A New 6D Magnetic Localization Technique forWireless Capsule Endoscope Based on aRectangle Magnet
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Graphical Abstract
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Abstract
To build a wireless active endoscope with
external guidance for controllable and interactive GI track
diagnosis, a real time system for 3D localization and 3D
orientation is necessary. An approach is to enclose a small
rectangle permanent magnet in the capsule. The magnetic
¯eld, produced by the rectangle magnet around the body,
can be detected by magnetic sensors outside the patient's
body. With these sensor data, the 3D localization and 3D
orientation parameters can be computed by the nonlinear
optimization algorithm based on the mathematic model of
the rectangular magnet's magnetic ¯eld. Simulation exper-
iments show that the proposed algorithm works e®ectively,
and has good accuracy and time e±ciency when the initial
guess of the parameters are within some predetermined
ranges.
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