Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model
Yehui Li Weibing Li Wenci Xin Xue Zhang Yitian Xian Philip Wai Yan Chiu Zheng Li Yehui Li Weibing Li Wenci Xin Xue Zhang Yitian Xian Philip Wai Yan Chiu Zheng Li
Colorectal cancer incidence has been steadily rising worldwide. Magnetic colonoscopes provide new approaches to conduct colon inspection and treatment. This paper presents a novel electromagnetically actuated soft-tethered colonoscope to achieve precise and stable orientation control. An inflated balloon is designed to eliminate the unpredictable disturbance of the floating tether. A 2OR Pseudo-Ri...