Addisu Taddese
ABSTRACT
Minimally invasive surgical techniques are becoming popular due to their enhanced patient benefits. Less invasive procedures can be achieved with the use of wireless Medical Capsule Robots (MCRs). MCRs are low powered and small in size and can be used for physiological parameter monitoring, therapy delivery, and biopsy sampling. Designing MCRs from the ground up is a costly and time consuming process. In this work, we present a flexible modular architecture to facilitate the design of MCRs and propose using TinyOS as the operating system. To assess the architecture and validate the feasibility of TinyOS, we implement a closed-loop control of a sensor-actuator system and compare the results with a traditional MCR built based on an 8051 microcontroller (MCU) programmed in plain C. Similar performances from the two approaches lead us to conclude that TinyOS is a valid option to implement a modular architecture for designing MCRs.
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Digital Library
- P. Levis. Tinyos: An open operating system for wireless sensor networks (invited seminar). In Mobile Data Management, 2006. MDM 2006. 7th International Conference on, pages 63--63, 2006. Google ScholarDigital Library
- P. Valdastri, M. Simi, and R. J. Webster III. Advanced technologies for gastrointestinal endoscopy. Annual Review of Biomedical Engineering, 14(5):397--429, 2012.Google ScholarCross Ref
- T. von Eicken, D. E. Culler, S. C. Goldstein, and K. E. Schauser. Active messages: a mechanism for integrated communication and computation. SIGARCH Comput. Archit. News, 20(2):256--266, Apr. 1992. Google ScholarDigital Library
Index Terms
- A modular software architecture for miniature capsule robots based on TinyOS
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