A compensation method for magnetic localization on the capsule endoscope about the interference of body movement

Magnetic localization technology can achieve high accuracy in capsule endoscope positioning and tracking. There is a magnetic in the capsule endoscope, so can install magnetic sensor array around the human body to measure the magnetic intensity. Then, the computer can get the data from the circuit processing and applied the positioning algorithms to calculate the position and direction of endoscope in human body. However, there is a problem in this method: In the process of physical examination with capsule endoscope, the movements of human body will interference the accuracy of positioning to endoscope. In order to compensate this human body motion interference, we propose a method that set two magnets as the reference targets outside the human body, and the two magnets are perpendicular to each other. Then applied the specific positioning algorithm to reduce the interference which caused by the movement and rotation of human body. Finally, we verify the feasibility and effectiveness of the proposed method through experiments.