Improved Magnetic Positioning of Medical Capsule Robot

Magnetic positioning technology based on magnetic dipoles limited in narrow spaces. The positioning accuracy is affected by the interference of ferromagnetic substances in the surrounding environment, and the positioning accuracy is mainly affected by the number and position of sensors. According to the position and attitude information requirements of the capsule robot, the relevant formulas of the basic principle of magnetic positioning were derived using the magnetic dipole model, and the formulas were optimized to reduce the number of unknown variables, optimize the calculation process, and improve the accuracy of magnetic positioning. At the same time, compensation is added to solve the magnetic coupling problem between the three-axis Hermann von Helmholtz coil driven by the external magnetic field and the capsule robot. Finally, the optimal sensor position, quantity, and positioning accuracy for the magnetic positioning of capsule robots were verified through experiments.