Title: Feasibility analysis of portable electromagnetic localisation method for in-vivo micro robot from modelling, calibration, experiments and electromagnetic safety
Authors: Hongwei Li, Guozheng Yan, Pingping Jiang
Addresses: Department of Instrument Science & Engineering, 820 Institute, Shanghai Jiaotong University, Shanghai, China. ' Department of Instrument Science & Engineering, 820 Institute, Shanghai Jiaotong University, Shanghai, China. ' Department of Instrument Science & Engineering, 820 Institute, Shanghai Jiaotong University, Shanghai, China
Abstract: Micro invasive medical robots have shown great potential in clinical application. But the localisation problem hasn|t been solved well still, greatly restraining their application. Aiming at positioning the gastrointestinal physiological parameters detecting capsule, a portable AC electromagnetic localisation method for in-vivo micro robot is put forward. This paper verified the feasibility of the method from localisation model, algorithm, calibration method, construction of the localisation system, static and dynamic experiments and electromagnetic safety. Finally, conclusions are drawn that in case of the static and dynamic experiments results, the accuracy of portable positioning system is high (less than 10 mm) enough to satisfy the localisation need of the micro invasive devices in-vivo, and the system is electromagnetic safe for human.
Keywords: portable electromagnetic localisation; feasibility; calibration; maximum permissible exposure; MPE; in-vivo micro robots; modelling; calibration; electromagnetic safety; invasive medical robots; robot localisation; medical engineering.
International Journal of Modelling, Identification and Control, 2009 Vol.7 No.4, pp.325 - 332
Published online: 14 Aug 2009 *Full-text access for editors Access for subscribers Purchase this article Comment on this article