PROJECT TITLE :

Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy

ABSTRACT:

The purpose of this study is to validate a Jacobian-based mostly iterative technique for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-component solutions to the magnetic field problem and least-squares interpolations to get closed-kind and fast estimates of the magnetic field. By defining a closed-type expression for the Jacobian of the magnetic field relative to changes within the capsule create, we are able to obtain an iterative localization at a faster computational time in comparison with prior works, while not plagued by the inaccuracies stemming from dipole assumptions. This new algorithm can be employed in conjunction with an absolute localization technique that has initialization values at a slower refresh rate. The proposed approach was assessed via simulation and experimental trials, adopting a wireless capsule equipped with a permanent magnet, six magnetic field sensors, and an inertial measurement unit. The overall refresh rate, including sensor data acquisition and wireless communication was 7 ms, therefore enabling closed-loop control ways for magnetic manipulation running faster than 100 Hz. The common localization error, expressed in cylindrical coordinates was below 7 mm in each the radial and axial elements and five$^circ$ within the azimuthal element. The typical error for the capsule orientation angles, obtained by fusing gyroscope and inclinometer measurements, was below 5$^circ$.