Utilizing the Ferromagnetic Battery of Capsule Endoscopes for Static Magnetic Localization

Static magnetic localization of capsule endoscopes is an established research area but the ferromagnetic battery shell of capsule endoscopes has not been investigated so far. Therefore, in this study, the batteries were enclosed by a ring magnet, suitable for a commercial capsule, and the magnetization effect of the ferromagnetic battery shell was evaluated. The magnet and the batteries were moved along the x-axis while the position and orientation errors were determined to investigate if the dipole model applies for the setup. The achieved mean position and orientation errors were below 1 mm and 0.1°, respectively. It was concluded that the built-in batteries can advantageously increase the magnetic flux density up to 25 %, depending on the magnetization direction of a ring magnet and the dipole model applies even with the enclosed batteries.