Six Degrees of Freedom Tracking and Wireless Charging for Capsule Endoscopy

Zhang, H; Lee, CK; Li, Z

Six Degrees of Freedom Tracking and Wireless Charging for Capsule Endoscopy

Zhang, H Lee, CK Li, Z

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Publisher:: Institute of Electrical and Electronics Engineers (IEEE)
Publication Type:: Journal Article
Citation:: IEEE Transactions on Industrial Electronics, 2024, PP, (99), pp. 1-10
Issue Date:: 2024-01-01

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Field	Value	Language
dc.contributor.author	Zhang, H
dc.contributor.author	Lee, CK
dc.contributor.author	Li, Z
dc.date.accessioned	2025-01-28T08:46:23Z
dc.date.available	2025-01-28T08:46:23Z
dc.date.issued	2024-01-01
dc.identifier.citation	IEEE Transactions on Industrial Electronics, 2024, PP, (99), pp. 1-10
dc.identifier.issn	0278-0046
dc.identifier.issn	1557-9948
dc.identifier.uri	http://hdl.handle.net/10453/184472
dc.description.abstract	Capsule endoscopy is an emerging technology providing a noninvasive approach to diagnose and monitor gastrointestinal (GI) diseases. However, this technology has fundamental limitations of short-range of investigation due to limited battery capacity and uncertain position of the capsule inside the GI tract. This research work attempts to address these two critical issues using a novel approach to seamlessly combine wireless battery charging, and six degrees of freedom (6DoF) tracking of capsule endoscopy on a single apparatus. A full-scale complete prototype is presented in this article, wherein the receiving coil is integrated in a fully functional capsule, and the transmitting coil is able to accommodate an adult human body. In the tracking operation, a gradual dc magnetic field is generated in the transmitting coil. The magnetic field intensity surrounding the capsule is measured and consolidated with inertial measurement to identify the capsule's position and orientation. In the evaluation, the maximum mean absolute error for attitude angles and position are less than 3.80 and 2.07 mm, respectively. A relatively uniform ac magnetic field will be generated while a low battery is detected. During wireless charging, the capsule receives 376.08mWof power, resulting in an estimated charging rate of 2C for the capsule battery.
dc.language	en
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.relation.ispartof	IEEE Transactions on Industrial Electronics
dc.relation.isbasedon	10.1109/TIE.2024.3454557
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	08 Information and Computing Sciences, 09 Engineering
dc.subject.classification	Electrical & Electronic Engineering
dc.subject.classification	40 Engineering
dc.subject.classification	46 Information and computing sciences
dc.title	Six Degrees of Freedom Tracking and Wireless Charging for Capsule Endoscopy
dc.type	Journal Article
utslib.citation.volume	PP
utslib.for	08 Information and Computing Sciences
utslib.for	09 Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2025-01-28T08:46:20Z
pubs.issue	99
pubs.publication-status	Published
pubs.volume	PP
utslib.citation.issue	99

Abstract:

Capsule endoscopy is an emerging technology providing a noninvasive approach to diagnose and monitor gastrointestinal (GI) diseases. However, this technology has fundamental limitations of short-range of investigation due to limited battery capacity and uncertain position of the capsule inside the GI tract. This research work attempts to address these two critical issues using a novel approach to seamlessly combine wireless battery charging, and six degrees of freedom (6DoF) tracking of capsule endoscopy on a single apparatus. A full-scale complete prototype is presented in this article, wherein the receiving coil is integrated in a fully functional capsule, and the transmitting coil is able to accommodate an adult human body. In the tracking operation, a gradual dc magnetic field is generated in the transmitting coil. The magnetic field intensity surrounding the capsule is measured and consolidated with inertial measurement to identify the capsule's position and orientation. In the evaluation, the maximum mean absolute error for attitude angles and position are less than 3.80 and 2.07 mm, respectively. A relatively uniform ac magnetic field will be generated while a low battery is detected. During wireless charging, the capsule receives 376.08mWof power, resulting in an estimated charging rate of 2C for the capsule battery.

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http://hdl.handle.net/10453/184472