Cited 3 times in
DEMA: Robotic dual-electromagnet actuation system integrated with localization for a magnetic capsule endoscope
DC Field | Value | Language |
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dc.contributor.author | 방승민 | - |
dc.date.accessioned | 2024-03-22T05:51:22Z | - |
dc.date.available | 2024-03-22T05:51:22Z | - |
dc.date.issued | 2023-10 | - |
dc.identifier.uri | https://ir.ymlib.yonsei.ac.kr/handle/22282913/198252 | - |
dc.description.abstract | This paper presents a novel robotic dual electromagnetic actuation (DEMA) system capable of simultaneous actuation and localization of a magnetic capsule endoscope (MCE). The DEMA device, designed to generate a sufficiently controllable magnetic field, is attached to a robotic arm for the five degrees-of-freedom (DOF) motion of a magnetic capsule in the required workspace under considering the articulated robot payload. The electromagnets in the DEMA are independently controlled to achieve rapid magnetic actuation and high-frequency rotating magnetic fields. A transmitter attached to the DEMA to form a compact device and a receiver embedded inside the MCE are used to track the MCE in 5-DOF based on robot kinematics. We derived the dynamic equation motion of the MCE and presented the stability of the system. Finally, we demonstrated closed-loop control using the localization data, the diagnostic motion of the capsule, and biopsy functionality using the rotating magnetic field, through in-vitro and pig cadaver experiments. This study may advance wireless robot development while maximizing the benefit of conventional robotic and electromagnetic actuation. © 2023 Elsevier B.V. | - |
dc.description.statementOfResponsibility | restriction | - |
dc.relation.isPartOf | SENSORS AND ACTUATORS A-PHYSICAL | - |
dc.rights | CC BY-NC-ND 2.0 KR | - |
dc.title | DEMA: Robotic dual-electromagnet actuation system integrated with localization for a magnetic capsule endoscope | - |
dc.type | Article | - |
dc.contributor.college | College of Medicine (의과대학) | - |
dc.contributor.department | Dept. of Internal Medicine (내과학교실) | - |
dc.contributor.googleauthor | Manh Cuong Hoang | - |
dc.contributor.googleauthor | Siliang Liu | - |
dc.contributor.googleauthor | Kim Tien Nguyen | - |
dc.contributor.googleauthor | Han-Sol Lee | - |
dc.contributor.googleauthor | Ayoung Hong | - |
dc.contributor.googleauthor | Seungmin Bang | - |
dc.contributor.googleauthor | Jayoung Kim | - |
dc.contributor.googleauthor | Jong-Oh Park | - |
dc.contributor.googleauthor | Chang-Sei Kim | - |
dc.identifier.doi | 10.1016/j.sna.2023.114596 | - |
dc.contributor.localId | A01786 | - |
dc.identifier.url | https://www.sciencedirect.com/science/article/pii/S0924424723004454 | - |
dc.subject.keyword | Articulate robot manipulator | - |
dc.subject.keyword | Capsule endoscope | - |
dc.subject.keyword | Medical robot | - |
dc.subject.keyword | Electromagnetic actuation system | - |
dc.subject.keyword | Magnetic field | - |
dc.subject.keyword | Closed-loop control | - |
dc.subject.keyword | Induction-based localization | - |
dc.contributor.alternativeName | Bang, Seungmin | - |
dc.contributor.affiliatedAuthor | 방승민 | - |
dc.citation.volume | 361 | - |
dc.citation.startPage | 114596 | - |
dc.identifier.bibliographicCitation | SENSORS AND ACTUATORS A-PHYSICAL, Vol.361 : 114596, 2023-10 | - |
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