Two-magnet-based 6D-localization and orientation for wireless capsule endoscope

To track the movement of a wireless capsule and get the 6D localization and orientation information of the capsule, a magnetic localization and orientation system is designed. In this system, we propose to enclose two orthogonal permanent magnets in the capsule. With the magnetic sensor array arranged out of the human body, we can measure the magnets´ magnetic signals, and compute the magnets´ 3D localization and 2D orientation parameters by applying an appropriate algorithm. With this two magnets´ localization and orientation information, we can measure the capsule´s 6D localization and orientation information with a appropriate algorithm. In this paper, we present a new real time method for capsule´s 3D localization and 3D orientation based on multi-magnets´ localization and orientation method. The experimental results show that this new method is valid and effective.