An improved magnetic localization and orientation algorithm for wireless capsule endoscope
- 1 August 2008
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
- Vol. 2008 (1094687X), 2055-2058
- https://doi.org/10.1109/iembs.2008.4649596
Abstract
In this paper, we propose a novel localization algorithm for tracking a magnet inside the capsule endoscope by 3-axis magnetic sensors array. In the algorithm, we first use an improved linear algorithm to obtain the localization parameters by finding the eigenvector corresponding to the minimum eigenvalue of the objective matrix. These parameters are used as the initial guess of the localization parameters in the nonlinear localization algorithm, and the nonlinear algorithm searches for more appropriate parameters that can minimize the objective error function. As the results, we obtain more robust and accurate localization results than those by using linear algorithm only. Nevertheless, the time efficiency of the nonlinear algorithm is enhanced. The real experimental data show that the average localization accuracy is about 2mm and the average orientation accuracy is about 1.6° when the magnet moves within the sensing area of 240mm ×240mm square.Keywords
This publication has 7 references indexed in Scilit:
- A Linear Algorithm for Tracing Magnet Position and Orientation by Using Three-Axis Magnetic SensorsIEEE Transactions on Magnetics, 2007
- EFFICIENT MAGNETIC LOCALIZATION AND ORIENTATION TECHNIQUE FOR CAPSULE ENDOSCOPYInternational Journal of Information Acquisition, 2005
- Wireless robotic capsule endoscopy: state-of-the-art and challengesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Localization of a magnetic marker for GI motility studies: an in vitro feasibility studyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Tracking system with five degrees of freedom using a 2D-array of Hall sensors and a permanent magnetSensors and Actuators A: Physical, 2001
- Wireless capsule endoscopyNature, 2000
- High-Resolution Monitoring of the Gastrointestinal Transit of a Magnetically Marked CapsuleJournal of Pharmaceutical Sciences, 1997