Mobile Sensor Array Tracking Approach for Electromagnetic Driven Capsule Robot

Magnetic driven wireless capsule robot has a broad prospect in the examination of gastrointestinal diseases. However, it still has the challenge of simultaneously driven and positioning. This paper proposed a tracking approach for the capsule robot, which is controlled with a movable electromagnetic (EM) coil. A magnetic sensor array is used to sense the magnetic field and locate the robot using optimization method. The array is linked with the movable platform to ensure widen-scale localization. The proposed method was to remove the partial magnetic field from the EM coil by the prior known current and position. In addition, position of the coil has also be used to estimate the initial iteration value of the optimization algorithm to improve the positioning accuracy and speed. Experimental results verify the accuracy of the proposed method.