Abstract
Although capsule endoscopy is already used for diagnosis of the gastrointestinal tract, a method to precisely localize the capsules, important for accurate diagnosis, is lacking. Static magnetic localization is a promising solution for that purpose. In this paper, the simulation of a differential static magnetic localization system with dynamic geomagnetic compensation was optimized. First, a convergence-test for the position and orientation errors as a function of the dimension of the computational domain was conducted. Subsequently, the diameter-to-length ratio of a permanent magnet was varied and the corresponding position and orientation errors, as well as the mean magnetic flux density measured at the sensor positions, were compared. The results revealed that for a computational domain radius of 800 mm, the position and orientation errors converged to less than 0.1 mm and 0.1°, respectively. The position and orientation errors were also of that order, even with the smallest permanent magnet employed in the study. Furthermore, the mean magnetic flux density measured at the sensors of the proposed magnetic localization system would be detectable using state-of-the-art magnetometers. It is concluded that the differential localization method is also feasible for small permanent magnets, which is especially important considering the limited space within endoscopy capsules.
Highlights
Wireless capsule endoscopy (WCE) is a promising medical application and a potential alternative to conventional endoscopy
Static magnetic localization is well-established for that purpose, a permanent magnet is embedded in a capsule and the generated magnetic field is sensed by sensors around the abdomen of a patient
The enhanced localization performance can be explained by the larger distance from the magnet to the boundary condition, which disturbs the magnetic flux density generated by the magnet
Summary
Wireless capsule endoscopy (WCE) is a promising medical application and a potential alternative to conventional endoscopy. A small capsule with an integrated camera for recording a video is swallowed by a patient allowing gastrointestinal diagnosis. One simple compensation method is sensor calibration, which is only valid for a static localization system, the method is only suitable as long as no rotation of the system relative to the geomagnetic flux density is conducted [3]. This is especially critical since diagnosis with capsule endoscopy takes about 8–12 h. In our previous work [2], we proposed a differential static magnetic localization method with dynamic geomagnetic compensation. The size of the magnet was not optimized for the limited space within state-of-the-art capsules
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