管内環境での往復回転磁気駆動によるワイヤレスカプセル内視鏡の軌道追従戦略
Trajectory Following Strategies for Wireless Capsule Endoscopy under Reciprocally Rotating Magnetic Actuation in a Tubular Environment
腸管内で往復回転磁気駆動されるカプセル内視鏡が目標軌道を追従するため、PD・適応・モデル予測・ロバスト多段MPCの4手法を設計し、蠕動や摩擦の不確かさを考慮してシミュレーションと実機（プラスチックファントム・摘出豚結腸）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
Currently used wireless capsule endoscopy (WCE) is limited in terms of inspection time and flexibility since the capsule is passively moved by peristalsis and cannot be accurately positioned. Different methods have been proposed to facilitate active locomotion of WCE based on simultaneous magnetic actuation and localization technologies. In this work, we investigate the trajectory following problem of a robotic capsule under rotating magnetic actuation in a tubular environment, in order to realize safe, efficient and accurate inspection of the intestine at given points using wireless capsule endoscopes. Specifically, four trajectory following strategies are developed based on the PD controller, adaptive controller, model predictive controller and robust multi-stage model predictive controller. Moreover, our method takes into account the uncertainty in the intestinal environment by modeling the intestinal peristalsis and friction during the controller design. We validate our methods in simulation as well as in real-world experiments in various tubular environments, including plastic phantoms with different shapes and an ex-vivo pig colon. The results show that our approach can effectively actuate a reciprocally rotating capsule to follow a desired trajectory in complex tubular environments, thereby having the potential to enable accurate and repeatable inspection of the intestine for high-quality diagnosis.
