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Controlled Magnetic Locomotion and Real-Time Imaging in Capsule Endoscopy : An Integrated System for Colon Navigation and Lesion Detection

Krishnaswamy Kalyanaraman, Akash Krishna (2025) Controlled Magnetic Locomotion and Real-Time Imaging in Capsule Endoscopy : An Integrated System for Colon Navigation and Lesion Detection.

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Abstract:Video capsule endoscopy (VCE) is limited by high omission rates due to passive locomotion and lack of dynamic control. A teleoperated magnetic actuation system is presented using a Rotating Permanent Magnet mounted on a 6-DOF robotic arm controlled via SpaceMouse interface. The system was validated using a gelatine-based colon phantom, with capsule locomotion evaluated across various terrains at different RPM frequencies and distances. Real-time imaging through MiroCam's Human Body Communication protocol enabled targeted navigation to X-ray marked polyp locations. Results demonstrated effective terrain-adaptive navigation, with 100% polyp detection achieved when the capsule was maneuvered to re-examine areas by moving in a controlled reverse direction, indicating enhanced diagnostic yield potential for VCE through active teleoperated control
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:44 medicine, 52 mechanical engineering, 53 electrotechnology, 54 computer science
Programme:Electrical Engineering MSc (60353)
Link to this item:https://purl.utwente.nl/essays/107189
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