[1] CHAN J,CHAO A,CHEUNG V,et al. Gastrointestinal disease burden and mortality:A public hospital-based study from 2005 to 2014[J]. Journal of Gastroenterology and Hepatology,2018,34(1):124-131. [2] CARAVACA A M,PIESTUN R. Single multimode fiber endoscope[J]. Optics Express,2017,25(3):1656-1665. [3] PARK S,PARK J,PARK H,et al. Multi-functional capsule rndoscope for gastro-intestinal tract[C]//Interna-tional Joint International on Sice-icase. IEEE,2006:2090-2093. [4] KIM S H,ISHIYAMA K. Magnetic robot and manipu-lation for active-locomotion with targeted drug release[J]. Mechatronics IEEE/ASME Transactions on,2014,19(5):1651-1659. [5] METTLER L,CLEVIN L,TERNAMIAN A,et al. The past,present and future of minimally invasive endoscopy in gynecology:A review and speculative outlook[J]. Minimally Invasive Therapy & Allied Technologies,2013,22(4):210-226. [6] LIEN G S,WU M S,CHEN C N,et al. Feasibility and safety of a novel magnetic-assisted capsule endoscope system in a preliminary examination for upper gastrointestinal tract[J]. Surgical Endoscopy,2017,32(4):1937-1944. [7] ZHANG Y S,ZICHUN Y U,YANG H Y,et al. Orthogonal transformation operation theorem of a spatial universal uniform rotating magnetic field and its application in capsule endoscopy[J]. Science China,2017,60(6):854-864. [8] 张永顺,周华涛,张林霞,等.一种新型双半球形胶囊机器人[J].机械工程学报,2017,53(15):110-118. ZHANG Yongshun,ZHOU Huatao,ZHANG Linxia,et al. A new kind of dual hemisphere capsule robot[J]. Journal of Mechanical Engineering,2017,53(15):110-118. [9] 张永顺,苏忠侃,杨振强,等.一种主被动双半球形胶囊机器人及其姿态调整与转弯驱动控制方法:中国,CN104983385A[P]. 2015-10-21. ZHANG Yongshun,SU Zhongkan,YANG Zhenqiang,et al. An active/passive dual hemisphere capsule robot and its control strategy for posture adjustment and steering driving:China,CN104983385A[P]. 2015-10-21. [10] MATEEN H,BASAR R,AHMED A U,et al. Localiza-tion of wireless capsule endoscope:A systematic review[J]. IEEE Sensors Journal,2017,17(5):1197-1206. [11] CHENG C,CHAI W,ROTH H. A single frame depth visual gyroscope and its integration for robot navigation and mapping in structured indoor environments[J]. Journal of Intelligent & Robotic Systems,2015,80(3-4):365-374. [12] MING X,KONG D,YE L,et al. A new localization system for tracking capsule endoscope robot based on digital 3-Axis magnetic sensors array[C]//Proceedings of 2017 Chinese Intelligent Systems Conference. 2017:487-494. [13] WEISS R,ITZKE A,REITENSPIESS J,et al. A novel closed loop current sensor based on a circular array of magnetic field sensors[J]. IEEE Sensors Journal,2018,99:1. [14] 赵昕扬.用于手术导航的高精度三目视觉定位方法研究[D].南京:南京理工大学,2017. ZHAO Xinyang. Research on high precision trinocular vision positioning method for surgical navigation[D]. Nanjing:Nanjing University of Technology,2017. [15] LUO X,JAYARATHNE U L,PAUTLER S E,et al. Binocular endoscopic 3-D scene reconstruction using color and gradient-boosted aggregation dtereo matching for robotic surgery[C]//International Conference on Image and Graphics. Springer,Cham,2015:664-676. [16] WANG D,LIU H,CHENG X. A miniature binocular endoscope with local feature matching and dtereo matching for 3D measurement and 3D reconstruction[J]. Sensors,2018,18(7):2243-2263. [17] TURAN M,PILAVCI Y Y,GANIYUSUFOGLU I,et al. Sparse-then-dense alignment-based 3D map recons-truction method for endoscopic capsule robots[J]. Machine Vision & Applications,2018,29(2):345-359. [18] 赵荧.基于视觉的胶囊内窥镜导航研究[D].哈尔滨:哈尔滨工业大学,2013. ZHAO Ying. Vision-based capsule endoscope navigation research[D]. Harbin:Harbin Institute of Technology,2013. [19] RAMAN B,KUMAR S,ROY P P,et al. Proceedings of international conference on computer vision and image processing[M]. Singapore:Springer,2017. [20] SAGNIKA S,BILGAIYAN S,MISHRA B S P. Workflow scheduling in cloud computing environment using bat algori-thm[J]. International Journal of Computer Applications,2018,89(2):11-18. [21] 于子淳.基于独立变量的空间万向旋转磁场正交变换操作原理[D].大连:大连理工大学,2017. YU Zichun. Principle of orthogonal transformation of spatial universal rotating magnetic field based on independent variables[D]. Dalian:Dalian University of Technology,2017. |