A Study of Magnetically Controlled Micro Endoscopy

Capsule endoscopy has the advantages of noninvasive,needlessness of sedation and the ability to examine the whole digestive system compared with the traditional endos- copy. It has been viewed as a quite attractive approach to examine the digestive system in endoscopy field . However, compared with the traditional endoscopy of active con- trolling, capsule endoscopy cannot be manipulated and it just only can passively move by its gravity and the peristalsis of digestive system,which may cause the losses of lots of important pictures around the lesions. Therefore, how to make capsule endoscopy be controllable has become a big issue to many research groups all over the world. Among the many aproaches, manipulating capsule endoscopy with magnetic field outside the human body is the most promising method. In the thesis, comparison between the general situation od each research groups is done at first. After the comparison, controlling the capsule with a magntic hand-held co- ntroller is the most direct and effective approach of controlling the capsule endoscopy, but excess weight of the hand-held controller is a big disadvantage. Based on the prev- ious study to the capsule endoscopy in our group, we propose an optimized magnetically controlled micro colonoscopy by using the magnetoresistive sensor array to deter-mine the position and orientation of the micro-magnetron colonoscopy and using computer vision to modify the error between movement direction of the capsule and the command direction manipulated by joystick .