Magnetic Localization Technology of Capsule Robot Based on Magnetic Sensor Array

Compared with traditional endoscopes, endoscopic capsule robots have been widely used in the medical field due to their small size, wireless transmission of internal images of digestive tract, and non-invasive and minimally invasive diagnosis and treatment. Therefore, when the capsule robot enters the human body, positioning it outside the human body becomes a key technology. Magnetic positioning technology has become the best method to realize capsule robot positioning with its high efficiency and high precision. In this paper, a magnetic positioning method is proposed, which measures the magnetic induction intensity through the magnetic sensor array platform built, and calculates the relative position of the capsule robot according to the magnetic dipole model derivation equation. In addition, this paper also carries out curve fitting for this method. The fitting results show that this method has higher positioning accuracy and shorter calculation time.