Control Strategy of Active Actuation System of Wireless Capsule Endoscope

A new control strategy for the active actuation of wireless capsule endoscope has been proposed in this paper. The authors use magnetic field to implement the actuation. The external magnetic field in the three-dimensional space can be decomposed into three components, resulting in three effects on the magnet and capsule. Through analyzing the three types of force we find that two types of force are not desirable because they might drag or twist the gastrointestinal (Gl) tract. For the capsule locomotion, the ideal direction of the external magnetic field is perpendicular to both the capsule main axis and the magnet main axis. Based on this idea, we design an actuation system for capsule locomotion. Simulation results will provide theoretical guide to design the structure and control parameters for real actuation system.