foundation bed to generate the magnetoquasistatic field and three orthogonal receiving coils (Rxs) that are embedded in the RCE, which is aligned with a capsule coordinate system (CCS), to detect the magnetoquasistatic field. For the 3D position estimation, a nonlinear net magnetic field model is linearized, and a polynomial equation optimization is formulated. The local existence and uniqueness of the solution in the region of interest (ROI) are proved based on the model and simulation. For the 3D orientation estimation, a rotation matrix describing the RCE orientation is computed using the measured magnetic field at the three orthogonal Rxs, and the orthogonality of the rotation matrix is enhanced by using the polar coordinate decomposition. Both simulations and experiments verify the suitability of the proposed method. The maximum error for position and orientation are 1.68+/-0.76 mm and 1.74+/-1.06°, respectively, under a 5 Hz sampling rate in an applicable spherical ROI with a diameter of 10 cm.

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Independent Electromagnetic Field Control for Practical Approach to Actively Locomotive Wireless Capsule Endoscope

Cited by 64 publications

References 43 publications

Automated Bowel Polyp Detection Based on Actively Controlled Capsule Endoscopy: Feasibility Study

Automated Bowel Polyp Detection Based on Actively Controlled Capsule Endoscopy: Feasibility Study

Localization and Actuation for MNPs Based on Magnetic Field-Free Point: Feasibility of Movable Electromagnetic Actuations

Six-Dimensional Localization of a Robotic Capsule Endoscope Using Magnetoquasistatic Field

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