1
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Bentahar J, Deschênes JS. A reliable multi-nutrient model for the rapid production of high-density microalgal biomass over a broad spectrum of mixotrophic conditions. BIORESOURCE TECHNOLOGY 2023; 381:129162. [PMID: 37178778 DOI: 10.1016/j.biortech.2023.129162] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/05/2023] [Revised: 05/04/2023] [Accepted: 05/08/2023] [Indexed: 05/15/2023]
Abstract
The superior microalgal biomass productivities obtained under mixotrophic conditions have been widely demonstrated. However, to attain the full potential of the method, optimal conditions for biomass production and resource utilization need to be determined and successfully exploited throughout the process operation. Detailed kinetic mathematical models have often proved most efficient tools for predicting process behavior and governing its overall operation. This paper presents an extensive study for obtaining a highly reliable model for mixotrophic production of microalgae covering a wide set and range of nutritional conditions (10-fold the concentration range of Bold's Basal Medium) and biomass yields up to 6.68 g.L-1 after only 6 days. The final reduced model includes a total of five state variables and nine parameters: model calibration resulted in very small 95% confidence intervals and relative errors below 5% for all parameters. Model validation showed high reliability with R2 correlation values between 0.77 and 0.99.
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Affiliation(s)
- Jihed Bentahar
- Département de mathématiques, d'informatique et de génie, Collectif de recherche appliquée aux bioprocédés et à la chimie de l'environnement (CRABE), Université du Québec à Rimouski, 300, Allée des Ursulines, Rimouski, Québec G5L 3A1, Canada; Département des sciences des aliments, Institut sur la Nutrition et les Aliments Fonctionnels (INAF), Faculté des sciences de l'agriculture et de l'alimentation, Université Laval, 2425, rue de l'Agriculture, Québec, Québec G1V 0A6, Canada.
| | - Jean-Sébastien Deschênes
- Département de mathématiques, d'informatique et de génie, Collectif de recherche appliquée aux bioprocédés et à la chimie de l'environnement (CRABE), Université du Québec à Rimouski, 300, Allée des Ursulines, Rimouski, Québec G5L 3A1, Canada; Département des sciences des aliments, Institut sur la Nutrition et les Aliments Fonctionnels (INAF), Faculté des sciences de l'agriculture et de l'alimentation, Université Laval, 2425, rue de l'Agriculture, Québec, Québec G1V 0A6, Canada
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2
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Li K, Xu Y, Zhao Z, Meng MQH. External and Internal Sensor Fusion Based Localization Strategy for 6-DOF Pose Estimation of a Magnetic Capsule Robot. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3178473] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Keyu Li
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Yangxin Xu
- Yuanhua Robotics, Perception & AI Technologies Limited, Shenzhen, China
| | - Ziqi Zhao
- Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
| | - Max Q.-H. Meng
- Shenzhen Key Laboratory of Robotics Perception and Intelligence, and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
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3
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Taylor CR, Srinivasan SS, Yeon SH, O'Donnell MK, Roberts TJ, Herr HM. Magnetomicrometry. Sci Robot 2021; 6:6/57/eabg0656. [PMID: 34408095 DOI: 10.1126/scirobotics.abg0656] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/16/2020] [Accepted: 07/27/2021] [Indexed: 11/02/2022]
Abstract
We live in an era of wearable sensing, where our movement through the world can be continuously monitored by devices. Yet, we lack a portable sensor that can continuously monitor muscle, tendon, and bone motion, allowing us to monitor performance, deliver targeted rehabilitation, and provide intuitive, reflexive control over prostheses and exoskeletons. Here, we introduce a sensing modality, magnetomicrometry, that uses the relative positions of implanted magnetic beads to enable wireless tracking of tissue length changes. We demonstrate real-time muscle length tracking in an in vivo turkey model via chronically implanted magnetic beads while investigating accuracy, biocompatibility, and long-term implant stability. We anticipate that this tool will lay the groundwork for volitional control over wearable robots via real-time tracking of muscle lengths and speeds. Further, to inform future biomimetic control strategies, magnetomicrometry may also be used in the in vivo tracking of biological tissues to elucidate biomechanical principles of animal and human movement.
