Data from: Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging
Data files
Mar 27, 2025 version files 2.94 GB
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3D_Reconstruction.zip
1.99 GB
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DOF_comparison.zip
35.51 MB
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In_vivo_-_roll_sweep.zip
277.47 MB
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MiniMag-miniOMD.mp4
272.80 KB
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Oloid_development.m
2.50 KB
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Open_loop_roll.zip
635.07 MB
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Parametric_Oloid_Surface.m
1.77 KB
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README.md
4.31 KB
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Theorem4_sym.m
2.94 KB
Abstract
Magnetic fields enable remote manipulation of objects and are ideal for medical applications, as they pass through human tissue harmlessly. This capability is promising for surgical robots, allowing navigation deeper into the human anatomy and accessing organs beyond the reach of current technologies. However, magnetic manipulation is typically limited to a maximum of two Degrees-of-freedom orientation, restricting complex motions, especially those including rolling around the main axis of the magnetic robot. To address this challenge, we introduce a robot design inspired by embodied intelligence and the unique geometry of developable rollers, leveraging the oloid shape. The oloid, with its axial asymmetry and sinusoidal motion, facilitates rolling when precisely controlled by an external magnetic field. We present a versatile closed-loop control model to ensure precise magnetic manipulation of an oloid-shaped robot. This capability was validated in endoluminal applications through the integration of a 28 MHz micro-ultrasound array to perform virtual biopsies – non-invasive real-time histological imaging. Extensive in vitro and in vivo tests using a porcine model showed the robot's ability to execute sweeping motions, identify lesions, and generate detailed 3D scans of gastrointestinal subsurface tissue. This research not only restores a critical movement capability to magnetic medical robots but also enables additional clinical applications deep within the human body.
https://doi.org/10.5061/dryad.t1g1jwtbx
Description of the data and file structure
This repository contains the supplementary data for the paper Harnessing the Oloid Shape in Magnetically Driven Robots to Enable High Resolution Ultrasound Imaging. The materials are organized into folders based on experiments related to 3D reconstruction, degree of freedom (DOF) comparison, in vivo roll/sweep experiments, and open-loop roll testing. All experimental details and other experimental data can be found in the paper. Below is an overview of the folder structure and descriptions of the files.
Instructions for Use
.bag
Files: These files can be opened and analyzed using ROS (Robot Operating System) tools such asrqt
or in MATLAB using theROS TOOLBOX
.- Video Files: All videos are in
.avi
or.mp4
format and can be played using any standard video player (e.g., VLC, Windows Media Player). - Excel Files: The
.xlsx
files can be opened with Microsoft Excel or any compatible spreadsheet software.
Contact Information
For any questions or further clarifications, please contact the corresponding author of the paper.
Files and variables
File: MiniMag-miniOMD.mp4
Description: Video showing mini-OMD oloid rolling in the MiniMag electromagnetic coil system.
File: DOF_comparison.zip
Description: DOF Comparison
This folder contains video footage with live Euler angle graphs comparing the degrees of freedom (DOF) of the system under different conditions.
Naming convention: [Endoscope Type]-[Movement Type]-[Direction]_[Timestamp]_.avi
File: 3D_Reconstruction.zip
Description: 3D Reconstruction
This folder contains data related to the 3D reconstruction experiments.
- Motorised_sweep: Contains data from the motorized roll experiments.
- Motor_position: The motor positions captured during the roll in .csv format.
- US_frames: The ultrasound frames recorded during the experiments as
.jpg
and.mat
files. A combined.avi
file is also included.
- OMESweep: Includes
.bag
files from robotic OME sweep experiments in both benchtop and in vivo scenarios and a Topics*overview.txt file with a list of available ROS topics in the.bag
files. Naming convention:[Environment]_[Condition]_[TrialNumber].bag
File: In_vivo_-_roll_sweep.zip
Description: In Vivo - Roll Sweep
This folder contains in vivo roll sweep experiments, including .bag
files, endoscopic videos, and synced demonstration videos.
- Bags:
.bag
files from the roll and sweep experiments. Naming convention:[Bag number]_[Timestamp].bag
- Endoscope Videos: Videos captured during roll and sweep experiments. Naming convention:
[Motion]_[Timestamp].mp4
- In_vivo_roll_sweep.xlsx: Excel file matching names and times of interest for the in vivo roll and sweep experiments.
- Combined Videos:
.mp4
files combining the orientation data with the endoscope videos. Naming convention:[Motion]_[Timestamp].mp4
File: Open_loop_roll.zip
Description: Open Loop Experiments
This folder contains videos from the open-loop roll experiments on different surfaces. Naming convention: [Surface]_[Timestamp].mp4
- Bumpy_Foam: Videos from bumpy foam surface experiments.
- Flat_Foam: Videos from flat foam surface experiments.
- Perspex: Videos from perspex surface experiments.
- Silicone: Videos from silicone surface experiments.
- Silicone Additional: Videos from silicone surface experiments (360).
Code/software
File: Oloid_development.m
Description: MATLAB script to apply a transformation to a single point using Theorem 4 to handle the full transformation for the oloid geometry.
File: Parametric_Oloid_Surface.m
Description: MATLAB Script to plot the oloid shape based on parametric equations.
File: Theorem4_sym.m
Description: MATLAB Script with function for Theorem 4 from the paper by Dirnbock and Stachel (1997), “The Development of the Oloid” to generate the transformation matrices for the oloid’s motion.