Localization Strategies for Robotic Endoscopic Capsules: A Review

本文是WCE定位领域最新的一篇review，非常有价值。

内窥镜胶囊机器人的定位策略：一个回顾
Localization Strategies for Robotic Endoscopic Capsules: A Review [1]
Paper Link
Authors: Federico Bianchi, etc.
2019，Expert Review of Medical Devices

1. 介绍（节选）Introduction (Excerpt)

当前，商业上可获得的内窥镜技术不能够完全应付为了在无症状阶段根除结肠癌的大规模筛查的有效性的缺失。在另一方面，WCE技术的革命性方法，和它对病人的潜在的好处，使得它成为一个对工程师和医师来说都重要的研究和开发的领域。研究团队已经提出创新性的理论，研究和增加的模块来提高检查，诊断和治疗能力，比如：（i）高效率无线能量传输；（ii）可控的主动运动；(iii) 精确的定位，等等。胶囊定位在WCE内窥镜中扮演了重要的角色，虽然最好的胶囊表现是通过一个在所有模块和功能中的最优平衡来获得的。确实，对胶囊位置和姿态的精确认知-被定义为它的位姿-当它运行在消化道中，并抓取图像时，这样的认知表示一种宝贵的信息，能够被医师利用用来更好地：(i) 定位内部病态； (ii) 进行接下来的诊断和干预（比如说给药）；(iii) 主动运动WCE的辅助导航；和 (iv) 在无线充电情况下进行无线能量传输。
Nowadays, the commercially available endoscopic technologies are not able to completely cope with the lack of effectiveness of mass screening campaigns for eradicating CRC in a symptomless state. On the other hand, the revolutionary approach of WCE technology, and its potential benefits for patients, make it an important field of research and development for engineers and physicians. Research teams have proposed innovative methods, studies and additional modules to improve screening, diagnostic, and therapeutic capabilities, such as (i) high-efficiency wireless powering; (ii) controllable active locomotion; (iii) accurate localization, etc. Capsule localization plays a key role in WCE endoscopy, although the best performance can be obtained through an optimum trade-off between all modules and functionalities. Indeed, accurate knowledge of the position and orientation of the capsule - defined as its pose - when it moves along the GI tract and captures images represents an invaluable information that can be exploited by physicians to better: (i) localize internal pathologies; (ii) perform follow-up diagnosis and intervention (such as drug delivery); (iii) assist navigation of active locomotion WCEs; and (iv) perform power transmission in case of wireless battery charging.

因此，因为它的重要性，一些解决方案，从磁场到超声和计算机视觉技术的使用，已经被调查。一份关于最新最近的定位策略的重要的回顾可能对于考虑进入这一具有挑战性的领域或在这一领域进一步发展的研究者来说是一个有用的工具。
Therefore, due to its importance, several solutions, ranging from the use magnetic fields to ultrasounds and computer-vision technologies, have been investigated. A critical review on the state-of-art of recent localization strategies may represent a useful tool for researchers who are considering entering or further progressing in this challenging field.

这篇回顾文章由三个主要的部分组织，三部分关注于：(i) 基于磁场的定位策略；(ii) 基于电磁波的定位策略；和 (iii) 其他方式的定位策略，比如超声波。
The review paper is organized into three main sections focused on: (i) magnetic fields-based localization strategies; (ii) electromagnetic wave-based localization strategies; and (iii) other types of localization strategies, such as ultrasound.

2. 基于磁场的定位策略 （节选） Magnetic field-based localization strategies (Excerpt)

在过去的几十年里，用于医疗目的的磁场使用已经极大地抓住了众多学术界和工业界团队的注意力，这些团队有兴趣在人类身体内部定位，锚定或导航医疗设备。这些团队被磁场的内在优势所激励，比如贯穿人体的低衰减和基于磁性的传感器能力去检测目标却没有视线的限制，与基于视觉的传感器技术相反。然而，最大的挑战性问题之一是在定位系统和连续铁磁模块之间的可能的干扰，比如手术工具，但是运动模块自身，在胶囊的主动驱动情况下，也是通过高强度永磁或电磁铁源获得的。对于这个原因，这个部分已被组织以使用和不使用高强度，磁驱动模块为条件来详细描述磁定位理论。
Over the past decade, the use of magnetic fields for medical purposes has significantly captured the attention of numerous academic and industrial groups interested to localize, anchor and navigate medical devices inside the human body. These groups were motivated by the intrinsic advantages of magnetic fields, such as low attenuation through the human body and capability of the magnetic-based sensor technologies to detect targets without the limitation of . a line-of-sight, contrarily to visual-based sensor technologies. However, one of the most challenging problems is the possible interferences between the localization system and contiguous ferromagnetic modules, such as surgical tools, but also the locomotion module itself, in case the capsule’s active propulsion is obtained by high-intensity permanent and electromagnetic sources. For this reason, this section has been organized to detail magnetic localization methodologies in the condition with and without the use of high-intensity, magnetically driven actuation modules.

2.1. 无磁驱动情况下的磁定位理论 Magnetic localization methodologies without magnetic-b