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In this paper, we demonstrate velocity-level closed-loop control of a tethered magnetic capsule endoscope that is actuated via serial manipulator with a permanent magnet at its end-effector. Closed-loop control (2 degrees-of-freedom in position, and 2 in orientation) is made possible with the use of a real-time magnetic localization algorithm that utilizes the actuating magnetic field and thus does...
This paper introduces Non-collocated Stator-Rotor Synchronous Motor (NSRSM) as a novel actuation system for cases where the stator and rotor are required to interact across a physical barrier. The main motivation for NSRSM is in the area of laparoscopic robotic surgery whereby it is desired to actuate the manipulators across the abdominal wall, but it also has potential application in other robotic...
Palpating tissues and organs to identify hidden tumors or to detect buried vessels is not a viable option in laparoscopic surgery due to lack of force feedback. So far, research toward restoring tactile and kinesthetic sensations in minimally invasive surgery has focused on the distal sensing element or on the proximal rendering of haptic cues. In this work we present a pilot study to assess the feasibility...
Magnetic coupling is one of the few physical phenomena capable of transmitting motion across a physical barrier. In gastrointestinal endoscopy, remote magnetic manipulation has the potential to make screening less invasive and more acceptable, thus saving lives by early diagnoses and treatment. Closed-loop control of the magnetic device position is crucial for a safe and reliable operation. In order...
In this work, we propose a new concept for locomotion of a miniature jellyfish-like robot based on the interaction of mobile permanent magnets. The robot is 35 mm in length and 15 mm in width, and it incorporates a rotary actuator, a magnetic rotor, several elastic magnetic tails and a polymeric body embedding a wireless microcontroller and power supply. The novel magnetic mechanism is very versatile...
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