A Localization Method for Untethered Small-Scale Robots Using Electrical Impedance Tomography

Untethered small-scale robots can be potentially used in medical applications, such as minimally invasive surgeries and targeted drug delivery. This article introduces a new localization method using electrical impedance tomography, which is an emerging imaging technique, to dynamically track robots. The proposed approach provides the conductivity distribution within robot workspace from set of stimulations voltage measurements gathered eight electrodes placed at its boundary. position deduced map that reconstructed with contrast properties between background medium. experimentally validated by successfully tracking 2-D motion four different magnetically actuated cylindrical arena (30 mm diameter 4.2 high). smallest detected 1.5 × 1 3 . noninvasive technology low-cost high-speed potential would significant useful for feedback control untethered devices biomedical applications future.