Closed Loop Control of a Tethered Magnetic Capsule Endoscope

Magnetic field gradients have repeatedly been shown to be the most feasible mechanism for gastrointestinal capsule endoscope actuation. An inverse quartic magnetic force variation with distance results in large force gradients induced by small movements of a driving magnet; this necessitates robotic actuation of magnets to implement stable control of the device. A typical system consists of a serial robot with a permanent magnet at its end effector that actuates a capsule with an embedded permanent magnet. We present a tethered capsule system where a capsule with an embedded magnet is closed loop controlled in 2 degree-of-freedom in position and 2 degree-offreedom in orientation. Capitalizing on the magnetic field of the external driving permanent magnet, the capsule is localized in 6- D allowing for both position and orientation feedback to be used in a control scheme. We developed a relationship between the serial robot’s joint parameters and the magnetic force and torque that is exerted onto the capsule. Our methodology was validated both in a dynamic simulation environment where a custom plug-in for magnetic interaction was written, as well as on an experimental platform. The tethered capsule was demonstrated to follow desired trajectories in both position and orientation with accuracy that is acceptable for colonoscopy

Capsule endoscopy of the future: What's on the horizon?

Capsule endoscopes have evolved from passively moving diagnostic devices to actively moving systems with potential therapeutic capability. In this review, we will discuss the state of the art, define the current shortcomings of capsule endoscopy, and address research areas that aim to overcome said shortcomings. Developments in capsule mobility schemes are emphasized in this text, with magnetic actuation being the most promising endeavor. Research groups are working to integrate sensor data and fuse it with robotic control to outperform today's standard invasive procedures, but in a less intrusive manner. With recent advances in areas such as mobility, drug delivery, and therapeutics, we foresee a translation of interventional capsule technology from the bench-top to the clinical setting within the next 10 years

Nonholonomic Closed-loop Velocity Control of a Soft-tethered Magnetic Capsule Endoscope

In this paper, we demonstrate velocity-level closedloop control of a tethered magnetic capsule endoscope that is actuated via serial manipulator with a permanent magnet at its end-effector. Closed-loop control (2 degrees-of-freedom in position, and 2 in orientation) is made possible with the use of a real-time magnetic localization algorithm that utilizes the actuating magnetic field and thus does not require additional hardware. Velocity control is implemented to create smooth motion that is clinically necessary for colorectal cancer diagnostics. Our control algorithm generates a spline that passes through a set of input points that roughly defines the shape of the desired trajectory. The velocity controller acts in the tangential direction to the path, while a secondary position controller enforces a nonholonomic constraint on capsule motion. A soft nonholonomic constraint is naturally imposed by the lumen while we enforce a strict constraint for both more accurate estimation of tether disturbance and hypothesized intuitiveness for a clinician’s teleoperation. An integrating disturbance force estimation control term is introduced to predict the disturbance of the tether. This paper presents the theoretical formulations and experimental validation of our methodology. Results show the system’s ability to achieve a repeatable velocity step response with low steady-state error as well as ability of the tethered capsule to maneuver around a bend

Fuzzy system identification by generating and evolutionary optimizing fuzzy rule bases consisting of relevant fuzzy rules

One approach forsystem identification among many othersis the fuzzy identification approach. The advantage of this approach compared to other analytical approaches is, that it is not necessary to make an assumption for the model to be used for the identification. In addition, the fuzzy approach can handle nonlinearities easier than analytical approaches. The Fuzzy-ROSA method is a method for data-based generation of fuzzy rules. This is the first step of a two step identification process. The second step is the optimization of the remaining free parameters, i.e. the composition of the rule base and the linguistic terms, to further improve the quality of the model and obtain small interpretable rule bases. In this paper, a new evolutionary strategy for the optimization of the linguistic terms of the output variable is presented. The effectiveness of the two step fuzzy identification is demonstrated on the benchmark problem 'kin dataset' of the Delve dataset repository and the results are compared to analytical and neural network approaches

Laparoscopic Camera Based on an Orthogonal Magnet Arrangement

In this letter, we present for the first time a magnetic anchoring-actuation link with an auto-flip feature. This orthogonal magnetic arrangement relies on the placement of two permanent magnets such that their magnetic moments are respectfully orthogonal. Though the arrangement may have many applications, in this study we integrate it in a small factor magnetic camera for minimally invasive procedures. Upon insertion through a trocar incision, the 5.5 mm diameter and 35 mm length magnetic camera is coupled with an external robotic controller and displaced from the port thus preventing clutter of the surgical workspace. The device allows for manual lateral translation as well as robotically controlled tilt and pan, resulting in four degrees of freedom. The auto-flip feature prevents the need for image adjustment in software as the camera tilts through its hemispherical workspace. A static model that relates an input external control tilt and output camera tilt has been developed and validated. Favorable results during bench and canine cadaver evaluation suggest promise for the proposed magnetic camera to improve the state of art in minimally invasive surgical procedures

