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• W2914578700 abstract "The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permanent magnet. Actuation is achieved by manipulating the external magnet with a serial manipulator, which in turn produces forces and torques on the internal magnetic capsule. We propose a control strategy which, counteracting gravity, achieves levitation of the capsule. This technique, based on a nonlinear backstepping approach, is able to limit contact with the colon walls, reducing friction, avoiding contact with internal folds, and facilitating the inspection of nonplanar cavities. The approach is validated on an experimental setup, which embodies a general scenario faced in colonoscopy. The experiments show that we can attain 19.5% of contact with the colon wall, compared to the almost 100% of previously proposed approaches. Moreover, we show that the control can be used to navigate the capsule through a more realistic environment-a colon phantom-with reasonable completion time." @default.
• W2914578700 created "2019-02-21" @default.
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• W2914578700 date "2019-04-01" @default.
• W2914578700 modified "2023-10-17" @default.
• W2914578700 title "Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach" @default.
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• W2914578700 doi "https://doi.org/10.1109/lra.2019.2894907" @default.
• W2914578700 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/6625788" @default.
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• W2914578700 hasPublicationYear "2019" @default.
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