Real -Time Tracking of a Moving Object Inside a Tube

The need for accurate determination of location of objects in inaccessible positions has always presented a great challenge in the physical world. Although it has been successfully achieved in industrial robotics by using methods like optical triangulation, computer binary network, etc. Such techniques could not extend into some area of biomedicine due to the peculiarities of the human body organs. Most popular tracking methods employ radio frequency (RF) signals or ultrasound pulse waves to determine the location of the target object in 2 or 3D. A round trip time-of-flight (TOF) data is recorded for all instances of pulse-echo transmission and by using the method of triangulation, the real-time location of the test object can be computed. A modified method of acquiring the TOF data is employed in the work presented in this paper. A trajectory of the moving object was composed to within 5% accuracy using the TOF data obtained for the transmitter´s motion in air and also with a layer of fluid (water) placed along the path of the transmitted pulse and the receiver