{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T16:16:07Z","timestamp":1776528967884,"version":"3.51.2"},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,10,26]],"date-time":"2009-10-26T00:00:00Z","timestamp":1256515200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2010,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper describes a novel approach to capsular endoscopy that takes advantage of active magnetic locomotion in the gastrointestinal tract guided by an anthropomorphic robotic arm. Simulations were performed to select the design parameters allowing an effective and reliable magnetic link between the robot end-effector (endowed with a permanent magnet) and the capsular device (endowed with small permanent magnets). In order to actively monitor the robotic endoluminal system and to efficiently perform diagnostic and surgical medical procedures, a feedback control based on inertial sensing was also implemented. The proposed platform demonstrated to be a reliable solution to move and steer a capsular device in a slightly insufflated gastrointestinal lumen.<\/jats:p>","DOI":"10.1017\/s0263574709990361","type":"journal-article","created":{"date-parts":[[2009,10,26]],"date-time":"2009-10-26T08:58:05Z","timestamp":1256547485000},"page":"199-207","source":"Crossref","is-referenced-by-count":275,"title":["Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures"],"prefix":"10.1017","volume":"28","author":[{"given":"Gastone","family":"Ciuti","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pietro","family":"Valdastri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arianna","family":"Menciassi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paolo","family":"Dario","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,10,26]]},"reference":[{"key":"S0263574709990361_ref19","unstructured":"19. Stereotaxis website. Available on: http:\/\/www.stereotaxis.com. Last accessed August 2009."},{"key":"S0263574709990361_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2007.11.052"},{"key":"S0263574709990361_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.910775"},{"key":"S0263574709990361_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2008.919720"},{"key":"S0263574709990361_ref4","doi-asserted-by":"publisher","DOI":"10.1038\/35013140"},{"key":"S0263574709990361_ref14","first-page":"AB121","article-title":"In-vivo remote manipulation of modified capsule endoscopes using an external magnetic field","volume":"5","author":"Volke","year":"2008","journal-title":"Gastrointest. Endosc."},{"key":"S0263574709990361_ref15","unstructured":"15. Olympus Endocapsule. Available on: http:\/\/www.olympus-europa.com\/endoscopy\/. Last accessed August 2009."},{"key":"S0263574709990361_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-008-9831-1"},{"key":"S0263574709990361_ref9","doi-asserted-by":"crossref","first-page":"3377","DOI":"10.1109\/ROBOT.2007.363994","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Park","year":"2007"},{"key":"S0263574709990361_ref20","doi-asserted-by":"publisher","DOI":"10.1088\/0022-3727\/41\/10\/105001"},{"key":"S0263574709990361_ref8","doi-asserted-by":"publisher","DOI":"10.1080\/13645700701266982"},{"key":"S0263574709990361_ref7","unstructured":"7. VECTOR European Project website. Available on: http:\/\/www.vector-project.com. Last accessed August 2009."},{"key":"S0263574709990361_ref22","volume-title":"Biophysics","author":"Glaser","year":"2001"},{"key":"S0263574709990361_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2007.894729"},{"key":"S0263574709990361_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10544-006-9025-3"},{"key":"S0263574709990361_ref23","unstructured":"23. NDI The Aurora Electromagnetic Measurement System. Available on: http:\/\/www.ndigital.com. Last accessed August 2009."},{"key":"S0263574709990361_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/1553350606290529"},{"key":"S0263574709990361_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmr.2008.02.011"},{"key":"S0263574709990361_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/S0140-6736(07)61066-6"},{"key":"S0263574709990361_ref11","doi-asserted-by":"crossref","first-page":"1856","DOI":"10.1109\/ROBOT.2007.363592","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Quirini","year":"2007"},{"key":"S0263574709990361_ref12","doi-asserted-by":"publisher","DOI":"10.1136\/bmj.332.7540.528"},{"key":"S0263574709990361_ref16","doi-asserted-by":"crossref","unstructured":"16. Wang X. and Meng M. Q. H. , \u201cA Magnetic Stereo Actuation Mechanism for Active Capsule Endoscope,\u201d Proceedings of IEEE International Conference on Engineering in Medicine and Biology Society, Lyon, France (Sep. 2007) pp. 2811\u20132814.","DOI":"10.1109\/IEMBS.2007.4352913"},{"key":"S0263574709990361_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.giec.2003.10.022"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709990361","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,28]],"date-time":"2019-04-28T20:41:48Z","timestamp":1556484108000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709990361\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,10,26]]},"references-count":23,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2010,3]]}},"alternative-id":["S0263574709990361"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709990361","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,10,26]]}}}