Characterization of Video Capsule Endoscopy Manipulation Capabilities in Low-Viscosity Liquids Under a Highly Nonlinear Magnetic Field from a Single Magnet
Video Capsule Endoscopy (VCE) provides a non-invasive diagnostic method for gastrointestinal disorders but is hindered by navigational challenges within the large gastric cavity. This study explores the use of a robotic arm with a permanent magnet to enhance VCE navigation, focusing on overcoming the limitations of magnetic control in low-viscosity environments. Through physical modeling, we refine a buoyancy-enhanced strategy that utilizes the VCE's inherent buoyancy for improved control. Experimental results confirm that this approach enhances maneuverability and stability, offering potential advancements in the precision of VCE diagnostics.
Authors
- Zifeng Huang (ORCID: https://orcid.org/0000-0002-5164-7512)
- Sishen Yuan (ORCID: https://orcid.org/0000-0001-5095-5372)
- Yongze Wu
- Yi Liu (ORCID: https://orcid.org/0000-0002-1571-5442)
- Yupeng Wang (ORCID: https://orcid.org/0000-0002-4907-687X)
- Xi Wang (ORCID: https://orcid.org/0000-0002-5218-2761)
- Yan Ma (ORCID: https://orcid.org/0009-0000-0502-830X)
- Qingyang Liu (ORCID: https://orcid.org/0000-0003-3193-5856)
- Hongliang Ren (ORCID: https://orcid.org/0000-0002-2760-5224)
- D. Z. Xie (ORCID: https://orcid.org/0000-0003-0615-0299)
- Shijian Su (ORCID: https://orcid.org/0000-0001-7155-2660)
Institutions
- Chinese University of Hong Kong (HK)
Publication Details
- Published
- 2024-12-10
- DOI
- https://doi.org/10.1109/robio64047.2024.10907374
- Primary Topic
- Gastrointestinal Bleeding Diagnosis and Treatment
- Type
- article
- Field-Weighted Citation Impact
- 0.00