{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T13:07:39Z","timestamp":1773839259605,"version":"3.50.1"},"reference-count":59,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2019,6,25]],"date-time":"2019-06-25T00:00:00Z","timestamp":1561420800000},"content-version":"vor","delay-in-days":365,"URL":"http:\/\/www.sagepub.com\/licence-information-for-chorus"}],"funder":[{"DOI":"10.13039\/501100008982","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS-123935"],"award-info":[{"award-number":["CNS-123935"]}],"id":[{"id":"10.13039\/501100008982","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008982","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS-1453129"],"award-info":[{"award-number":["IIS-1453129"]}],"id":[{"id":"10.13039\/501100008982","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000070","name":"National Institute of Biomedical Imaging and Bioengineering","doi-asserted-by":"publisher","award":["R01EB018992"],"award-info":[{"award-number":["R01EB018992"]}],"id":[{"id":"10.13039\/100000070","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000288","name":"Royal Society","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000288","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000082","name":"Division of Graduate Education","doi-asserted-by":"publisher","award":["1445197"],"award-info":[{"award-number":["1445197"]}],"id":[{"id":"10.13039\/100000082","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2018,7]]},"abstract":"<jats:p> Pose estimation methods for robotically guided magnetic actuation of capsule endoscopes have recently enabled trajectory following and automation of repetitive endoscopic maneuvers. However, these methods face significant challenges in their path to clinical adoption including the presence of regions of magnetic field singularity, where the accuracy of the system degrades, and the need for accurate initialization of the capsule\u2019s pose. In particular, the singularity problem exists for any pose estimation method that utilizes a single source of magnetic field if the method does not rely on the motion of the magnet to obtain multiple measurements from different vantage points. We analyze the workspace of such pose estimation methods with the use of the point-dipole magnetic field model and show that singular regions exist in areas where the capsule is nominally located during magnetic actuation. As the dipole model can approximate most magnetic field sources, the problem discussed herein pertains to a wider set of pose estimation techniques. We then propose a novel hybrid approach employing static and time-varying magnetic field sources and show that this system has no regions of singularity. The proposed system was experimentally validated for accuracy, workspace size, update rate, and performance in regions of magnetic singularity. The system performed as well or better than prior pose estimation methods without requiring accurate initialization and was robust to magnetic singularity. Experimental demonstration of closed-loop control of a tethered magnetic device utilizing the developed pose estimation technique is provided to ascertain its suitability for robotically guided capsule endoscopy. Hence, advances in closed-loop control and intelligent automation of magnetically actuated capsule endoscopes can be further pursued toward clinical realization by employing this pose estimation system. <\/jats:p>","DOI":"10.1177\/0278364918779132","type":"journal-article","created":{"date-parts":[[2018,6,26]],"date-time":"2018-06-26T04:40:01Z","timestamp":1529988001000},"page":"890-911","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":145,"title":["Enhanced real-time pose estimation for closed-loop robotic manipulation of magnetically actuated capsule endoscopes"],"prefix":"10.1177","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6351-6536","authenticated-orcid":false,"given":"Addisu Z","family":"Taddese","sequence":"first","affiliation":[{"name":"Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"given":"Piotr R","family":"Slawinski","sequence":"additional","affiliation":[{"name":"Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"}]},{"given":"Marco","family":"Pirotta","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy"}]},{"given":"Elena","family":"De Momi","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8654-7290","authenticated-orcid":false,"given":"Keith L","family":"Obstein","sequence":"additional","affiliation":[{"name":"Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"},{"name":"Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN, USA"}]},{"given":"Pietro","family":"Valdastri","sequence":"additional","affiliation":[{"name":"Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"}]}],"member":"179","published-online":{"date-parts":[[2018,6,25]]},"reference":[{"key":"bibr1-0278364918779132","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2015.11.018"},{"key":"bibr2-0278364918779132","doi-asserted-by":"publisher","DOI":"10.1615\/CritRevBiomedEng.2014010846"},{"key":"bibr3-0278364918779132","unstructured":"Aoki I, Uchiyama A, Arai K, Ishiyama K, Yabukami S (2010) Detecting system of position and posture of capsule medical device. 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