Closed-loop active control of the magnetic capsule endoscope with a robotic arm based on image navigation

摘要

This paper proposes a novel approach for the closed-loop active control of the magnetic capsule endoscope based on image navigation. The proposed method uses a robotic arm to control the rotation of an external permanent magnet (EPM) to generate a rotating magnetic field. Subsequently, this rotating magnetic field controls the motion of the magnetic capsule endoscope (MCE). A gyroscope was included inside the MCE to obtain its posture. Using the image captured by the camera installed in the MCE, a relationship between the relative position of the MCE and the intestine was established. Based on the relative position relationship and the MCE’s posture, the MCE was controlled to move along the intestinal center by the robotic arm, thus, the closed-loop active control of the MCE was achieved. Furthermore, the feasibility of closed-loop active control of the MCE was verified through the isolated porcine small intestine experiment. Experimental results show that the closed-loop active control combined with image navigation is not only easy to operate, but also offers high stability in terms of control mechanism, and suitability for use in clinical applications.