عنوان مقاله [English]
Small magnetic robots are now widely used in the treatment of a variety of ailments. Capsule endoscopy is a non-invasive procedure used to examine the digestive tract. Wireless capsule endoscopy is a significant innovation in this century in order to diagnose disorders of the gastrointestinal tract with minimal pain for the patient. This technology facilitates the inspection of the digestive system and avoids the risks of conventional endoscopy. Determining the exact position and placement of this capsule can help the doctor to determine the exact location of the lesions in the digestive tract. In addition, once the exact position is determined, it can be used as input for control systems. The ability to determine the position and orientation of the capsule, and control its movement, can greatly assist the treating physician in detecting the disease. Moreover, the active endoscopic capsule allows the doctor to control the capsule in any desired position and direction, leading to a more accurate diagnosis of the illness.
This paper describes a method for predicting the position and orientation of a magnetic capsule in a fluid environment, as well as controlling it. In the suggested approach, it is assumed that the capsule moves at a low speed in the stomach, hence the stokes equations are used for the motion and the equations of motion of a capsule were extracted. The position and orientation of the capsule are determined using a non-linear Kalman filter with the help of measuring external magnetic sensors. A method has also been provided for controlling and positioning this capsule at the same time using duty cycle. The actuation fields and magnetic sensors are not used concurrently in this method, and the sensor data is used for localization when the actuation is turned off. The performance of the proposed methods was investigated using simulation.