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Intelligent magnetic manipulation for gastrointestinal ultrasound

2019; American Association for the Advancement of Science; Volume: 4; Issue: 31 Linguagem: Inglês

10.1126/scirobotics.aav7725

2470-9476

Joseph C. Norton, Piotr R. Slawinski, Holly S. Lay, James Martin, Benjamin F. Cox, Gerard Cummins, Marc P. Y. Desmulliez, R. Eddie Clutton, Keith L. Obstein, S. Cochran, Pietro Valdastri,

Gastrointestinal Tumor Research and Treatment

Diagnostic endoscopy in the gastrointestinal tract has remained largely unchanged for decades and is limited to the visualization of the tissue surface, the collection of biopsy samples for diagnoses, and minor interventions such as clipping or tissue removal. In this work, we present the autonomous servoing of a magnetic capsule robot for