A compensation strategy for accurate orientation of a tethered robotic capsule endoscope
作者： Peisen Zhang , Jing Li , Yang Hao , Gastone Ciuti , Tatsuo Arai
关键词: Magnet 、 Displacement (vector) 、 Rotation 、 Sagittal plane 、 Acoustics 、 Translation (geometry) 、 Torque 、 Computer science 、 Orientation (geometry) 、 Compensation (engineering)
摘要: A robotic platform is built to simulate the motion of a magnetically-driven endoscopic capsule on sagittal plane. Magnetic model used analyze force and torque between external internal magnets. compensation method for permanent magnet has been proposed make soft-tethered magnetic rotates around fixed point body The includes rotation compensation, which aims rotate certain angle, translation restrain capsules displacement during its rotation. effect tether qualitatively analyzed also considered in method.
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