Reciprocally Rotating Magnetic Actuation and Automatic Trajectory Following for Wireless Capsule Endoscopy
Yangxin Xu Keyu Li Ziqi Zhao Fei Meng Li Liu Max Q.-H. Meng Yangxin Xu Keyu Li Ziqi Zhao Fei Meng Li Liu Max Q.-H. Meng
Active wireless capsule endoscopy (WCE) under magnetic actuation is a promising technology to reduce the inspection time and relieve the burden of physicians. In this paper, we propose a reciprocally rotating magnetic actuation method for trajectory following of a capsule and develop its dynamic model. For the trajectory following task, we investigate the closed-loop tracking control strategies ba...