Optimal Motion Control of a Capsule Endoscope in the Stomach Utilizing a Magnetic Navigation System with Dual Permanent Magnets
Abstract
:1. Introduction
2. Materials and Methods
2.1. Optimal Motion Contorol of a CE
2.1.1. Point Dipole Analysis of a CE and EPMs
2.1.2. Force Analysis of a CE
2.1.3. Optimal Control of the EPMs for Tilting and Rotational Motion of the CE
2.2. Optimal Design of MNS with Dual EPMs
3. Results
3.1. Translational Motion of the CE
3.2. Tilting Motion of a CE
3.3. Experimental Verification
3.3.1. Tilting and Rotational Motion Experiment
3.3.2. Verification with a Mimetic Stomach
4. Conclusions
Supplementary Materials
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Appendix A
References
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= 80 Deg | = 70 Deg | = 60 Deg | |||||||
---|---|---|---|---|---|---|---|---|---|
Single | Dual | Single | Dual | Single | Dual | ||||
Z [mm] | [mm] | [mm] | [mm] | [mm] | [mm] | [mm] | [mm] | [mm] | [mm] |
200 | 26 | 18 | 9 | 29 | 26 | 18 | 39 | 26 | 18 |
210 | 33 | 28 | 15 | 38 | 29 | 22 | 41 | 29 | 25 |
220 | 44 | 31 | 27 | 58 | 33 | 27 | 64 | 34 | 29 |
230 | 48 | 37 | 32 | 61 | 38 | 33 | 69 | 39 | 33 |
240 | 50 | 38 | 41 | 67 | 39 | 41 | 71 | 41 | 42 |
250 | 53 | 39 | 42 | 73 | 41 | 43 | 77 | 43 | 43 |
260 | 57 | 40 | 42 | 75 | 42 | 44 | 83 | 45 | 46 |
270 | 58 | 42 | 44 | 78 | 44 | 45 | 85 | 46 | 47 |
280 | 59 | 42 | 45 | 84 | 46 | 47 | 91 | 48 | 49 |
290 | 62 | 25 | 45 | 86 | 48 | 49 | 100 | 49 | 51 |
300 | 65 | 45 | 46 | - | 50 | 50 | - | 51 | 52 |
1 [%] | 26 | 32 | 38 | 43 | 43 | 47 |
[deg] | Distance between CE and EPM1 (Z) [mm] | [deg] | [mm] | [deg] | [mm] |
---|---|---|---|---|---|
80 | 200 | 98 | 18 | 240 | 9 |
300 | 95 | 45 | 330 | 46 | |
70 | 200 | 114 | 26 | 342 | 18 |
300 | 137 | 50 | 310 | 50 | |
60 | 200 | 150 | 26 | 342 | 18 |
300 | 145 | 51 | 308 | 52 |
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Bae, S.; Kwon, J.; Kim, J.; Jang, G. Optimal Motion Control of a Capsule Endoscope in the Stomach Utilizing a Magnetic Navigation System with Dual Permanent Magnets. Micromachines 2024, 15, 1032. https://doi.org/10.3390/mi15081032
Bae S, Kwon J, Kim J, Jang G. Optimal Motion Control of a Capsule Endoscope in the Stomach Utilizing a Magnetic Navigation System with Dual Permanent Magnets. Micromachines. 2024; 15(8):1032. https://doi.org/10.3390/mi15081032
Chicago/Turabian StyleBae, Suhong, Junhyoung Kwon, Jongyul Kim, and Gunhee Jang. 2024. "Optimal Motion Control of a Capsule Endoscope in the Stomach Utilizing a Magnetic Navigation System with Dual Permanent Magnets" Micromachines 15, no. 8: 1032. https://doi.org/10.3390/mi15081032