Feasibility Analysis of Portable Electromagnetic Localization Method for In-vivo Micro Robot from Modeling, Calibration, Experiments and Electromagnetic Safety

摘要：

Micro invasive medical robots have being show great potency in clinical application.But the localization problem hasn’t been solved well still,greatly restraining their application.Aiming at positioning the gastrointestinal physiological parameters detecting capsule,a portable AC electromagnetic localization method for in-vivo micro robot is put forward.This paper verified the feasibility of the method from localization model,algorithm,calibration method,construction of the localization system,static and dynamic experiments,and electromagnetic safety.Finally,conclusions are drawn that in case of the static and dynamic experiments results,the accuracy of portable positioning system is high (less than 10mm) enough to satisfy the localization need of the micro invasive devices in vivo,and the system is electromagnetic safe for human.

关键词： electromagnetic localization portable robot feasibility calibration maximum permissible exposure (MPE)

作者: Hongwei Li Guozheng Yan Pingping Jiang

作者单位: Department of instrument science & engineering,820 Institute,Shanghai Jiaotong University,Shanghai,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）