Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy


The purpose of this study is to validate a Jacobian-based mostly iterative technique for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-component solutions to the magnetic field problem and least-squares interpolations to get closed-kind and fast estimates of the magnetic field. By defining a closed-type expression for the Jacobian of the magnetic field relative to changes within the capsule create, we are able to obtain an iterative localization at a faster computational time in comparison with prior works, while not plagued by the inaccuracies stemming from dipole assumptions. This new algorithm can be employed in conjunction with an absolute localization technique that has initialization values at a slower refresh rate. The proposed approach was assessed via simulation and experimental trials, adopting a wireless capsule equipped with a permanent magnet, six magnetic field sensors, and an inertial measurement unit. The overall refresh rate, including sensor data acquisition and wireless Communication was 7 ms, therefore enabling closed-loop control ways for magnetic manipulation running faster than 100 Hz. The common localization error, expressed in cylindrical coordinates was below 7 mm in each the radial and axial elements and five$^circ$ within the azimuthal element. The typical error for the capsule orientation angles, obtained by fusing gyroscope and inclinometer measurements, was below 5$^circ$.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Network Traffic Classification Using Correlation Information - 2013ABSTRACT:Traffic classification has wide applications in network management, from security monitoring to quality of service measurements. Recent
PROJECT TITLE :Distance Bounding A Practical Security Solution for Real-Time Location Systems - 2013ABSTRACT:The need for implementing adequate security services in industrial applications is increasing. Verifying the physical
PROJECT TITLE :T-Drive Enhancing Driving Directions with Taxi Drivers’ Intelligence - 2013ABSTRACT:This paper presents a smart driving direction system leveraging the intelligence of experienced drivers. In this system, GPS-equipped
PROJECT TITLE :Distributed Web Systems Performance Forecasting Using Turning Bands Method - 2013ABSTRACT:With the increasing development of distributed computer systems (DCSs) in networked industrial and manufacturing applications

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry