Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field

Cheong Lee; Hyunchul Choi; Gwangjun Go; Hernando Leon-Rodriguez; Semi Jeong; Kiduk Kwon; Seong Young Ko; Jong Oh Park; Sukho Park

doi:10.1109/biorob.2014.6913921

Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field

Cheong Lee, Hyunchul Choi, Gwangjun Go, Hernando Leon-Rodriguez, Semi Jeong, Kiduk Kwon, Seong Young Ko, Jong Oh Park, Sukho Park

Department of Robotics and Mechatronics Engineering

Chonnam National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Recently, a conventional capsule endoscope was developed and has been used for a diagnosis to make up for the limitations of conventional flexible endoscopy. However, the capsule endoscope has also some limitations and low diagnostic effectiveness because of its passive movement through the peristaltic motion of digestive organs. To overcome these problems, there are several researches about active mobility of capsule endoscope. In this paper, we proposed helical motion and locomotion mechanism for magnetic capsule endoscope using the electromagnetic actuation (EMA) system. Through the combination of the magnetization direction of the capsule endoscope prototype and the precessional magnetic field which can be generated by 3-pairs of Helmholtz coils, the capsule endoscope prototype can show a precessional motion. In addition, the capsule endoscope prototype can move toward an aligned direction by a gradient magnetic field of Maxwell coils. First, we fabricated a capsule endoscope prototype with a desired magnetization direction and verified its scanning function through the helical motion of the capsule endoscope prototype in mock-up of tubular digestive organs. Second, the capsule endoscope prototype also has a propulsion force to the perpendicular direction of axial vector when it track the helical path, and this force make the capsule endoscope prototype to attach the inner wall of tubular environment. Finally, through the planar locomotion test in stomach phantom, we have verified the feasibility of the capsule endoscope using an electromagnetic actuation system.

Original language	English
Title of host publication	"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Editors	Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
Publisher	IEEE Computer Society
Pages	1063-1067
Number of pages	5
ISBN (Electronic)	9781479931262
DOIs	https://doi.org/10.1109/biorob.2014.6913921
State	Published - 30 Sep 2014
Event	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil Duration: 12 Aug 2014 → 15 Aug 2014

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Conference

Conference	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Country/Territory	Brazil
City	Sao Paulo
Period	12/08/14 → 15/08/14

Access to Document

10.1109/biorob.2014.6913921

Cite this

Lee, C., Choi, H., Go, G., Leon-Rodriguez, H., Jeong, S., Kwon, K., Ko, S. Y., Park, J. O., & Park, S. (2014). Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field. In R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H.-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 1063-1067). Article 6913921 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913921

Lee, Cheong ; Choi, Hyunchul ; Go, Gwangjun et al. / Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field. "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. editor / Raffaella Carloni ; Lorenzo Masia ; Jose Maria Sabater-Navarro ; Marko Ackermann ; Sunil Agrawal ; Arash Ajoudani ; Panagiotis Artemiadis ; Matteo Bianchi ; Antonio Padilha Lanari Bo ; Maura Casadio ; Kevin Cleary ; Ashish Deshpande ; Domenico Formica ; Matteo Fumagalli ; Nicolas Garcia-Aracil ; Sasha Blue Godfrey ; Islam S.M. Khalil ; Olivier Lambercy ; Rui C. V. Loureiro ; Leonardo Mattos ; Victor Munoz ; Hyung-Soon Park ; Luis Eduardo Rodriguez Cheu ; Roque Saltaren ; Adriano A. G. Siqueira ; Valentina Squeri ; Arno H.A. Stienen ; Nikolaos Tsagarakis ; Herman Van der Kooij ; Bram Vanderborght ; Nicola Vitiello ; Jose Zariffa ; Loredana Zollo. IEEE Computer Society, 2014. pp. 1063-1067 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

@inproceedings{6589a4c9e0f2417ab5941d93f0cd32a5,

title = "Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field",

abstract = "Recently, a conventional capsule endoscope was developed and has been used for a diagnosis to make up for the limitations of conventional flexible endoscopy. However, the capsule endoscope has also some limitations and low diagnostic effectiveness because of its passive movement through the peristaltic motion of digestive organs. To overcome these problems, there are several researches about active mobility of capsule endoscope. In this paper, we proposed helical motion and locomotion mechanism for magnetic capsule endoscope using the electromagnetic actuation (EMA) system. Through the combination of the magnetization direction of the capsule endoscope prototype and the precessional magnetic field which can be generated by 3-pairs of Helmholtz coils, the capsule endoscope prototype can show a precessional motion. In addition, the capsule endoscope prototype can move toward an aligned direction by a gradient magnetic field of Maxwell coils. First, we fabricated a capsule endoscope prototype with a desired magnetization direction and verified its scanning function through the helical motion of the capsule endoscope prototype in mock-up of tubular digestive organs. Second, the capsule endoscope prototype also has a propulsion force to the perpendicular direction of axial vector when it track the helical path, and this force make the capsule endoscope prototype to attach the inner wall of tubular environment. Finally, through the planar locomotion test in stomach phantom, we have verified the feasibility of the capsule endoscope using an electromagnetic actuation system.",

