一种改进的基于磁传感器阵列的同步磁致动与定位方法

Q. Shi, Min Wang, Shuang Song, M. Meng
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引用次数: 3

摘要

磁致无线胶囊机器人是一种很有前途的用于胃肠道微创检查和手术的医疗器械。机器人的位置和姿态信息是有效、安全的反馈控制的基础。然而,同时驱动和定位仍然是一个挑战。在我们之前的工作中,我们提出了一种基于多磁体的方法。为了进一步提高跟踪精度,本文提出了一种利用外部驱动磁体的先验已知位姿信息的方法。此外,该方法还可以简化计算。利用磁传感器阵列对外部磁铁和内部磁铁的磁场进行采样。根据先验位姿信息减去外磁体的磁场,然后利用非线性优化算法估计内磁体的位姿。实验结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An Improved Simultaneously Magnetic Actuation and Localization Method based on Magnetic Sensor Array
Magnetically actuated wireless capsule robot has been a promising medical apparatus for minimally invasive examination and operation in the gastrointestinal tract. Position and orientation information of the robot are essential for an effective and safe feedback control. However, simultaneous actuation and localization is still a challenge. In our previous work, we proposed a multi-magnet based method. To further improve the tracking accuracy, in this paper we propose a method which utilizes the prior known pose information of the external actuation magnet. Moreover, the method also can simplify the calculation. A magnetic sensor array is used to sample the magnetic field from the external magnet and internal magnet. By subtracting the magnetic field of the external magnet according to the prior pose information, pose of the internal magnet then can be estimated by using nonlinear optimization algorithm. Experimental results verified the proposed method.
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