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Position and Attitude Estimation of a Capsule Endoscope based on Ultrasonic Ranging  

Kim, Eun-Joung (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University)
Kim, Myung-Yu (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University)
Kim, Deok-Ki (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University)
Kim, Yong-Dae (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University)
You, Young-Gap (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.44, no.5, 2007 , pp. 38-44 More about this Journal
Abstract
This paper presented a location and attitude estimation scheme of a capsule endoscope based on ultrasonic ranging. The scheme comprised eight on-capsule ultrasonic sensors to alleviate measurement errors due to irregularities in human body ultrasonic characteristics. It calculated the coordinate values and angles in a Cartesian coordinate system. The Matlab simulation reflecting random errors yielded the average deviations of 0.8mm in the location and $0.2^{\circ}$ in the attitude angle. These values are far smaller than normal intestine movement ranges inside human body, and will contribute accurate diagnosis of intestine.
Keywords
capsule endoscope; localization; orientation; ultrasonic sensor;
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