Localization method for a magnetic capsule endoscope propelled by a rotating magnetic dipole field

Katie M. Popek, Arthur W. Mahoney, Jake J. Abbott
2013 2013 IEEE International Conference on Robotics and Automation  
Previous research on the localization of wireless capsule endoscopes with magnetic fields and sensors has typically utilized incremental methods. This paper provides a noniterative solution to determine the six degree-of-freedom (6-DOF) position and orientation of a wireless capsule endoscope being actuated by a rotating magnetic dipole. Non-iterative solutions in the past have only been used to locate immobile objects. We experimentally demonstrate that our algorithm calculates the 6-DOF
more » ... on and orientation of capsules that are truly stationary as well as those that are operated in the "step-out" regime, where the magnetic field is rotated too quickly for the capsule to rotate synchronously, but the capsule does undergo chaotic movement.
doi:10.1109/icra.2013.6631343 dblp:conf/icra/PopekMA13 fatcat:y4dibzt3mne77lle3w7x723zgq