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Affiliation(s)
- C R Taylor
- MIT Center for Extreme Bionics, Massachusetts Institute of Technology, Cambridge, MA, USA
| | - S S Srinivasan
- MIT Center for Extreme Bionics, Massachusetts Institute of Technology, Cambridge, MA, USA.,Harvard Medical School, Boston, MA, USA
| | - S H Yeon
- MIT Center for Extreme Bionics, Massachusetts Institute of Technology, Cambridge, MA, USA
| | - M K O'Donnell
- Department of Ecology and Evolutionary Biology, Brown University, Providence, RI, USA
| | - T J Roberts
- Department of Ecology and Evolutionary Biology, Brown University, Providence, RI, USA
| | - H M Herr
- MIT Center for Extreme Bionics, Massachusetts Institute of Technology, Cambridge, MA, USA. .,Harvard Medical School, Boston, MA, USA
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4
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Liu X, Yang Y, Inda ME, Lin S, Wu J, Kim Y, Chen X, Ma D, Lu TK, Zhao X. Magnetic Living Hydrogels for Intestinal Localization, Retention, and Diagnosis. ADVANCED FUNCTIONAL MATERIALS 2021; 31:2010918. [PMID: 35903441 PMCID: PMC9328153 DOI: 10.1002/adfm.202010918] [Citation(s) in RCA: 45] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/14/2023]
Abstract
Natural microbial sensing circuits can be rewired into new gene networks to build living sensors that detect and respond to disease-associated biomolecules. However, synthetic living sensors, once ingested, are cleared from the gastrointestinal (GI) tract within 48 hours; retaining devices in the intestinal lumen is prone to intestinal blockage or device migration. To localize synthetic microbes and safely extend their residence in the GI tract for health monitoring and sustained drug release, an ingestible magnetic hydrogel carrier is developed to transport diagnostic microbes to specific intestinal sites. The magnetic living hydrogel is localized and retained by attaching a magnet to the abdominal skin, resisting the peristaltic waves in the intestine. The device retention is validated in a human intestinal phantom and an in vivo rodent model, showing that the ingestible hydrogel maintains the integrated living bacteria for up to seven days, which allows the detection of heme for GI bleeding in the harsh environment of the gut. The retention of microelectronics is also demonstrated by incorporating a temperature sensor into the magnetic hydrogel carrier.
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Affiliation(s)
- Xinyue Liu
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Yueying Yang
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Maria Eugenia Inda
- Synthetic Biology Group, Research Laboratory of Electronics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Shaoting Lin
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Jingjing Wu
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Yoonho Kim
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Xiaoyu Chen
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Dacheng Ma
- Synthetic Biology Group, Research Laboratory of Electronics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Timothy K Lu
- Synthetic Biology Group, Research Laboratory of Electronics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Xuanhe Zhao
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
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5
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Kim MC, Kim ES, Park JO, Choi E, Kim CS. Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope. SENSORS 2020; 20:s20205728. [PMID: 33050155 PMCID: PMC7601872 DOI: 10.3390/s20205728] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/02/2020] [Revised: 10/06/2020] [Accepted: 10/07/2020] [Indexed: 12/11/2022]
Abstract
Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicious positioning in the intestine is still challenging owing to the limitation of capsule size, relatively large diagnostic volume, and compatibility of other devices in clinical site. To address this issue, we present a novel robotic localization sensing methodology based on the kinematics of a planar cable driven parallel robot (CDPR) and measurements of the quasistatic magnetic field of a Hall effect sensor (HES) array. The arrangement of HES and the Levenberg-Marquardt (LM) algorithm are applied to estimate the position of the permanent magnet (PM) in the CE, and the planar CDPR is incorporated to follow the PM in the CE. By tracking control of the planar CDPR, the position of PM in any arbitrary position can be obtained through robot forward kinematics with respect to the global coordinates at the bedside. The experimental results show that the root mean square error (RMSE) for the estimated position value of PM was less than 1.13 mm in the X, Y, and Z directions and less than 1.14° in the θ and φ orientation, where the sensing space could be extended to ±70 mm for the given 34 × 34 mm2 HES array and the average moving distance in the Z-direction is 40 ± 2.42 mm. The proposed method of the robotic sensing with HES and CDPR may advance the sensing space expansion technology by utilizing the provided single sensor module of limited sensible volume.
