Abstract
The wireless robotic capsule endoscopy technique is a relatively painless and invasive medical imaging technique. Most diseases in the gastrointestinal (GI) tract can be diagnosed with robotic capsule endoscopy, even in areas that cannot be reached with conventional colonoscopy. Knowing the position of the robot in robotic capsule endoscopy both speeds up the treatment process and gives the opportunity to control the robot from the outside during the procedure (active capsule endoscopy). In this study, magnetic positioning technique was used to obtain the positions of the robotic capsule in the small intestine model. With a ring-shaped permanent magnet placed around the capsule, the Magnetic Flux Density (MFD) equations were calculated analytically using two different techniques: Biot-Savart and Charge model. The positioning performances of both magnetic models were compared, and the Artificial Bee Colony (ABC) optimization algorithm and the Levenberg-Marquardt (LM) method were used together while calculating the nonlinear equations. As a result, we found that the Charge model was 61% faster than the Biot-Savart model under the same simulation conditions, and the position and angle errors of the Charge model were at least 87% less on average than the Biot-Savart model. Under noisy simulation conditions, the performance of the Charge model was observed to be either better or very close to that of Biot-Savart.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Iddan, G., Meron, G., et al.: Wireless capsule endoscopy. Nature 405(6785), 417 (2000)
Silva, J., Histace, A., et al.: Toward embedded detection of polyps in WCE images for early diagnosis of colorectal cancer. Int. J. Comput. Assist. Radiol. Surg. 9(2), 283–293 (2014)
Riccioni, M.E., Urgesi, R., et al.: Colon capsule endoscopy: advantages, limitations and expectations. Which novelties? World J. Gastrointest. Endosc. 4(4), 99 (2012)
https://www.medtronic.com/covidien/en-us/products/capsule-endoscopy/pillcam-sb-3-system.html. Accessed 22 May 2021
Kuth, R., Reinschke, J., et al.: Method for determining the position and orientation of an endoscopy capsule guided through an examination object by using a navigating magnetic field generated by means of a navigation device. Google Patents (2007)
Wilding, I., Hirst, P., et al.: Development of a new engineering-based capsule for human drug absorption studies. Pharm. Sci. Technol. Today 3(11), 385–392 (2000)
Kanaan, M., Akay, R., et al.: In-body ranging for ultra-wide band wireless capsule endoscopy using neural networks based on particle swarm optimization. SUJEST 6(2), 207–217 (2018)
Suveren, M.: Ultra Wide Band (UWB) Wireless Systems in Implant Body Area Networks and Modelling of the Distance Measurement Error, MSc Master thesis, Erciyes University, Kayseri (2015)
Aziz, S.M., Grcic, M., Vaithianathan, T.: A real-time tracking system for an endoscopic capsule using multiple magnetic sensors. In: Mukhopadhyay, S.C., Gupta, G.S. (eds.) Smart Sensors and Sensing Technology. LNEE, vol. 20, pp. 201–218 (2008). Springer, Heidelberg. https://doi.org/10.1007/978-3-540-79590-2_14
Than, T.D., Alici, G., et al.: A review of localization systems for robotic endoscopic capsules. IEEE Trans. Biomed. Eng. 59(9), 2387–2399 (2012)
Nagaoka, T., Uchiyama, A.: Development of a small wireless position sensor for medical capsule devices. In: The 26th IEEE EMBS, pp. 2137–2140. IEEE (2004)
Guo, X., Yan, G., et al.: A novel method of three-dimensional localization based on a neural network algorithm. J. Med. Eng. Technol. 33(3), 192–198 (2009)
Ackerman, M.J.: The visible human project. Proc. IEEE 86(3), 504–511 (1998)
Alliance. https://allianceorg.com/pdfs/Magnet_Tutorial_v85_1.pdf. Accessed 21 May 2021
Song, S., Li, B., et al.: 6-D magnetic localization and orientation method for an annular magnet based on a closed-form analytical model. IEEE Trans. Magn. 50(9), 1–11 (2014)
Furlani, E.P.: Permanent Magnet and Electromechanical Devices: Materials, Analysis, and Applications. Academic Press (2001)
Suveren, M., Kanaan, M.: 5D magnetic localization for wireless capsule endoscopy using the Levenberg-Marquardt method and artificial bee colony algorithm. In: IEEE 30th PIMRC (2019)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Suveren, M., Kanaan, M. (2022). Performance Analysis of Localization System for Wireless Robotic Capsule Endoscopy Based on 5 DOF. In: Quaglia, G., Gasparetto, A., Petuya, V., Carbone, G. (eds) Proceedings of I4SDG Workshop 2021. I4SDG 2021. Mechanisms and Machine Science, vol 108. Springer, Cham. https://doi.org/10.1007/978-3-030-87383-7_37
Download citation
DOI: https://doi.org/10.1007/978-3-030-87383-7_37
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-87382-0
Online ISBN: 978-3-030-87383-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)