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Magnetic Sensor Based Topographic Localization for Automatic Dislocation of Ingested Button Battery
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DOI：10.1109/icra40945.2020.9196546.png)
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Abstract
En 中文
A button battery accidentally ingested by a toddler or small child can cause severe damage to the stomach within a short period of time. Once a battery lands on the surface of the esophagus or stomach, it can run a current in the tissue and induce a chemical reaction resulting in injury. Following our previous work where we presented an ingestible magnetic robot for button battery retrieval, this study presents a remotely achieved novel localization method of a button battery with commonly available magnetic sensors (Hall-effect sensors). By applying a direct magnetic field to the button battery using an electromagnetic coil, the battery is magnetized, and hence it becomes able to be sensed by Hall-effect sensors. Using a trilateration method, we were able to detect the locations of an LR44 button battery and other ferromagnetic materials at variable distances. Additional four electromagnetic coils were used to autonomously navigate a magnet-containing capsule to dislocate the battery from the affected site.
Keywords:
ACTUATED SOFT CAPSULE
MICROROBOTS
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