@article{dinatali2013realtime,
abstract = {Magnetic coupling is one of the few physical phenomena capable of transmitting motion across a physical barrier. In gastrointestinal endoscopy, remote magnetic manipulation has the potential to make screening less invasive and more acceptable, thus saving lives by early diagnoses and treatment. Closed-loop control of the magnetic device position is crucial for a safe and reliable operation. In order to implement closed-loop control, the pose (position and orientation) of the device must be available in real-time. This becomes challenging if magnetic coupling is achieved by permanent magnets, since the strong magnetic field required for manipulation interferes with current localization techniques. In this work, we present a novel real-time pose detection strategy that is compatible with magnetic manipulation based on permanent magnets. The localization algorithm combines multiple sensor readings with a pre-calculated magnetic field map. The proposed approach is able to provide an average error below 5 mm in position detection, and below 19° for angular motion within a spherical workspace of 15 cm in radius. {\textcopyright} 2013 IEEE.},
added-at = {2023-05-10T16:23:27.000+0200},
author = {{Di Natali}, Christian and Beccani, Marco and Valdastri, Pietro},
biburl = {https://www.bibsonomy.org/bibtex/25a82f218988b1c963d69bd48f48a64e8/sassw},
doi = {10.1109/TMAG.2013.2240899},
interhash = {6446e6cf6573e7e18d715e95f4bd085f},
intrahash = {5a82f218988b1c963d69bd48f48a64e8},
issn = {00189464},
journal = {IEEE Transactions on Magnetics},
keywords = {Biomedical capsule detection,wireless devices,pose endoscopy endoscopy,magnetic equipment,gastrointestinal medical},
number = 7,
pages = {3524--3527},
timestamp = {2023-05-10T16:23:27.000+0200},
title = {{Real-time pose detection for magnetic medical devices}},
volume = 49,
year = 2013
}