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Affiliation(s)
- Min-Cheol Kim
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
| | - Eui-Sun Kim
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea;
| | - Jong-Oh Park
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea;
| | - Eunpyo Choi
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
| | - Chang-Sei Kim
- School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea; (M.-C.K.); (J.-O.P.); (E.C.)
- Korea Institute of Medical Microrobotics, Gwangju 61011, Korea;
- Correspondence:
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6
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Watson C, Morimoto TK. Permanent Magnet-Based Localization for Growing Robots in Medical Applications. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2972890] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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7
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Berkelman P, Tix B. Simultaneous Independent Translational and Rotational Feedback Motion Control System for a Cylindrical Magnet using Planar Arrays of Magnetic Sensors and Cylindrical Coils. IEEE MAGNETICS LETTERS 2020; 11:1-5. [PMID: 33777328 PMCID: PMC7996633 DOI: 10.1109/lmag.2020.3038586] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/10/2023]
Abstract
This letter describes an electromagnetic feedback control system for rigid-body motion control of a magnet. Its novel features are that sensing and actuation using magnetometer sensors and actuator coils operate simultaneously, and magnetic field models from the controlled magnet and each of the actuator coil currents are used together to calculate the 3D position and orientation of the magnet to control motion simultaneously and independently in multiple degrees of freedom including planar translation and two in rotation, leaving rotation about the cylindrical axis of magnetization uncontrolled. The system configuration and the localization and actuation methods are presented with experimental results of magnet localization with constant and varying coil currents, and during feedback control of trajectory following motion of the magnet in multiple directions on a planar surface and with controlled changes in orientation. The intended application of the system is for motion control of magnetic endoscope capsules and other miniature medical devices inside the human body.
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Affiliation(s)
- Peter Berkelman
- Department of Mechanical Engineering at the University of Hawaii-Manoa, Honolulu, HI, 96822 USA
| | - Bernadette Tix
- Information and Computer Sciences Department at the University of Hawaii-Manoa
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8
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Barbi M, Garcia-Pardo C, Nevarez A, Pons Beltran V, Cardona N. UWB RSS-Based Localization for Capsule Endoscopy Using a Multilayer Phantom and In Vivo Measurements. IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION 2019; 67:5035-5043. [DOI: 10.1109/tap.2019.2916629] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/30/2023]
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9
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Khan U, Ye Y, Aisha AU, Swar P, Pahlavan K. Precision of EM Simulation Based Wireless Location Estimation in Multi-Sensor Capsule Endoscopy. IEEE JOURNAL OF TRANSLATIONAL ENGINEERING IN HEALTH AND MEDICINE-JTEHM 2018; 6:1800411. [PMID: 29651364 PMCID: PMC5886754 DOI: 10.1109/jtehm.2018.2818177] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/08/2017] [Revised: 01/11/2018] [Accepted: 03/02/2018] [Indexed: 12/22/2022]
Abstract
In this paper, we compute and examine two-way localization limits for an RF endoscopy pill as it passes through an individuals gastrointestinal (GI) tract. We obtain finite-difference time-domain and finite element method-based simulation results position assessment employing time of arrival (TOA). By means of a 3-D human body representation from a full-wave simulation software and lognormal models for TOA propagation from implant organs to body surface, we calculate bounds on location estimators in three digestive organs: stomach, small intestine, and large intestine. We present an investigation of the causes influencing localization precision, consisting of a range of organ properties; peripheral sensor array arrangements, number of pills in cooperation, and the random variations in transmit power of sensor nodes. We also perform a localization precision investigation for the situation where the transmission signal of the antenna is arbitrary with a known probability distribution. The computational solver outcome shows that the number of receiver antennas on the exterior of the body has higher impact on the precision of the location than the amount of capsules in collaboration within the GI region. The large intestine is influenced the most by the transmitter power probability distribution.
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Affiliation(s)
- Umair Khan
- Worcester Polytechnic InstituteWorcesterMA01609USA.,Intel CorporationHudsonMA01749USA
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10
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Umay I, Fidan B, Barshan B. Localization and Tracking of Implantable Biomedical Sensors. SENSORS (BASEL, SWITZERLAND) 2017; 17:E583. [PMID: 28335384 PMCID: PMC5375869 DOI: 10.3390/s17030583] [Citation(s) in RCA: 15] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/20/2016] [Revised: 02/27/2017] [Accepted: 03/06/2017] [Indexed: 01/20/2023]
Abstract
Implantable sensor systems are effective tools for biomedical diagnosis, visualization and treatment of various health conditions, attracting the interest of researchers, as well as healthcare practitioners. These systems efficiently and conveniently provide essential data of the body part being diagnosed, such as gastrointestinal (temperature, pH, pressure) parameter values, blood glucose and pressure levels and electrocardiogram data. Such data are first transmitted from the implantable sensor units to an external receiver node or network and then to a central monitoring and control (computer) unit for analysis, diagnosis and/or treatment. Implantable sensor units are typically in the form of mobile microrobotic capsules or implanted stationary (body-fixed) units. In particular, capsule-based systems have attracted significant research interest recently, with a variety of applications, including endoscopy, microsurgery, drug delivery and biopsy. In such implantable sensor systems, one of the most challenging problems is the accurate localization and tracking of the microrobotic sensor unit (e.g., robotic capsule) inside the human body. This article presents a literature review of the existing localization and tracking techniques for robotic implantable sensor systems with their merits and limitations and possible solutions of the proposed localization methods. The article also provides a brief discussion on the connection and cooperation of such techniques with wearable biomedical sensor systems.
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Affiliation(s)
- Ilknur Umay
- Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave W, Waterloo, ON N2L 3G1, Canada.
| | - Barış Fidan
- Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave W, Waterloo, ON N2L 3G1, Canada.
| | - Billur Barshan
- Department of Electrical and Electronics Engineering, Bilkent University, Bilkent, Ankara TR-06800, Turkey.
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11
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Dey N, Ashour AS, Shi F, Sherratt RS. Wireless Capsule Gastrointestinal Endoscopy: Direction-of-Arrival Estimation Based Localization Survey. IEEE Rev Biomed Eng 2017; 10:2-11. [DOI: 10.1109/rbme.2017.2697950] [Citation(s) in RCA: 44] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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12
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Son D, Yim S, Sitti M. A 5-D Localization Method for a Magnetically Manipulated Untethered Robot using a 2-D Array of Hall-effect Sensors. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2016; 21:708-716. [PMID: 27458327 PMCID: PMC4957559 DOI: 10.1109/tmech.2015.2488361] [Citation(s) in RCA: 35] [Impact Index Per Article: 4.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/17/2023]
Abstract
This paper introduces a new five-dimensional localization method for an untethered meso-scale magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The developed magnetic localization setup is a two-dimensional array of mono-axial Hall-effect sensors, which measure the perpendicular magnetic fields at their given positions. We introduce two steps for localizing a magnetic robot more accurately. First, the dipole modeled magnetic field of the electromagnet is subtracted from the measured data in order to determine the robot's magnetic field. Secondly, the subtracted magnetic field is twice differentiated in the perpendicular direction of the array, so that the effect of the electromagnetic field in the localization process is minimized. Five variables regarding the position and orientation of the robot are determined by minimizing the error between the measured magnetic field and the modeled magnetic field in an optimization method. The resulting position error is 2.1±0.8 mm and angular error is 6.7±4.3° within the applicable range (5 cm) of magnetic field sensors at 200 Hz. The proposed localization method would be used for the position feedback control of untethered magnetic devices or robots for medical applications in the future.
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Affiliation(s)
- Donghoon Son
- Department of Mechanical Engineering, Carnegie Mellon University, PA 15213 USA and Physical Intelligence Department, Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Sehyuk Yim
- Performed this research at Carnegie Mellon University, Pittsburgh, PA 15213 USA. Now, he is with the Robotics and Media Institute, Korea Institute of Science and Technology (KIST), Seoul, South Korea
| | - Metin Sitti
- Department of Mechanical Engineering, Carnegie Mellon University, PA 15213 USA and Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
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13
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Marechal L, Wood KL. Design optimization of the sensor spatial arrangement in a direct magnetic field-based localization system for medical applications. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2016; 2015:897-900. [PMID: 26736407 DOI: 10.1109/embc.2015.7318507] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Motivated by the need for developing a neuronavigation system to improve efficacy of intracranial surgical procedures, a localization system using passive magnetic fields for real-time monitoring of the insertion process of an external ventricular drain (EVD) catheter is conceived and developed. This system operates on the principle of measuring the static magnetic field of a magnetic marker using an array of magnetic sensors. An artificial neural network (ANN) is directly used for solving the inverse problem of magnetic dipole localization for improved efficiency and precision. As the accuracy of localization system is highly dependent on the sensor spatial location, an optimization framework, based on understanding and classification of experimental sensor characteristics as well as prior knowledge of the general trajectory of the localization pathway, for design of such sensing assemblies is described and investigated in this paper. Both optimized and non-optimized sensor configurations were experimentally evaluated and results show superior performance from the optimized configuration. While the approach presented here utilizes ventriculostomy as an illustrative platform, it can be extended to other medical applications that require localization inside the body.
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14
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Sitti M, Ceylan H, Hu W, Giltinan J, Turan M, Yim S, Diller E. Biomedical Applications of Untethered Mobile Milli/Microrobots. PROCEEDINGS OF THE IEEE. INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS 2015; 103:205-224. [PMID: 27746484 PMCID: PMC5063027 DOI: 10.1109/jproc.2014.2385105] [Citation(s) in RCA: 293] [Impact Index Per Article: 32.6] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/19/2023]
Abstract
Untethered robots miniaturized to the length scale of millimeter and below attract growing attention for the prospect of transforming many aspects of health care and bioengineering. As the robot size goes down to the order of a single cell, previously inaccessible body sites would become available for high-resolution in situ and in vivo manipulations. This unprecedented direct access would enable an extensive range of minimally invasive medical operations. Here, we provide a comprehensive review of the current advances in biome dical untethered mobile milli/microrobots. We put a special emphasis on the potential impacts of biomedical microrobots in the near future. Finally, we discuss the existing challenges and emerging concepts associated with designing such a miniaturized robot for operation inside a biological environment for biomedical applications.
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Affiliation(s)
- Metin Sitti
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany, and also are with Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15238 USA
| | - Hakan Ceylan
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Wenqi Hu
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Joshua Giltinan
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany, and also are with Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15238 USA
| | - Mehmet Turan
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Sehyuk Yim
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA
| | - Eric Diller
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S3G8, Canada
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15
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Farajidavar A, Block JM, Ghovanloo M. A comprehensive method for magnetic sensor calibration: a precise system for 3-D tracking of the tongue movements. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2013; 2012:1153-1156. [PMID: 23366101 DOI: 10.1109/embc.2012.6346140] [Citation(s) in RCA: 9] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Magnetic localization has been used in a variety of applications, including the medical field. Small magnetic tracers are often modeled as dipoles and localization has been achieved by solving well-defined dipole equations. However, in practice, the precise calculation of the tracer location not only depends on solving the highly nonlinear dipole equations through numerical algorithms but also on the precision of the magnetic sensor, accuracy of the tracer magnetization, and the earth magnetic field (EMF) measurements. We have developed and implemented a comprehensive calibration method that addresses all of the aforementioned factors. We evaluated this method in a bench-top setting by moving the tracer along controlled trajectories. We also conducted several experiments to track the tongue movement in a human subject.
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16
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Hu C, -H Meng M, Mandal M. Efficient linear algorithm for magnetic localization and orientation in capsule endoscopy. CONFERENCE PROCEEDINGS : ... ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL CONFERENCE 2012; 2005:7143-6. [PMID: 17281923 DOI: 10.1109/iembs.2005.1616154] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
To build a new wireless robotic capsule endoscope with external guidance for controllable GI tract examination, a sensing system is required for tracking the capsule's 3D location and 2D orientation. An appropriate sensing approach is to enclose a small permanent magnet in the capsule so as to establish a static magnetic field around. With the magnetic sensors outside the patient's body, some parameters related to this magnetic field can be detected, and the capsule's location and orientation can be calculated using an appropriate algorithm. In this paper, a linear algorithm is proposed to provide faster, more reliable computation, compared to the nonlinear algorithms. The results of simulation and real experiment show that satisfactory localization and orientation accuracy can be achieved using a sensor array with enough number of 3-axis sensors.
