Abstract
The invention of wireless capsule endoscopy yields the potential of diagnosis throughout the daily life of a patient. Nevertheless, doctors require the precise localization of the capsule during the entire diagnosis procedure. So far, static magnetic localization for capsule endoscopes has yielded promising results. However, it suffers significantly from interference caused by the geomagnetic flux density. In this paper, a differential magnetic localization method, which addresses this problem, is evaluated experimentally. A localization system with twelve magnetic sensors was used to localize a small cylindrical permanent magnet, which was assumed to be integrated into a capsule. The sensors were grouped into pairs, that were equally orientated. By subtracting the measured values of those sensors, the geomagnetic flux density was canceled out. The localization performance was evaluated applying static and dynamic scenarios and the obtained mean position and orientation errors did not exceed 3mm and 2.1 °, respectively. Thus, the proposed system is feasible to enable daily life activities during diagnosis and its performance significantly better than state-of-the-art geomagnetic compensation methods.
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