Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope.

ABSTRACT: Magnetically actuated robots have become increasingly popular in medical endoscopy over the past decade. Despite the significant improvements in autonomy and control methods, progress within the field of medical magnetic endoscopes has mainly been in the domain of enhanced navigation. Interventional tasks such as biopsy, polyp removal, and clip placement are a major procedural component of endoscopy. Little advancement has been done in this area due to the problem of adequately controlling and stabilizing magnetically actuated endoscopes for interventional tasks. In the present paper we discuss a novel model-based Linear Parameter Varying (LPV) control approach to provide stability during interventional maneuvers. This method linearizes the non-linear dynamic interaction between the

SUBMITTER: Barducci L 

PROVIDER: S-EPMC9047764 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature