A Real-Time Localization System for an Endoscopic Capsule Using Magnetic Sensors

This paper presents a real-time magnetic tracking system for an endoscopic capsule intended to deliver biomarkers around specific locations of the gastrointestinal (GI) tract. Unlike radio frequency (RF) and ultrasonic signals, static magnetic signals suffer negligible attenuation within the human body. The magnetic tracking systems proposed to date use a large number of sensors, making them too complex to apply in practice. In this paper, a new magnetic tracking system is proposed with much reduced complexity. In this system, the capsule only needs a magnet for localization, and does not require any electronics or battery. Mathematical model and a tracking algorithm were developed to find the location of a magnetic marker in the gut. Laboratory test results and in vivo animal trials show that the system is capable of tracking a magnetic marker with expected accuracy.

[1]  Lin Yang,et al.  Design of a data acquisition system on magnetic signal for magnetic localization and orientation system , 2010, 2010 8th World Congress on Intelligent Control and Automation.

[2]  P H Graham.  Advances in gastrointestinal endoscopy , 1999, The Medical journal of Australia.

[3]  T. L. Gerber,et al.  Health report , 1977, IMRE.

[4]  Mattias Björkman,et al.  Global Optimization of Costly Nonconvex Functions Using Radial Basis Functions , 2000 .

[5]  Dhiraj Yadav,et al.  Epidemiology of Gastrointestinal Disease , 2012 .

[6]  Shuang Song,et al.  A Six-Dimensional Magnetic Localization Algorithm for a Rectangular Magnet Objective Based on a Particle Swarm Optimizer , 2009, IEEE Transactions on Magnetics.

[7]  Chao Hu,et al.  Sensor Arrangement Optimization of Magnetic Localization and Orientation system , 2007, 2007 IEEE International Conference on Integration Technology.

[8]  Syed Mahfuzul Aziz,et al.  A real-time localization system for an endoscopic capsule , 2014, ISSNIP.

[9]  M. Meng,et al.  A Localization Method Using 3-axis Magnetoresistive Sensors for Tracking of Capsule Endoscope , 2006, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society.

[10]  John A. Nelder,et al.  A Simplex Method for Function Minimization , 1965, Comput. J..

[11]  Max Q.-H. Meng,et al.  The Calibration of 3-Axis Magnetic Sensor Array System for Tracking Wireless Capsule Endoscope , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  T. Bolin.  Gastrointestinal endoscopy , 1992, The Medical journal of Australia.

[13]  Tharshan Vaithianathan,et al.  A Real-Time Tracking System for an Endoscopic Capsule using Multiple Magnetic Sensors , 2008 .

[14]  Max Q.-H. Meng,et al.  Detection of weak magnetic signal for magnetic localization and orientation in capsule endoscope , 2009, 2009 IEEE International Conference on Automation and Logistics.

[15]  D. Marquardt.  An Algorithm for Least-Squares Estimation of Nonlinear Parameters , 1963 .

[16]  Max Q.-H. Meng,et al.  Real time algorithm for magnet's localization in capsule endoscope , 2009, 2009 IEEE International Conference on Automation and Logistics.

[17]  B. Ma,et al.  The dependence of magnetic properties and hot workability of rare earth-iron-boride magnets upon composition , 2004, IEEE Transactions on Magnetics.

[18]  Chao Hu,et al.  3-Axis Magnetic Sensor Array System for Tracking Magnet's Position and Orientation , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[19]  J. Swinburne.  Electromagnetic Theory , 1894, Nature.

[20]  M. Meng,et al.  An improved magnetic localization and orientation algorithm for wireless capsule endoscope , 2008, 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[21]  Lawrence C. Chirwa,et al.  Electromagnetic radiation from ingested sources in the human intestine between 150 MHz and 1.2 GHz , 2003, IEEE Transactions on Biomedical Engineering.

[22]  Arianna Menciassi,et al.  Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems , 2007, Biomedical microdevices.

[23]  Wensheng Hou,et al.  Wearable magnetic locating and tracking system for MEMS medical capsule , 2008 .

[24]  Vijay Ramaraju,et al.  Energy Efficient Image Transmission In Wireless Multimedia Sensor Networks , 2014 .

[25]  Max Q.-H. Meng,et al.  Efficient magnetic localization and orientation technique for capsule endoscopy , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[26]  Max Q.-H. Meng,et al.  Two-magnet-based 6D-localization and orientation for wireless capsule endoscope , 2009, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[27]  T. Shah,et al.  Development of a Tracking Algorithm for an In-Vivo RF Capsule Prototype , 2006, 2006 International Conference on Electrical and Computer Engineering.

[28]  M. J. D. Powell,et al.  A fast algorithm for nonlinearly constrained optimization calculations , 1978 .

[29]  J V Davies,et al.  Small animal endoscopy. , 1986, British medical bulletin.

[30]  Eryk Dutkiewicz,et al.  Position and Orientation Accuracy Analysis for Wireless Endoscope Magnetic Field Based Localization System Design , 2010, 2010 IEEE Wireless Communication and Networking Conference.