James W. Martin — accepted AI-conference papers

2025

Designing a Magnetic Endoscope for In Vivo Contact-Based Tissue Scanning Using Developable Roller

Nikita J. Greenidge, Christian Marzi, Benjamin Calmé, James W. Martin, Bruno Scaglioni, Franziska Mathis-Ullrich +1

IROS 2025

Magnetic manipulation has been adopted as a method of actuation in both wireless capsule endoscopy and soft-tethered endoscopy, with the goal of improving gastrointestinal procedures. However, by nature of magnetic manipulation, these endoscopes are typically limited to a maximum of five degrees of

Cited by 0 Source ↗Scholar ↗

2019

Explicit Model Predictive Control of a Magnetic Flexible Endoscope

Bruno Scaglioni, Luca Previtera, James W. Martin, Joseph C. Norton, Keith L. Obstein, Pietro Valdastri

RA-L 2019

In this paper, explicit model predictive control is applied in conjunction with nonlinear optimisation to a magnetically actuated flexible endoscope for the first time. The approach is aimed at computing the motion of the external permanent magnet, given the desired forces and torques. The strategy

Cited by 27 Source ↗Scholar ↗

2019

Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach

Giovanni Pittiglio, Lavinia Barducci, James W. Martin, Joseph C. Norton, Carlo Alberto Avizzano, Keith L. Obstein +1

RA-L 2019

The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permane

Cited by 116 Source ↗Scholar ↗