For a magnetic pill endoscope in the lower gastrointestinal tract, it is important to develop a dynamic control system to streamline the technology and make it simple for the practitioner to use. Thus, to start it can be seen vital to go from model to open loop over closed loop resulting in autonomous navigation.
In this project, research on open-loop is conducted preceding later closed-loop implementations.
Research question:
How can quantised magnetic actuation from the KUKA iiSY robotic arm be translated into predictable and controllable motion of a pill-shaped endoscopic capsule across collapsed environments, using open-loop control informed by theory-based magnetic field and force assumptions?
