Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot

Magnetically manipulated untethered robot, such as an active wireless capsule endoscope, has shown great potential for controlled inspection inside the gastrointestinal tract. To enable the effective manipulation of the robot, real-time pose (position and orientation) information of the robot must b...

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Bibliographic Details
Published in:IEEE access 2016, Vol.4, p.7104-7110
Main Authors: Song, Shuang, Qiu, Xiaoxiao, Wang, Jiaole, Meng, Max Q.-H.
Format: Article
Language:English
Subjects:
Endoscopes
Gastrointestinal system
Inspection
Magnetic disturbances
Magnetic manipulation
Magnetic tracking
Multiple target tracking
Navigation
pose detection
Pose estimation
Position errors
Real time
Real-time systems
Robot sensing systems
Robots
Sensory feedback
Tracking
Wireless communication
Wireless sensor networks
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Summary:Magnetically manipulated untethered robot, such as an active wireless capsule endoscope, has shown great potential for controlled inspection inside the gastrointestinal tract. To enable the effective manipulation of the robot, real-time pose (position and orientation) information of the robot must be obtained as an important sensory feedback. Usually, a magnetic tracking method is used to provide the pose information. Due to the magnetic disturbance, a traditional magnetic tracking method cannot work simultaneously with the magnetic manipulation system. In this paper, a simultaneously tracking and navigation method is proposed to realize a closed-loop control of the magnetically manipulated untethered robot. The main approach is to conduct a multi-object tracking of the involved magnetic objects. With the proposed method, real-time pose information can be estimated during the manipulation, and both the tracking and manipulation are carried out by a magnetic manner. Therefore, the mobile navigation of the magnetically manipulated untethered robot can be achieved by using a pre-defined map. Experimental results verified the proposed method, and a mean position error of 1.2 mm for the passive magnet has been obtained.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2016.2618949