Autonomous Retroflexion of a Magnetic Flexible Endoscope

Retroflexion during colonoscopy is typically only practiced in the wider proximal and distal ends of the large intestine owing to the stiff nature of the colonoscope. This inability to examine the proximal side of the majority of colon folds contributes to today's suboptimal colorectal cancer detection rates. We have developed an algorithm for autonomous retroflexion of a flexible endoscope that is actuated magnetically from the tip. The magnetic wrench applied on the tip of the endoscope is optimized in real time with data from pose detection to compute motions of the actuating magnet. This is the first example of a completely autonomous maneuver by a magnetic endoscope for exploration of the gastrointestinal tract. The proposed approach was validated in plastic tubes of various diameters with a success rate of 98.8% for separation distances up to 50 mm. Additionally, a set of trials was conducted in an excised porcine colon observing a success rate of 100% with a mean time of 19.7 s. In terms of clinical safety, the maximum stress that is applied on the colon wall with our methodology is an order of magnitude below what would damage tissue

Parallel Evolutionary Algorithms for Optimizing Data{based Generated Fuzzy Systems

Abstract. In the eld of data{based fuzzy modeling, the complexity of applications and the amount of data to be processed have grown continuously. Thus, the computational eort for solving these applications has also increased drastically. In order to meet this challenge, parallel computing approaches are applied. The task here is the optimization of data{based generated fuzzy rule bases. For this kind of application the tness evaluation of an individual is very time consuming. Here, a parallel genetic algorithm is applied to solve the optimization problem in an acceptable amount of time. Furthermore, it will be analyzed how the quality of the results changes with the use of multi{population models or neighborhood models. This will be illustrated by two example applications

Determination of the nature of the Cu coordination complexes formed in the presence of NO and NH3 within SSZ-13

Ammonia-selective catalytic reduction (NH3-SCR) using Cu zeolites is a well-established strategy for the abatement of NOx gases. Recent studies have demonstrated that Cu is particularly active when exchanged into the SSZ-13 zeolite, and its location in either the 6r or 8r renders it an excellent model system for fundamental studies. In this work, we examine the interaction of NH3-SCR relevant gases (NO and NH3) with the Cu2+ centers within the SSZ-13 structure, coupling powder diffraction (PD), X-ray absorption spectroscopy (XAFS), and density functional theory (DFT). This combined approach revealed that, upon calcination, cooling and gas exposure Cu ions tend to locate in the 8r window. After NO introduction, Cu-ions are seen to coordinate to two framework oxygens and one NO molecule, resulting in a bent Cu-nitrosyl complex with a Cu-N-O bond angle of similar to 150 degrees. Whilst Cu seems to be partially reduced/changed in coordination state, NO is partially oxidized. On exposure to NH3 while the PD data suggest the Cu2+ ion occupies a similar position, simulation and XAFS pointed toward the formation of a Jahn-Teller distorted hexaamine complex [Cu(NH3)(6)](2+) in the center of the cha cage. These results have important implications in terms of uptake and storage of these reactive gases and potentially for the mechanisms involved in the NH3-SCR process

Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope

Traditional endoscopes consist of a flexible body and a steerable tip with therapeutic capability. Although prior endoscopes have relied on operator pushing for actuation, recent robotic concepts have relied on the application of a tip force for guidance. In such case, the body of the endoscope can be passive and compliant; however, the body can have significant effect on mechanics of motion and may require modeling. As the endoscope body's shape is often unknown, we have developed an estimation method to recover the approximate distal shape, local to the endoscope's tip, where the tip position and orientation are the only sensed parameters in the system. We leverage a planar dynamic model and extended Kalman filter to obtain a constant-curvature shape estimate of a magnetically guided endoscope. We validated this estimator in both dynamic simulations and on a physical platform. We then used this estimate in a feed-forward control scheme and demonstrated improved trajectory following. This methodology can enable the use of inverse-dynamic control for the tip-based actuation of an endoscope, without the need for shape sensing