dc.creator | Di Natali, Christian | |
dc.date.accessioned | 2020-08-22T17:24:46Z | |
dc.date.available | 2017-08-06 | |
dc.date.issued | 2015-08-06 | |
dc.identifier.uri | https://etd.library.vanderbilt.edu/etd-07142015-105237 | |
dc.identifier.uri | http://hdl.handle.net/1803/12993 | |
dc.description.abstract | Over the last decade, researchers have started exploring the design space of Medical
Capsule Robots (MCRs): devices that can operate within the human body performing
functionalities such as diagnosing, monitoring, and treating diseases. Clinical applications
for MCRs span from abdominal surgery to endoscopy. MCRs are severely resource constrained
devices in size and in available mechanical/electrical power.
Magnetic manipulation is becoming one of the main strategies for MCRs navigation and
remote actuation, as it allows the transmission of forces across a physical barrier without
requiring an internal source of power.
The current state of the art lacks proprioceptive systems able to control magnetic actuation
to enable MCRs to perform medical procedures. This dissertation presents controllable
strategies for remote and local magnetic manipulation of MCRs combined with real-time
proprioceptive sensing.
The study focuses on two main applications: magnetic pose detection for navigation
of Wireless Capsule Endoscope (WCE) along the gastrointestinal (GI) tract, and Local
Magnetic Actuation (LMA) for powering Degrees of Freedoms (DOFs) of abdominal surgical
robots.
The proposed magnetic pose detection algorithms were successfully applied to remote
navigation on several WCE prototypes during in-vivo trials. Two different approaches
for magnetic pose detection compatible with magnetic actuation based on sensor fusion
are presented and evaluated. The first approach takes advantage of the magnetic field
mathematical derivation based on cylindrical symmetry, performing absolute pose detection
for 50 Hz real-time systems. The second algorithm achieves a refresh rate of 1 kHz applying
a least square interpolation to the finite element solution of the magnetic field, to obtain
Jacobians closed-form expression function of capsule poses changes. A third algorithm
estimates the force generated by magnetic coupling along the magnetization direction to
study the force required to drag WCEs along the GI tract.
The second topic covers the design and control for the LMA. This concept allows
the transmission of rotary motion by applying the magnetic spur gear concept to actuate
robotic DOFs of MCRs. The proposed dynamic model is used to design closed-loop control
strategies. Two surgical tools based on the LMA are presented: a single-DOF retractor and
a 4-DOF manipulator. | |
dc.format.mimetype | application/pdf | |
dc.subject | control | |
dc.subject | endoscopy | |
dc.subject | surgery | |
dc.subject | magnetic localization | |
dc.subject | magnetic device | |
dc.subject | medical robotisc | |
dc.title | Magnetic Medical Capsule Robots | |
dc.type | dissertation | |
dc.contributor.committeeMember | Keith Obstein | |
dc.contributor.committeeMember | Nabil Simaan | |
dc.contributor.committeeMember | Robert Webster | |
dc.contributor.committeeMember | Karl Zelik | |
dc.type.material | text | |
thesis.degree.name | PHD | |
thesis.degree.level | dissertation | |
thesis.degree.discipline | Mechanical Engineering | |
thesis.degree.grantor | Vanderbilt University | |
local.embargo.terms | 2017-08-06 | |
local.embargo.lift | 2017-08-06 | |
dc.contributor.committeeChair | Pietro Valdastri | |