Title :
The Calibration of 3-Axis Magnetic Sensor Array System for Tracking Wireless Capsule Endoscope
Author :
Hu, Chao ; Meng, Max Q H ; Mandal, Mrinal
Author_Institution :
Dept. of Electr. Eng. & Autom., Ningbo Univ.
Abstract :
A magnetic localization and orientation system is proposed for tracking wireless capsule endoscope. This system uses a small magnet enclosed in the capsule to serve as excitation source. When the capsule moves, the magnet establishes a static magnetic field around. With the magnetic sensor array composed of Honeywell 3-axis magnetic sensors, HMC1053, the magnetic intensities in some pre-determined spatial points can be detected, and the magnet´s position and orientation parameters can be computed based on an algorithm. To initiate the system and obtain better tracking accuracy, we propose a calibration technique for the magnetic tracking system. The calibration includes sensitivity determination and nonlinearity adjustment, sensor center position and orientation adjustment. Based on the calibration procedures, the system can achieve satisfactory tracking accuracy with the average localization error 3.3 mm and the average orientation error 3.0deg
Keywords :
calibration; endoscopes; magnetic fields; magnetic sensors; sensitivity; sensor arrays; 3 axis magnetic sensor array system; calibration; magnetic localization; magnetic orientation system; nonlinearity adjustment; sensitivity determination; static magnetic field; tracking wireless capsule endoscope; Calibration; Endoscopes; Humans; Intelligent robots; Magnetic fields; Magnetic sensors; Medical diagnostic imaging; Sensor arrays; Sensor systems; Wireless sensor networks; Calibration; Magnetic Localization and Orientation; Real Time Tracking; Wireless Capsule Endoscope;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282118