管内環境におけるWCE向け適応型磁気駆動・位置推定の同時実現
Adaptive Simultaneous Magnetic Actuation and Localization for WCE in a Tubular Environment
カプセル内視鏡を管内で効率よく推進し高精度に位置推定するため、センサ配列を自動選択する適応型SMALシステムを提案し、ファントムと摘出臓器で有効性を検証した論文。
著者: Yangxin Xu, Keyu Li, Ziqi Zhao, Max Q. -H. Meng
分類: cs.RO
原文アブストラクト
Simultaneous Magnetic Actuation and Localization (SMAL) is a promising technology for active wireless capsule endoscopy (WCE). In this paper, an adaptive SMAL system is presented to efficiently propel and precisely locate a capsule in a tubular environment with complex shapes. In order to track the capsule with high localization accuracy and update frequency in a large workspace, we propose a mechanism that can automatically activate a sub-array of sensors with the optimal layout during the capsule movement. The improved multiple objects tracking (IMOT) method is simplified and adapted to our system to estimate the 6-D pose of the capsule in real time. Also, we study the locomotion of a magnetically actuated capsule in a tubular environment, and formulate a method to adaptively adjust the pose of the actuator to improve the propulsion efficiency. Our presented methods are applicable to other permanent magnet-based SMAL systems, and help to improve the actuation efficiency of active WCE. We verify the effectiveness of our proposed system in extensive experiments on phantoms and ex-vivo animal organs. The results demonstrate that our system can achieve convincing performance compared with the state-of-the-art ones in terms of actuation efficiency, workspace size, robustness, localization accuracy and update frequency.
