Computerized three dimensional mapping and robotic maneuvering through the human large intestine trajectory with magnetic capsule endoscopy using reference tracking control

Introduction: Passive video capsule endoscopy is adequate for standard small-bowel examinations but cannot be properly used in larger cavity organs, such as stomach and large intestine. Mirocam Navy is a magnetic capsule system can be controlled by an outer magnetic unit which allows to maneuver the capsule inside the human intestinal tract. The aim of our present study was to improve and to automate the robotic maneuvering mechanism of the magnetic capsule, so that it could be moved to its appointed position and tilted by a given angle in our experimental colonic model. Methods: First we developed a three dimen…