A design approach of 3D optimal mobile sensor array for confidence-box based tracking of a magnetic capsule

Xu，Yangxin1; Li，Keyu1; Zhao，Ziqi2; Meng，Max Q.H.3,4,5

10.1109/ICARM52023.2021.9536121

2021-07-03

6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

978-1-6654-4596-2

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

809-816

JUL 03-05, 2021

null,Chongqing,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Wireless capsule endoscopy is a painless tool for screening the entire gastrointestinal tract, and magnetic localization is a promising technology for tracking the capsule in the human intestine. In this paper, we propose a novel design approach of the optimal mobile sensor array for tracking the slowly moving capsule. A grid and combinatorial mathematics based method is presented to enumerate all feasible 3D layouts of the four-layer sensor array. The optimal layout with a valid localization range is selected from all layouts by localization accuracy evaluation. The valid localization range of the optimal layout is “confidence-box”. Many simulation experiments on different trajectories with different noise levels show the feasibility of our proposed design approach and demonstrate the robustness and accuracy performance of the mobile sensor array based large-scale tracking. The moving capsule can be tracked with the accuracy of 1.9mm and 1.19 in position and orientation, respectively, and the valid localization depth reaches -12.88cm.

Location awareness Three-dimensional displays Layout Robot sensing systems Robustness Trajectory Mathematical model

其他

英语

CPCI-S ; EI

National Key R&D program of China[2019YFB1312400]

Automation & Control Systems ; Engineering ; Robotics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics

WOS:000728141500136

20214010982444

Medicine and Pharmacology:461.6

2-s2.0-85116279289

Scopus

1.The Department of Electronic Engineering,The Chinese University of Hong Kong,Hong Kong
2.The Department of Electronic and Electrical Engineering,The Southern University of Science and Technology,Shenzhen,China
3.The Department of Electronic and Electrical Engineering,The Southern University of Science and Technology,Shenzhen,China
4.The Department of Electronic Engineering,The Chinese University of Hong Kong,Hong Kong
5.The Shenzhen Research Institute,The Chinese University of Hong Kong,Shenzhen,China

Xu，Yangxin,Li，Keyu,Zhao，Ziqi,et al. A design approach of 3D optimal mobile sensor array for confidence-box based tracking of a magnetic capsule[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:809-816.