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Currently used wireless capsule endoscopy (WCE) is limited in terms ofinspection time and flexibility since the capsule is passively moved byperistalsis and cannot be accurately positioned. Different methods have beenproposed to facilitate active locomotion of WCE based on simultaneous magneticactuation and localization technologies. In this work, we investigate thetrajectory following problem of a robotic capsule under rotating magneticactuation in a tubular environment, in order to realize safe, efficient andaccurate inspection of the intestine at given points using wireless capsuleendoscopes. Specifically, four trajectory following strategies are developedbased on the PD controller, adaptive controller, model predictive controllerand robust multi-stage model predictive controller. Moreover, our method takesinto account the uncertainty in the intestinal environment by modeling theintestinal peristalsis and friction during the controller design. We validateour methods in simulation as well as in real-world experiments in varioustubular environments, including plastic phantoms with different shapes and anex-vivo pig colon. The results show that our approach can effectively actuate areciprocally rotating capsule to follow a desired trajectory in complex tubularenvironments, thereby having the potential to enable accurate and repeatableinspection of the intestine for high-quality diagnosis.

Trajectory Following Strategies for Wireless Capsule Endoscopy under Reciprocally Rotating Magnetic Actuation in a Tubular Environment