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Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm
This paper presents an autonomous navigation system for cost-effective magnetic-assisted colonoscopy, employing force-based sensors, an actuator, a proportional–integrator controller and a real-time heuristic searching method. The force sensing system uses load cells installed between the robotic ar...
| Autores principales: | , , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Nature Publishing Group UK
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8363733/ https://www.ncbi.nlm.nih.gov/pubmed/34389760 http://dx.doi.org/10.1038/s41598-021-95760-7 |