author = "Cheong Lee and Hyunchul Choi and Gwangjun Go and Hernando Leon-Rodriguez and Semi Jeong and Kiduk Kwon and Ko, {Seong Young} and Park, {Jong Oh} and Sukho Park",

year = "2014",

month = sep,

day = "30",

doi = "10.1109/biorob.2014.6913921",

language = "English",

series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

publisher = "IEEE Computer Society",

pages = "1063--1067",

editor = "Raffaella Carloni and Lorenzo Masia and Sabater-Navarro, {Jose Maria} and Marko Ackermann and Sunil Agrawal and Arash Ajoudani and Panagiotis Artemiadis and Matteo Bianchi and {Lanari Bo}, {Antonio Padilha} and Maura Casadio and Kevin Cleary and Ashish Deshpande and Domenico Formica and Matteo Fumagalli and Nicolas Garcia-Aracil and Godfrey, {Sasha Blue} and Khalil, {Islam S.M.} and Olivier Lambercy and Loureiro, {Rui C. V.} and Leonardo Mattos and Victor Munoz and Hyung-Soon Park and {Rodriguez Cheu}, {Luis Eduardo} and Roque Saltaren and Siqueira, {Adriano A. G.} and Valentina Squeri and Stienen, {Arno H.A.} and Nikolaos Tsagarakis and {Van der Kooij}, Herman and Bram Vanderborght and Nicola Vitiello and Jose Zariffa and Loredana Zollo",

booktitle = "{"}2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014",

note = "5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 ; Conference date: 12-08-2014 Through 15-08-2014",

}

Lee, C, Choi, H, Go, G, Leon-Rodriguez, H, Jeong, S, Kwon, K, Ko, SY, Park, JO & Park, S 2014, Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field. in R Carloni, L Masia, JM Sabater-Navarro, M Ackermann, S Agrawal, A Ajoudani, P Artemiadis, M Bianchi, AP Lanari Bo, M Casadio, K Cleary, A Deshpande, D Formica, M Fumagalli, N Garcia-Aracil, SB Godfrey, ISM Khalil, O Lambercy, RCV Loureiro, L Mattos, V Munoz, H-S Park, LE Rodriguez Cheu, R Saltaren, AAG Siqueira, V Squeri, AHA Stienen, N Tsagarakis, H Van der Kooij, B Vanderborght, N Vitiello, J Zariffa & L Zollo (eds), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014., 6913921, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, pp. 1063-1067, 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 12/08/14. https://doi.org/10.1109/biorob.2014.6913921

Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field. / Lee, Cheong; Choi, Hyunchul; Go, Gwangjun et al.
"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. ed. / Raffaella Carloni; Lorenzo Masia; Jose Maria Sabater-Navarro; Marko Ackermann; Sunil Agrawal; Arash Ajoudani; Panagiotis Artemiadis; Matteo Bianchi; Antonio Padilha Lanari Bo; Maura Casadio; Kevin Cleary; Ashish Deshpande; Domenico Formica; Matteo Fumagalli; Nicolas Garcia-Aracil; Sasha Blue Godfrey; Islam S.M. Khalil; Olivier Lambercy; Rui C. V. Loureiro; Leonardo Mattos; Victor Munoz; Hyung-Soon Park; Luis Eduardo Rodriguez Cheu; Roque Saltaren; Adriano A. G. Siqueira; Valentina Squeri; Arno H.A. Stienen; Nikolaos Tsagarakis; Herman Van der Kooij; Bram Vanderborght; Nicola Vitiello; Jose Zariffa; Loredana Zollo. IEEE Computer Society, 2014. p. 1063-1067 6913921 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field

