Six-Degree-of-Freedom Localization With a 3-Axis Accelerometer and a 2-Axis Magnetometer for Magnetic Capsule Endoscopy
Six-Degree-of-Freedom Localization With a 3-Axis Accelerometer and a 2-Axis Magnetometer for Magnetic Capsule Endoscopy
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DOI：
10.1109/lra.2022.3143293
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发表时间：
2022-04
影响因子：
5.2
通讯作者：
Adam J. Sperry;J. Christensen;J. Abbott
中科院分区：
文献类型：
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作者：
Adam J. Sperry;J. Christensen;J. Abbott
这封信提出了一种用于磁性胶囊内窥镜的新定位方法，该方法使用胶囊内部的传感器，但旨在缓解以前与该范例相关的一些限制。该方法估计六自由度胶囊姿态，除了知道它位于特定工作空间内之外，没有任何先验姿态信息。在胶囊内部，它需要一个 3 轴加速度计、一个 2 轴磁力计（或一个轴饱和或禁用的 3 轴磁力计）、一个能够进行无线通信的微控制器以及一个射频天线，所有这些都可以集成到单个印刷电路板上。该方法适用于两种常见的内置永磁体结构。在一组模拟和实验中，我们表明定位精度与使用需要更高复杂性的现有方法所获得的精度相当。
This letter presents a new localization method for magnetic capsule endoscopes that uses sensors internal to the capsule, but aims to relieve some of the previous limitations associated with this paradigm. The method estimates the six-degree-of-freedom capsule pose with no prior pose information other than the knowledge that it resides within a particular workspace. Internal to the capsule, it requires a 3-axis accelerometer, a 2-axis magnetometer (or 3-axis magnetometer with one axis saturated or disabled), a microcontroller capable of wireless communication, and a radio frequency antenna, all of which can be integrated into a single printed circuit board. The method is applicable to both of the common configurations of the internal permanent magnet. In a set of simulations and experiments, we show that the localization accuracy is comparable to what has been obtained with prior methods that have required more complexity.