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In recent years, simultaneous magnetic actuation and localization (SMAL) foractive wireless capsule endoscopy (WCE) has been intensively studied to improvethe efficiency and accuracy of the examination. In this paper, we propose anautonomous magnetic navigation framework for active WCE that mimics the"insertion" and "withdrawal" procedures performed by an expert physician inconventional colonoscopy, thereby enabling efficient and accurate navigation ofa robotic capsule endoscope in the intestine with minimal user effort. First,the capsule is automatically propelled through the unknown intestinalenvironment and generate a viable path to represent the environment. Then, thecapsule is autonomously navigated towards any point selected on the intestinaltrajectory to allow accurate and repeated inspections of suspicious lesions.Moreover, we implement the navigation framework on a robotic systemincorporated with advanced SMAL algorithms, and validate it in the navigationin various tubular environments using phantoms and an ex-vivo pig colon. Ourresults demonstrate that the proposed autonomous navigation framework caneffectively navigate the capsule in unknown, complex tubular environments witha satisfactory accuracy, repeatability and efficiency compared with manualoperation.

Autonomous Magnetic Navigation Framework for Active Wireless Capsule Endoscopy Inspired by Conventional Colonoscopy Procedures