A controllable video capsule endoscopy is important to improving gastrointestinal diagnostics by enabling clinicians to actively steer the capsule and stay in control.
This MSc project focuses on integrating the Force Dimension OMEGA.7 as a clinically applicable input device to teleoperate a magnetically actuated video capsule within an existing control and tracking.
The work will develop a robust ROS2-based interface and control mapping that converts clinician hand motions into stable capsule steering commands, and takes into consideration limits, hold/stop behaviour, and filtering to reduce unintended motion. The system will be validated in phantom and polyp detection experiments by comparing OMEGA.7 control against the current SpaceMouse baseline.