Posture Detection of Dual-Hemisphere Capsule Robot Based on Magnetic Tracking Effects and ORB-AEKF Algorithm

Micromachines, Journal Year: 2025, Volume and Issue: 16(4), P. 485 - 485

Published: April 20, 2025

Posture detection is essential for capsule robots to be manipulated in a relatively closed gastrointestinal (GI) tract and fulfill some medical operations. In this paper, posture technique magnetic-actuated dual-hemisphere robot (DHCR) proposed. method, the DHCR realizes fixed-point adjustment based on tracking effects, feature points are recognized matched with help of ORB algorithm GI image acquired by vision sensor. The system model derived from dynamic point information. Then, optimized using adaptive extended Kalman filter (AEKF) algorithm. As result, method effects ORB-AEKF formed. effectiveness superiority proposed verified through experiments, which provide good foundation subsequent, accurate closed-loop control DHCR.

Language: Английский

Capsule robots for the monitoring, diagnosis, and treatment of intestinal diseases

Materials Today Bio, Journal Year: 2024, Volume and Issue: 29, P. 101294 - 101294

Published: Oct. 9, 2024

Current evidence suggests that the intestine as new frontier for human health directly impacts both our physical and mental health. Therefore, it is highly desirable to develop intelligent tool enhanced diagnosis treatment of intestinal diseases. During past 20 years, capsule robots have opened avenues research clinical applications, potentially revolutionizing monitor, disease treatment. In this review, we summarize progress edible multifunctional in To begin, introduce correlation between microbiome, gas After that, focus on technical structure robots. Subsequently, biomedical applications monitoring, diseases are discussed detail. Last but not least, main challenges during development process summarized, followed by a vision future opportunities.

Language: Английский