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In the program of bone surgery robot, we employ an electromagnetic method to locate the position of surgical instruments and surgical sites. In this processing, the key part is to extract the coupling voltage signals that are sensed by the sensing coils as accurately as possible, because it will affect the precision of location directly. However, in the real system, these coupling voltage signals...
The accurate magnetic localization and orientation technique has dramatically enhanced the applications of capsule endoscope for the gastrointestinal (GI) tract examination. Yet, the surgical robot has been hindered to use widely due to the limitations of current surgical navigation technique. In this paper, an electromagnetic navigation system based on coils and magnetic sensor is introduced. The...
A capsule endoscope robot is a miniature medical instrument for inspecting human gastrointestinal tract. One of the objectives of the capsule endoscope robot is to wirelessly transmit as many captured images as possible, so an efficient representation and compression technique is required. In this paper, we present image representation and compression techniques for the capsule endoscope. First, the...
To build a new wireless robotic capsule endoscope with external guidance for controllable GI tract examination, a sensing system is required for tracking the capsule's 3D location and 2D orientation. An appropriate sensing approach is to enclose a small permanent magnet in the capsule so as to establish a static magnetic field around. With the magnetic sensors outside the patient's body, some parameters...
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