Three Dimensional Position Recognition of a Magnetic Capsule Endoscope by using Alternative Magnetic Signal

Abstract

This paper proposes a novel real-time three dimensional (3D) position recognition method for an untethered magnetic capsule endoscope (CE) that is manipulated by an electromagnetic actuation (EMA) system. The developed localization system employs one receiving coil that is embedded in the CE and three external transmitting coils surrounding the spherical region of interesting (ROI) with diameter of 200mm. Based on the assumption that the orientation of the CE can be precisely controlled by the EMA system, the developed 3D localization could successfully recognize the position of the CE. By taking the advantage of the excellent penetration characteristics in human body, the effect of electromagnetic induction could track the CE that moves in the gastrointestinal (GI) tract. The resultant averaging position error is 2.1815mm with 4Hz of localization frequency. The proposed method will be further used clinically for both of disease location determination and position feedback control of CE in the future.