{"title":"基于磁跟踪效应和ORB-AEKF算法的双半球胶囊机器人姿态检测。","authors":"Xu Liu, Yongshun Zhang, Qiancheng Wang","doi":"10.3390/mi16040485","DOIUrl":null,"url":null,"abstract":"<p><p>Posture detection is essential for capsule robots to be manipulated in a relatively closed gastrointestinal (GI) tract and to fulfill some medical operations. In this paper, a posture detection technique for a magnetic-actuated dual-hemisphere capsule robot (DHCR) is proposed. In this method, the DHCR realizes fixed-point posture adjustment based on tracking effects, and feature points are recognized and matched with the help of the ORB algorithm on the GI image acquired by a vision sensor. The system model is derived from the dynamic model and feature point information. Then, the posture is optimized by using the adaptive extended Kalman filter (AEKF) algorithm. As a result, the posture detection method based on the tracking effects and the ORB-AEKF algorithm is formed. The effectiveness and superiority of the proposed method are verified through experiments, which provide a good foundation for the subsequent, accurate closed-loop control of the DHCR.</p>","PeriodicalId":18508,"journal":{"name":"Micromachines","volume":"16 4","pages":""},"PeriodicalIF":3.0000,"publicationDate":"2025-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12029612/pdf/","citationCount":"0","resultStr":"{\"title\":\"Posture Detection of Dual-Hemisphere Capsule Robot Based on Magnetic Tracking Effects and ORB-AEKF Algorithm.\",\"authors\":\"Xu Liu, Yongshun Zhang, Qiancheng Wang\",\"doi\":\"10.3390/mi16040485\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>Posture detection is essential for capsule robots to be manipulated in a relatively closed gastrointestinal (GI) tract and to fulfill some medical operations. In this paper, a posture detection technique for a magnetic-actuated dual-hemisphere capsule robot (DHCR) is proposed. In this method, the DHCR realizes fixed-point posture adjustment based on tracking effects, and feature points are recognized and matched with the help of the ORB algorithm on the GI image acquired by a vision sensor. The system model is derived from the dynamic model and feature point information. Then, the posture is optimized by using the adaptive extended Kalman filter (AEKF) algorithm. As a result, the posture detection method based on the tracking effects and the ORB-AEKF algorithm is formed. The effectiveness and superiority of the proposed method are verified through experiments, which provide a good foundation for the subsequent, accurate closed-loop control of the DHCR.</p>\",\"PeriodicalId\":18508,\"journal\":{\"name\":\"Micromachines\",\"volume\":\"16 4\",\"pages\":\"\"},\"PeriodicalIF\":3.0000,\"publicationDate\":\"2025-04-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12029612/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Micromachines\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.3390/mi16040485\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"CHEMISTRY, ANALYTICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Micromachines","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/mi16040485","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"CHEMISTRY, ANALYTICAL","Score":null,"Total":0}
Posture Detection of Dual-Hemisphere Capsule Robot Based on Magnetic Tracking Effects and ORB-AEKF Algorithm.
Posture detection is essential for capsule robots to be manipulated in a relatively closed gastrointestinal (GI) tract and to fulfill some medical operations. In this paper, a posture detection technique for a magnetic-actuated dual-hemisphere capsule robot (DHCR) is proposed. In this method, the DHCR realizes fixed-point posture adjustment based on tracking effects, and feature points are recognized and matched with the help of the ORB algorithm on the GI image acquired by a vision sensor. The system model is derived from the dynamic model and feature point information. Then, the posture is optimized by using the adaptive extended Kalman filter (AEKF) algorithm. As a result, the posture detection method based on the tracking effects and the ORB-AEKF algorithm is formed. The effectiveness and superiority of the proposed method are verified through experiments, which provide a good foundation for the subsequent, accurate closed-loop control of the DHCR.
期刊介绍：
Micromachines (ISSN 2072-666X) is an international, peer-reviewed open access journal which provides an advanced forum for studies related to micro-scaled machines and micromachinery. It publishes reviews, regular research papers and short communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced.
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