AU - Lee, Cheong

AU - Choi, Hyunchul

AU - Go, Gwangjun

AU - Leon-Rodriguez, Hernando

AU - Jeong, Semi

AU - Kwon, Kiduk

AU - Ko, Seong Young

AU - Park, Jong Oh

AU - Park, Sukho

PY - 2014/9/30

Y1 - 2014/9/30

N2 - Recently, a conventional capsule endoscope was developed and has been used for a diagnosis to make up for the limitations of conventional flexible endoscopy. However, the capsule endoscope has also some limitations and low diagnostic effectiveness because of its passive movement through the peristaltic motion of digestive organs. To overcome these problems, there are several researches about active mobility of capsule endoscope. In this paper, we proposed helical motion and locomotion mechanism for magnetic capsule endoscope using the electromagnetic actuation (EMA) system. Through the combination of the magnetization direction of the capsule endoscope prototype and the precessional magnetic field which can be generated by 3-pairs of Helmholtz coils, the capsule endoscope prototype can show a precessional motion. In addition, the capsule endoscope prototype can move toward an aligned direction by a gradient magnetic field of Maxwell coils. First, we fabricated a capsule endoscope prototype with a desired magnetization direction and verified its scanning function through the helical motion of the capsule endoscope prototype in mock-up of tubular digestive organs. Second, the capsule endoscope prototype also has a propulsion force to the perpendicular direction of axial vector when it track the helical path, and this force make the capsule endoscope prototype to attach the inner wall of tubular environment. Finally, through the planar locomotion test in stomach phantom, we have verified the feasibility of the capsule endoscope using an electromagnetic actuation system.

AB - Recently, a conventional capsule endoscope was developed and has been used for a diagnosis to make up for the limitations of conventional flexible endoscopy. However, the capsule endoscope has also some limitations and low diagnostic effectiveness because of its passive movement through the peristaltic motion of digestive organs. To overcome these problems, there are several researches about active mobility of capsule endoscope. In this paper, we proposed helical motion and locomotion mechanism for magnetic capsule endoscope using the electromagnetic actuation (EMA) system. Through the combination of the magnetization direction of the capsule endoscope prototype and the precessional magnetic field which can be generated by 3-pairs of Helmholtz coils, the capsule endoscope prototype can show a precessional motion. In addition, the capsule endoscope prototype can move toward an aligned direction by a gradient magnetic field of Maxwell coils. First, we fabricated a capsule endoscope prototype with a desired magnetization direction and verified its scanning function through the helical motion of the capsule endoscope prototype in mock-up of tubular digestive organs. Second, the capsule endoscope prototype also has a propulsion force to the perpendicular direction of axial vector when it track the helical path, and this force make the capsule endoscope prototype to attach the inner wall of tubular environment. Finally, through the planar locomotion test in stomach phantom, we have verified the feasibility of the capsule endoscope using an electromagnetic actuation system.

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U2 - 10.1109/biorob.2014.6913921

DO - 10.1109/biorob.2014.6913921

M3 - Conference contribution

AN - SCOPUS:84918557732

T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

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BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

A2 - Carloni, Raffaella

A2 - Masia, Lorenzo

A2 - Sabater-Navarro, Jose Maria

A2 - Ackermann, Marko

A2 - Agrawal, Sunil

A2 - Ajoudani, Arash

A2 - Artemiadis, Panagiotis

A2 - Bianchi, Matteo

A2 - Lanari Bo, Antonio Padilha

A2 - Casadio, Maura

A2 - Cleary, Kevin

A2 - Deshpande, Ashish

A2 - Formica, Domenico

A2 - Fumagalli, Matteo

A2 - Garcia-Aracil, Nicolas

A2 - Godfrey, Sasha Blue

A2 - Khalil, Islam S.M.

A2 - Lambercy, Olivier

A2 - Loureiro, Rui C. V.

A2 - Mattos, Leonardo

A2 - Munoz, Victor

A2 - Park, Hyung-Soon

A2 - Rodriguez Cheu, Luis Eduardo

A2 - Saltaren, Roque

A2 - Siqueira, Adriano A. G.

A2 - Squeri, Valentina

A2 - Stienen, Arno H.A.

A2 - Tsagarakis, Nikolaos

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A2 - Vitiello, Nicola

A2 - Zariffa, Jose

A2 - Zollo, Loredana

PB - IEEE Computer Society

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Lee C, Choi H, Go G, Leon-Rodriguez H, Jeong S, Kwon K et al. Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field. In Carloni R, Masia L, Sabater-Navarro JM, Ackermann M, Agrawal S, Ajoudani A, Artemiadis P, Bianchi M, Lanari Bo AP, Casadio M, Cleary K, Deshpande A, Formica D, Fumagalli M, Garcia-Aracil N, Godfrey SB, Khalil ISM, Lambercy O, Loureiro RCV, Mattos L, Munoz V, Park HS, Rodriguez Cheu LE, Saltaren R, Siqueira AAG, Squeri V, Stienen AHA, Tsagarakis N, Van der Kooij H, Vanderborght B, Vitiello N, Zariffa J, Zollo L, editors, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society. 2014. p. 1063-1067. 6913921. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/biorob.2014.6913921

Helical motion and 2D locomotion of magnetic capsule endoscope using precessional and gradient magnetic field

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