======Magnetic PillCam======
**Last updated: 4/26/2022 12:12**


======Summary======
Our project aims to create an actively controlled PillCam using magnets on the device and electromagnets to steer the PillCam. We would also like to integrate the camera from the PillCam to control the movement of PillCam without an external camera and automate the movement of PillCam using its camera.


  * **Students:** Jack Yue, Bharath, Mark Gonzales
  * **Mentors:** Axel Krieger, Onder Erin


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======Background, Specific Aims, and Significance======

PillCam

  * A minimally invasive device was developed as an alternative to endoscopic devices.
  * No active robotic control on PillCam
  * Movement of a PillCam in GI-tract relies on passive body movements
  * PillCam comes in a model with a camera on both ends and a model with a camera only on one end



MagnetoSuture

  * Technology that uses electromagnetic fields to control a magnet’s motion
  * Consists of four electromagnet coils (EMs) arrayed in a plane separated by 90 degrees
  * EMs are controlled by wireless remote controller and individual coil current ranges from −20 A to 20 A
  * Using this wireless remote controller, a needle or magnet can be moved in any direction in the space between the coils

{{:courses:456:2022:projects:456-2022-21:magnetosuture-1024x768.png?400|}}

Goals
  *Create an actively controlled PillCam using magnets on the device and electromagnets to steer the PillCam
  *Create an exponentially stable control scheme
  *Allow the PillCam to be controlled by human at a controller


======Deliverables======
 
  * **Minimum:** (5/1)
    - Construction of a Magnetic PillCam Prototype (Complete)
    - Dynamics Controllable by Magnetic Fields (Complete)
    - Wirelessly Sends Orientation and Position Data (Delayed due to IMU Shipping Issues)
    - CAD Files, Electronics Layout, and Design (In Progress)


  * **Expected:** (5/7)
    - Closed Loop feedback control of the dynamics of the PillCam through a trajectory in all 6 degrees of freedom
    - The written design and code

  * **Maximum:** 
    - Expected + Publication
    - Manuscript


======Technical Approach======

Mechanical

Analyze PillCam to identify most optimal placement of magnets
3D print structure to add onto PillCam to hold magnets in a specific area. Design a 3D printed housing that
allows the IMU sensor and battery to be ridigily attached to the PillCam while also being waterproof. The 
waterproofing is planned to be done by using marine grease to cover the sensor and battery along with the connections to make sure the water cannot get into the system.

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Programming

Write code to calibrate the magnetic PillCam in the MagnetoSuture
Be able to control the movement of PillCam using only a controller changing the field strength from the coils
Integrate the camera from the PillCam to the code and control the PillCam while only using the PillCam camera
Automate PillCam movements using it’s camera to map out a space around it
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{{ :courses:456:2022:projects:456-2022-21:cis_ii_presentation.pdf |}}
======Dependencies======

Dependencies:
Pillcam Procurement - 
Magnet Procurement 
Functional Magnet Testing System

All of these dependencies have an effect on the overall timeline. However, in the case of the worst-case scenario, there are multiple other vendors and setups that we can construct and model instead in order to progress with our construction and testings. 

{{:courses:456:2022:projects:456-2022-21:dependancies.jpg?400|}}


======Milestones and Status ======
  - Milestone name:  Mechanical System 
    * Planned Date: 3/14
    * Expected Date: 3/14
    * Status: Completed
  - Milestone name: Electrical System
    * Planned Date: 3/21
    * Expected Date: 5/1 
    * Status: On Going
  - Milestone name:  Closed Loop Feedback System
    * Planned Date: 4/4
    * Expected Date: 5/7
    * Status: Not Started
  - Milestone name:  Manuscript
    * Planned Date: 5/1
    * Expected Date: 
    * Status: Not Started

======Reports and presentations======

  * Project Plan
    * {{ :courses:456:2022:projects:456-2022-21:pill_cam_presentation.pdf |}}
    * {{ :courses:456:2022:projects:456-2022-21:pillcam_plan_proposal.pdf |}}
  * Project Background Reading 
    * See Bibliography below for links.
  * Project Checkpoint
    * {{ :courses:456:2022:projects:456-2022-21:pillcam_checkpoint.pdf |}}
  * Paper Seminar Presentations
    * {{ :courses:456:2022:projects:456-2022-21:background_reading_report.pdf |}}
    * {{ :courses:456:2022:projects:456-2022-21:pillcam_background_presentation.pdf |}}
  * Project Final Presentation
    * {{:courses:456:2022:projects:456-2022-21:thumbnail_final_presentation_magnetic_pill_cam.png?400|}}
  * Project Final Report
    * {{ :courses:456:2022:projects:456-2022-21:magnetic_pillcam_final_report.pdf |}}
    * links to any appendices or other material

======Project Bibliography=======
 * https://www.nature.com/articles/s41598-021-90523-w 

 * https://invensense.tdk.com/products/motion-tracking/9-axis/mpu-9250/

 * https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3131168/

 * https://biomedical-engineering-online.biomedcentral.com/articles/10.1186/s12938-015-0108-3

 * https://www.statpearls.com/ArticleLibrary/viewarticle/18834 



======Other Resources and Project Files======
Here give list of other project files (e.g., source code) associated with the project.  If these are online give a link to an appropriate external repository or to uploaded media files under this name space (2022-01).

Google Drive: https://drive.google.com/drive/folders/1pjrd_4YMN6pTrk5IiVFv_aJ4P8MIc3ET?usp=sharing