A New 6D Magnetic Localization Technique for Wireless Capsule Endoscope Based on a Rectangle Magnet

To build a wireless active endoscope with external guidance for controllable and interactive GI track diagnosis, a real time system for 3D localization and 3D orientation is necessary. An approach is to enclose a small rectangle permanent magnet in the capsule. The magnetic ¯eld, produced by the rectangle magnet around the body, can be detected by magnetic sensors outside the patient's body. With these sensor data, the 3D localization and 3D orientation parameters can be computed by the nonlinear optimization algorithm based on the mathematic model of the rectangular magnet's magnetic ¯eld. Simulation exper- iments show that the proposed algorithm works e®ectively, and has good accuracy and time e±ciency when the initial guess of the parameters are within some predetermined ranges.