Title :
Research on sensors arrangement for capsule endoscope microrobot magnetic localization
Author_Institution :
Inst. of Electr. Eng., Beijing, China
Abstract :
The position and attitude of a capsule endoscope microrobot are essential for its application, but there are few methods to evaluate them without nuclear radiation. Magnetic localization is one of most feasible methods. It is obvious that the magnetic sensors arrangement directly influence the accuracy of the position and attitude. So, I do some work on optimizing the sensors arrangement using 3D magnetic sensors from simulation. It is supposed that a cylindrical permanent magnet is embedded into the capsule microrobot. The typical arrangement simulation results show that the best accuracy of position and attitude can be obtained using the sensor data of the eight vertexes of the cubic of motion space.
Keywords :
attitude control; endoscopes; magnetic sensors; medical robotics; microrobots; position control; 3D magnetic sensor; attitude estimation; capsule endoscope microrobot; cylindrical permanent magnet; magnetic localization; magnetic sensor arrangement; motion space; position estimation; Bismuth; Conferences; Decision support systems; Zirconium; Capsule Endoscope Microrobot; Magnetic Localization; Optimal;
Conference_Titel :
Control and Decision Conference (CCDC), 2013 25th Chinese
Conference_Location :
Guiyang
Print_ISBN :
978-1-4673-5533-9
DOI :
10.1109/CCDC.2013.6561882