Six-Degree-of-Freedom Localization of an Untethered Magnetic Capsule Using a Single Rotating Magnetic Dipole

被引：73

作者：

Popek, Katie M. ^{[1
,2
]}

Schmid, Thomas ^{[3
]}

Abbott, Jake J. ^{[2
,4
]}

机构：

[1] Univ Utah, Sch Comp, Salt Lake City, UT 84112 USA

[2] Univ Utah, Robot Ctr, Salt Lake City, UT 84112 USA

[3] Univ Utah, Dept Elect & Comp Engn, Salt Lake City, UT 84112 USA

[4] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 01期

基金：

美国国家科学基金会;

关键词：

Localization; medical robots and systems; PERMANENT-MAGNET; ENDOSCOPE; POSITION; FIELD;

D O I：

10.1109/LRA.2016.2608421

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a method to estimate the six-degree-of-freedom pose of a magnetic capsule, with an embedded permanent magnet and Hall-effect sensors, using a rotating dipole field. The method's convergence properties as a function of the number of distinct rotation axes of the applied field and the number of complete rotations about each axis are characterized. Across our tested workspace, the localization error was 4.9 +/- 2.7 mm and 3.3 +/- 1.7 degrees (mean +/- standard deviation). We experimentally demonstrate this is sufficient for propulsion of a screw-type magnetic capsule through a lumen using a single dipole to both propel and localize the capsule.

引用

页码：305 / 312

页数：8

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