Design and control of a magnetically driven capsule-robot for endoscopy and drug delivery
Bibliographic record
Abstract
Much research on the development of a robotic capsule and micro robot for the diagnosis of gastrointestinal diseases has been carried out. The powering of these micro systems is becoming very important as the implementation of such systems is limited due to existence of on-board power supplies. This paper presents a micro robotic system based on magnetic principles to eliminate the use of on-board power supplies. The goal is to build a system in which a capsule-robot can be manipulated wirelessly inside human's body. A micro robot (capsule robot) can be remotely operated with 3 DOF in an enclosed environment by transferring magnetic energy and electromagnetic waves. A magnetic drive unit generates magnetic energy for the micro robot's manipulation. Experimental results show the capsule-robot is manipulated and moved through a desired trajectory in a liquid. One of the significant advantages of the capsule endoscopy is that the procedure is ambulatory and the patient can live normally during the experiment. However, the use of the proposed system will require the patient to remain stationary during the experiment, which usually lasts about eight hours.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".