Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot
Magnetically manipulated untethered robot, such as an active wireless capsule endoscope, has shown great potential for controlled inspection inside the gastrointestinal tract. To enable the effective manipulation of the robot, real-time pose (position and orientation) information of the robot must b...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2016-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/7593319/ |
| _version_ | 1818914334429937664 |
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| author | Shuang Song Xiaoxiao Qiu Jiaole Wang Max Q.-H. Meng |
| author_facet | Shuang Song Xiaoxiao Qiu Jiaole Wang Max Q.-H. Meng |
| author_sort | Shuang Song |
| collection | DOAJ |
| description | Magnetically manipulated untethered robot, such as an active wireless capsule endoscope, has shown great potential for controlled inspection inside the gastrointestinal tract. To enable the effective manipulation of the robot, real-time pose (position and orientation) information of the robot must be obtained as an important sensory feedback. Usually, a magnetic tracking method is used to provide the pose information. Due to the magnetic disturbance, a traditional magnetic tracking method cannot work simultaneously with the magnetic manipulation system. In this paper, a simultaneously tracking and navigation method is proposed to realize a closed-loop control of the magnetically manipulated untethered robot. The main approach is to conduct a multi-object tracking of the involved magnetic objects. With the proposed method, real-time pose information can be estimated during the manipulation, and both the tracking and manipulation are carried out by a magnetic manner. Therefore, the mobile navigation of the magnetically manipulated untethered robot can be achieved by using a pre-defined map. Experimental results verified the proposed method, and a mean position error of 1.2 mm for the passive magnet has been obtained. |
| first_indexed | 2024-12-19T23:44:44Z |
| format | Article |
| id | doaj.art-cf194f70113c414abbaa98effcec6362 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T23:44:44Z |
| publishDate | 2016-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-cf194f70113c414abbaa98effcec63622022-12-21T20:01:20ZengIEEEIEEE Access2169-35362016-01-0147104711010.1109/ACCESS.2016.26189497593319Real-Time Tracking and Navigation for Magnetically Manipulated Untethered RobotShuang Song0https://orcid.org/0000-0002-3490-9752Xiaoxiao Qiu1Jiaole Wang2Max Q.-H. Meng3School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, ChinaDepartment of Electronic Engineering, The Chinese University of Hong Kong, Hong KongDepartment of Electronic Engineering, The Chinese University of Hong Kong, Hong KongMagnetically manipulated untethered robot, such as an active wireless capsule endoscope, has shown great potential for controlled inspection inside the gastrointestinal tract. To enable the effective manipulation of the robot, real-time pose (position and orientation) information of the robot must be obtained as an important sensory feedback. Usually, a magnetic tracking method is used to provide the pose information. Due to the magnetic disturbance, a traditional magnetic tracking method cannot work simultaneously with the magnetic manipulation system. In this paper, a simultaneously tracking and navigation method is proposed to realize a closed-loop control of the magnetically manipulated untethered robot. The main approach is to conduct a multi-object tracking of the involved magnetic objects. With the proposed method, real-time pose information can be estimated during the manipulation, and both the tracking and manipulation are carried out by a magnetic manner. Therefore, the mobile navigation of the magnetically manipulated untethered robot can be achieved by using a pre-defined map. Experimental results verified the proposed method, and a mean position error of 1.2 mm for the passive magnet has been obtained.https://ieeexplore.ieee.org/document/7593319/Magnetic manipulationmagnetic trackingnavigationpose detection |
| spellingShingle | Shuang Song Xiaoxiao Qiu Jiaole Wang Max Q.-H. Meng Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot IEEE Access Magnetic manipulation magnetic tracking navigation pose detection |
| title | Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot |
| title_full | Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot |
| title_fullStr | Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot |
| title_full_unstemmed | Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot |
| title_short | Real-Time Tracking and Navigation for Magnetically Manipulated Untethered Robot |
| title_sort | real time tracking and navigation for magnetically manipulated untethered robot |
| topic | Magnetic manipulation magnetic tracking navigation pose detection |
| url | https://ieeexplore.ieee.org/document/7593319/ |
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