Passive Magnetic Localization in Medical Intervention

Adaptive Simultaneous Magnetic Actuation and Localization for WCE in a Tubular Environment

“…Numerous permanent magnet-based SMAL studies have been reported in the past few decades [6] [7] [8]. In general, a capsule with embedded magnet(s) is actuated by an external permanent magnet, and their magnetic fields are measured by magnetic sensors [9]. The 5-D pose (3-D position, 2-D orientation) of a magnet can be solved from the measured magnetic fields by the magnetic dipole model [10] [11] [12].…”