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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© 2017 Published by Elsevier Inc.