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Affiliation(s)
- Chao Hu
- Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 2V4, Canada; Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, N.T. Hong Kong.
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17
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Zou Y, O'Driscoll S. Implant positioning system using mutual inductance. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2012; 2012:751-754. [PMID: 23366001 DOI: 10.1109/embc.2012.6346040] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/01/2023]
Abstract
Surgical placement of implantable medical devices (IMDs) has limited precision and post-implantation the device can move over time. Accurate knowledge of the position of IMDs allows better interpretation of data gathered by the devices and may allow wireless power to be focused on the IMD thereby increasing power transfer efficiency. Existing positioning methods require device sizes and/or power consumptions which exceed the limits of in-vivo mm-sized IMDs applications. This paper describes a novel implant positioning system which replaces the external transmitting (TX) coil of a wireless power transfer link by an array of smaller coils, measures the mutual inductance between each coil in the TX array and the implanted receiving (RX) coil, and uses the spatial variation in those mutual inductances to estimate the location of the implanted device. This method does not increase the hardware or power consumption in the IMD. Mathematical analysis and electromagnetic simulations are presented which explain the theory underlying this scheme and show its feasibility. A particle swarm based algorithm is used to estimate the position of the RX coil from the measured mutual inductance values. MATLAB simulations show the positioning estimation accuracy on the order of 1 mm.
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Affiliation(s)
- You Zou
- Solid-State Circuits Research Lab, Department of Electrical and Computer Engineering at the University of California, Davis, One Shields Avenue, Davis, CA 95616, USA.
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18
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Abstract
Microrobots have the potential to revolutionize many aspects of medicine. These untethered, wirelessly controlled and powered devices will make existing therapeutic and diagnostic procedures less invasive and will enable new procedures never before possible. The aim of this review is threefold: first, to provide a comprehensive survey of the technological state of the art in medical microrobots; second, to explore the potential impact of medical microrobots and inspire future research in this field; and third, to provide a collection of valuable information and engineering tools for the design of medical microrobots.
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Affiliation(s)
- Bradley J Nelson
- Institute of Robotics and Intelligent Systems, ETH Zurich, 8092 Zurich, Switzerland.
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Hu C, Yang W, Chen D, Meng MQH, Dai H. An improved magnetic localization and orientation algorithm for wireless capsule endoscope. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2009; 2008:2055-8. [PMID: 19163099 DOI: 10.1109/iembs.2008.4649596] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
In this paper, we propose a novel localization algorithm for tracking a magnet inside the capsule endoscope by 3-axis magnetic sensors array. In the algorithm, we first use an improved linear algorithm to obtain the localization parameters by finding the eigenvector corresponding to the minimum eigenvalue of the objective matrix. These parameters are used as the initial guess of the localization parameters in the nonlinear localization algorithm, and the nonlinear algorithm searches for more appropriate parameters that can minimize the objective error function. As the results, we obtain more robust and accurate localization results than those by using linear algorithm only. Nevertheless, the time efficiency of the nonlinear algorithm is enhanced. The real experimental data show that the average localization accuracy is about 2mm and the average orientation accuracy is about 1.6 degrees when the magnet moves within the sensing area of 240 mm x 240 mm square.
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Affiliation(s)
- Chao Hu
- The Chinese University of Hong Kong, China.
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Szczypiński PM, Sriram RD, Sriram PV, Reddy DN. A model of deformable rings for interpretation of wireless capsule endoscopic videos. Med Image Anal 2009; 13:312-24. [DOI: 10.1016/j.media.2008.12.002] [Citation(s) in RCA: 38] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/26/2007] [Revised: 12/08/2008] [Accepted: 12/08/2008] [Indexed: 12/22/2022]
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