Capsule technology has made exploration of the entire gastrointestinal tract possible. Currently available colon capsules are limited due to passive movement and lack of therapeutic capability. Our academic lab has created a novel capsule robot for colon exploration that is actively maneuvered by magnetic coupling with both diagnostic and therapeutic function. Owing to the high gradient of their fields, permanent magnets (PM) are challenging to control and therefore an external robotic arm and localization algorithm are employed that permit intelligent manipulation of the capsule with allowance for autonomization of difficult maneuvers. Retroflexion (Rflx) is a common but mechanically complex maneuver during colonoscopy and therefore serves as an excellent subject for autonomous control.
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