School of Mechanical, Material and Mechatronic Engineering, University ofWollongong, Wollongong, NSW 2522, Australia.
IEEE Trans Biomed Eng. 2012 Sep;59(9):2387-99. doi: 10.1109/TBME.2012.2201715. Epub 2012 Jun 18.
Obscure gastrointestinal (GI) bleeding, Crohn disease, Celiac disease, small bower tumors, and other disorders that occur in the GI tract have always been challenging to be diagnosed and treated due to the inevitable difficulty in accessing such a complex environment within the human body. With the invention of wireless capsule endoscope, the next generation of the traditional cabled endoscope, not only a dream has come true for the patients who have experienced a great discomfort and unpleasantness caused by the conventional endoscopic method, but also a new research field has been opened to develop a complete miniature robotic device that is swallowable and has full functions of diagnosis and treatment of the GI diseases. However, such an ideal device needs to be equipped with a highly accurate localization system to be able to exactly determine the location of lesions in the GI tract and provide essential feedback to an actuation mechanism controlling the device's movement. This paper presents a comprehensive overview of the localization systems for robotic endoscopic capsules, for which the motivation, challenges, and possible solutions of the proposed localization methods are also discussed.
不明原因的胃肠道 (GI) 出血、克罗恩病、乳糜泻、小 Bowel 肿瘤和其他发生在胃肠道的疾病，由于人体内部这个复杂环境的固有难度，其诊断和治疗一直具有挑战性。随着无线胶囊内镜的发明，即传统有缆内镜的下一代产品，不仅为那些经历过传统内镜方法带来的巨大不适和不愉快的患者带来了福音，而且为开发一种完全可吞咽且具有 GI 疾病诊断和治疗功能的完整微型机器人设备开辟了一个新的研究领域。然而，这种理想的设备需要配备高精度的定位系统，以便能够准确确定胃肠道中病变的位置，并为控制设备运动的致动机构提供必要的反馈。本文全面概述了用于机器人内镜胶囊的定位系统，其中还讨论了所提出的定位方法的动机、挑战和可能的解决方案。
