Simultaneous Calibration of Magnetic Actuation and Sensing Systems
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Solution Overview
Problem
Current methods for calibrating magnetic actuation and sensing systems in magnetically actuated capsule endoscopes require separate calibration processes, which are time-consuming and prone to errors, leading to inaccurate position and orientation estimation of the robot.
Innovation Solution
A simultaneous calibration method that generates arbitrary magnetic fields, measures these fields with sensing systems, and uses a combined calibration model to calibrate both actuation and sensing systems simultaneously, reducing calculation time and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If separate calibration processes are used for actuation and sensing systems, then each system can be calibrated independently, but the calibration process becomes time-consuming and accuracy deteriorates
Solution Approach 1:
The patent combines the calibration of actuation and sensing systems into a single simultaneous calibration process. The calibration model integrates both actuation parameters (coil currents, magnetic field generation) and sensing parameters (sensor positions, orientations, gain values) into one unified mathematical framework that is solved together, eliminating the need for separate calibration sequences and improving both accuracy and efficiency.
2Measurement precision
If a precisely calibrated parametric magnetic model is used to decouple robot's magnetic field from actuator's field, then position and orientation estimation accuracy is improved, but the device complexity increases
Solution Approach 1:
The calibration model serves multiple functions simultaneously: it calibrates sensor positions, sensor orientations, sensor gain values, and actuation parameters all in one unified framework. This multi-functional approach consolidates what would otherwise require multiple separate calibration models and procedures into a single comprehensive solution, managing complexity through unification rather than multiplication.
3Reliability
If manual calibration procedures are used for magnetic sensors and actuators, then calibration can be performed, but the calibration process is prone to errors and requires significant operator intervention
Solution Approach 1:
The system performs self-calibration by automatically collecting measurement data from the magnetic fields generated by actuators and detected by sensors, then solving the calibration model parameters without requiring manual intervention. The process autonomously determines sensor and actuator parameters through numerical optimization, eliminating human error and reducing operational complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method enables automated self-calibration, significantly improving the speed and accuracy of the calibration process, allowing for automated system parameter updates and flexible reconfiguration, with the entire procedure completed in under 15 minutes with high precision.
Implementation Method 1
generating a plurality of arbitrary magnetic fields at the workspace by applying a plurality of electric currents at the magnetic actuators
Implementation Method 2
measuring each magnetic field with the sensing system in the workspace
Data Source
AI summary
The invention relates to a method of simultaneously calibrating magnetic actuation and sensing systems for a workspace, wherein the actuation system comprises a plurality of magnetic actuators and the sensing system comprises a plurality of magnetic sensors, wherein all the measured data is fed into a calibration model, wherein the calibration model is based on a sensor measurement model and a magnetic actuation model, and wherein a solution of the model parameters is found via a numerical solver order to calibrate both the actuation and sensing systems at the same time.