A compensation strategy for accurate orientation of a tethered robotic capsule endoscope

A robotic platform is built to simulate the motion of a magnetically-driven endoscopic capsule on the sagittal plane. Magnetic model is used to analyze the force and torque between external and internal magnets. A compensation method for the external permanent magnet has been proposed to make a soft-tethered magnetic capsule rotates around a fixed point on the body sagittal plane. The compensation method includes rotation compensation, which aims to rotate the capsule to certain angle, and translation compensation, which aims to restrain capsules displacement during its rotation. The effect of capsules tether is qualitatively analyzed and also considered in the proposed compensation method.