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Study of a Position and Orientation Tracking Method for Wireless Capsule Endoscope

This paper introduces a position and orientation tracking method, which has the potential to be used in capsule endoscope localization. This tracking method is based on the strength of the magnetic field generated by a magnetic marker in the space. Levenberg–Marquardt optimization algorithm is used for calculation of the parameters of the magnetic marker. The experiment results showed that when the axes of all sensors are all in one direction, the tracking results rely much on the orientation of the dipole. When the magnetic dipole is in sensor's axial direction, the tracking error is within 4 mm in a space of 60×60×100 mm enclosed by 8 hall sensors; the system is real time and quite robust. But the trackable scope becomes much smaller when the dipole has an arbitrary orientation. The reason is analyzed theoretically.