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Research on localization control of magneto-controlled capsule endoscopy based on sensor array

Minglu Chi, Shuaibing Chang, Zuhua Guo, Qiang Zhao, Guomiao Zhang, Fei Meng

Robotic Intelligence and Automation

ISSN: 2754-6969

Article publication date: 31 January 2025

26

Abstract

Purpose

To improve the localization accuracy of the magnetically controlled capsule endoscope (MCCE), a new localization method, based on the magnetic dipole model, is proposed, where the anti-disturbance permanent magnet (APM) is used as the source of stable magnetic field, thus reducing the interference of the geomagnetic field or the electric conductor magnetic field in the system.

Design/methodology/approach

The coupling magnetic force model between the APM and the capsule endoscope is established to obtain the magnetic force relationship and magnetic induction intensity. Along the three axes, magnetic induction intensity data are collected by a 3 × 3 sensor array composed of nine magnetic field intensity sensors, while the data are uploaded to the main computer by the STM32F103C8T6 control board over a ESP8266 WIFI module connection. Next, the axial magnetic induction intensity data are decoupled to obtain the measurement trajectory, whereas the error function is established based on the calculated trajectory parameters. Finally, the Levenberg–Marquardt (L-M) algorithm is used to solve the position information of the MCCE.

Findings

Experiments show that the average localization error of an MCCE in a straight and circular bend tube is 4.76 mm, whereas in a U-bend tube, it is 6.82 mm.

Originality/value

The optimized simulation value in the linear and bending environment is in good agreement with the experimental value, which verifies the accuracy of the MCCE localization system based on magnetic field sensor array, exhibiting good performance in localization and position tracking while providing a theoretical basis for the subsequent research.

Keywords

Acknowledgements

This work was supported by the Science and technology research project of Henan Province, under Grant 242102220120, 242102241062 and 242102210029, Scientific Research Foundation for High-level Talents of Henan Institute of Technology, under Grant KQ1869, Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology, under Grant 2024JG-YB040 and 2024JG-YB059, Research and Practice Project of Research Teaching Reform in Henan University, under Grant 2022-YGZD01, Key Research Projects of Higher Education Institutions in Henan Province, under Grant 25A460020, 24A460003, 25B413008 and 24B460004, and Innovation and entrepreneurship training program for college students in Henan Province, under Grant 202411329012.

Citation

Chi, M., Chang, S., Guo, Z., Zhao, Q., Zhang, G. and Meng, F. (2025), "Research on localization control of magneto-controlled capsule endoscopy based on sensor array", Robotic Intelligence and Automation, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/RIA-07-2024-0169

Publisher

:

Emerald Publishing Limited

Copyright © 2025, Emerald Publishing Limited

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