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Position and orientation detection of capsule endoscopes in spiral motion

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Abstract

In this paper, a position and orientation detection method for the capsule endoscopes devised to move through the human digestive organs in spiral motion, is introduced. The capsule is equipped with internal magnets and flexible threads on their outer shell. It is forced to rotate by an external rotating magnetic field that produces a spiral motion. As the external magnetic field is generated by rotating a permanent magnet, the 3-axes Cartesian coordinate position and 3-axes orientation of the capsule endoscopes can be measured by using only 3 hall-effect sensors orthogonally installed inside the capsule. However, in this study, an additional hall-effect sensor is employed along the rotating axis at a symmetrical position inside the capsule body to enhance measurement accuracy. In this way, the largest position detection error appearing along the rotating axis of the permanent magnet could be reduced to less than 15mm, when the relative position of the capsule endoscope to the permanent magnet is changed from 0mm to 50mm in the X-direction, from −50mm to +50mm in the Y-direction and from 200mm to 300mm in the Z-direction. The maximum error of the orientation detection appearing in the pitching direction ranged between −4° and +15°.

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Abbreviations

B m :

magnetic flux density of permanent magnet

B X , B Y , B Z :

orthogonal components of B m

B r :

residual induction

θ :

rotational angle of permanent magnet

E :

error equation for detecting minimum in error contours

x p , y p , z p :

position of capsule endoscope

α, β, γ:

rotational angles of capsule endoscope

R XYZ (γ, β, α):

rotation matrix for capsule orientation

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Authors and Affiliations

  1. Robot Research Center, Korea Aerospace University, 100 Hwajeon-dong, Duckyang-gu, Goyang-city, Gyeonggi-do, Korea, 412-791

    Min-Gyu Kim

  2. Dept. of Aerospace and Mechanical Engineering, Korea Aerospace University, 100 Hwajeon-dong, Duckyang-gu, Goyang-city, Gyeonggi-do, Korea, 412-791

    Yeh-Sun Hong & Eun-Joo Lim

Authors
  1. Min-Gyu Kim
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  2. Yeh-Sun Hong
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  3. Eun-Joo Lim
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Correspondence to Yeh-Sun Hong.

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Kim, MG., Hong, YS. & Lim, EJ. Position and orientation detection of capsule endoscopes in spiral motion. Int. J. Precis. Eng. Manuf. 11, 31–37 (2010). https://doi.org/10.1007/s12541-010-0004-5

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  • DOI: https://doi.org/10.1007/s12541-010-0004-5

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