Adaptive Simultaneous Magnetic Actuation and Localization for WCE in a Tubular Environment

Simultaneous magnetic actuation and localization is a promising technology to realize active wireless capsule endoscopy. In this article, an adaptive approach proposed efficiently propel precisely locate magnetically actuated in unknown complex tubular environments. order track the real time large workspace, we improve upon our previous external sensor-based strategies by proposing method automatically activate optimal subset of sensors during movement developing simplified multiple objects tracking algorithm estimate six-dimensional pose time. Moreover, based on study locomotion environments with different shapes, propose dynamically adjust actuator achieve efficient robust propulsion environment. The effectiveness system validated extensive experiments phantoms ex vivo animal organs. Compared state-of-the-art, can closed-loop control without requiring sensing modules be placed inside capsule, which reduce space constraints energy consumption capsule. algorithms for provide improved speed, workspace range, update frequency as well comparable accuracy.