An arc-shaped rotating magnet solution for 3D localisation of a drug delivery capsule robot

Miro, JV; Munoz, F; Miguel, FI

An arc-shaped rotating magnet solution for 3D localisation of a drug delivery capsule robot

Miro, JV Munoz, F Miguel, FI

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2020, 2020-July, pp. 520-527
Issue Date:: 2020-07-01

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Field	Value	Language
dc.contributor.author	Miro, JV
dc.contributor.author	Munoz, F
dc.contributor.author	Miguel, FI
dc.date	2020-07-06
dc.date.accessioned	2021-04-28T06:30:18Z
dc.date.available	2021-04-28T06:30:18Z
dc.date.issued	2020-07-01
dc.identifier.citation	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2020, 2020-July, pp. 520-527
dc.identifier.isbn	9781728167947
dc.identifier.uri	http://hdl.handle.net/10453/148471
dc.description.abstract	A method to estimate the three-dimensional (3D) position of a capsule robot used to deliver drugs in the gastrointestinal tract is proposed in this paper. By exploiting the unique characteristics of the rotating magnetic field created by an array of tangentially magnetised arc-shaped permanent magnets (ASMs), and its analytical formulation, a capsule robot equipped with on-board Hall-effect sensors can measure the rotating magnetic fields created to infer its pose. Extensive validation results provided from a small rotating ASM experimental rig built to test the concept, and a complementary robotic setup for large scale testing are supplied. Given the proven homothetic transformations of magnetic fields, this work demonstrates with validated practical experimentation in a scaled-down rig (1/10), that a full rotation of the ASMs about one axis is sufficient to obtain a mean pose error <10 mm in a magnetic system operating in scaled workspaces up to 250 mm, relevant for clinical use of capsule robots inside human bodies.
dc.language	en
dc.publisher	IEEE
dc.relation.ispartof	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
dc.relation.ispartof	2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
dc.relation.isbasedon	10.1109/AIM43001.2020.9158966
dc.rights	info:eu-repo/semantics/embargoedAccess
dc.title	An arc-shaped rotating magnet solution for 3D localisation of a drug delivery capsule robot
dc.type	Conference Proceeding
utslib.citation.volume	2020-July
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
utslib.copyright.embargo	2022-08-31T00:00:00+1000Z
dc.date.updated	2021-04-28T06:30:16Z
pubs.finish-date	2020-07-09
pubs.publication-status	Published
pubs.start-date	2020-07-06
pubs.volume	2020-July

Abstract:

A method to estimate the three-dimensional (3D) position of a capsule robot used to deliver drugs in the gastrointestinal tract is proposed in this paper. By exploiting the unique characteristics of the rotating magnetic field created by an array of tangentially magnetised arc-shaped permanent magnets (ASMs), and its analytical formulation, a capsule robot equipped with on-board Hall-effect sensors can measure the rotating magnetic fields created to infer its pose. Extensive validation results provided from a small rotating ASM experimental rig built to test the concept, and a complementary robotic setup for large scale testing are supplied. Given the proven homothetic transformations of magnetic fields, this work demonstrates with validated practical experimentation in a scaled-down rig (1/10), that a full rotation of the ASMs about one axis is sufficient to obtain a mean pose error <10 mm in a magnetic system operating in scaled workspaces up to 250 mm, relevant for clinical use of capsule robots inside human bodies.

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http://hdl.handle.net/10453/148471