Minglu Chi, Rongsheng Liu, Cheng Chang, Yuanli Wang, Huadong Zheng, Xiaoyan Qian, Qinchao Ren, and Ruihua Ren
Capsule endoscope, bivariate control, magnetic moment, decouplingcoordinates transformation, error correction
To drive and steer a capsule endoscope in a flexible and quick way,a magnetic field superposition method is proposed based on dimen-sionality reduction and decoupling control principles with the swing(χ) and pitch (ξ) angles as the double control variables. The controlvariables are reduced by decoupling coordinate transformation, whilethe operation flexibility of the capsule endoscope is realized throughmagnetic field orientation control. Based on the basic magneticcoupling moment equation, the bivariate steering magnetic momentis derived, while the relationship between pitch, swing angle, andmagnetic moment is analysed. To eliminate the magnetic fielderror induced by the electrical parameters of the Helmholtz coil, acorrected basic driving current equation and a corrected bivariatesteering magnetic moment model are derived. To verify the actualeffect, preliminary control function experiments of capsule endo-scope are performed in a transparent straight tube and an in vitroporcine large intestine. The results show the effectiveness of theproposed bivariate magnetic torque control and laying a foundationfor convenient and fast human–computer interaction.
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