A Magnetic Localization Technique Designed for use with Magnetic Levitation Systems

Abstract

Wireless capsule endoscopy (WCE) is a modern medical technology which enables doctors to view and diagnose problems deep within the intestines. Ever since the first uncontrolled WCEs were introduced, researchers have been searching for a way to control the motion of a robotic capsule through the intestines, a task which requires a fusion of mechanical design, electrical hardware, accurate physical models, and software control algorithms. An ongoing roadblock to achieving this goal is the inherent difficulty of merging localization techniques with actuation techniques, as the two often interfere with one another. This research presents a novel approach to merging localization and actuation which is capable of providing precise control over up to six degrees of freedom. The novel contribution of this research centers on a new algorithm which effectively combines previously successful actuation and localization techniques.