Simultaneous 6-DOF localization and scanning angle detection of magnetic ultrasound capsule endoscope (MUSCE) with internal sensors
Zhengxin Yang, Lihao Liu, Yang Jiao, Yaoyao Cui
Abstract
Localization of magnetically actuated capsule endoscope (MCE) is essential for accurate actuation. Despite extensive progress in pose estimation using internal magnetic field sensors and external magnetic sources, it remains challenging to achieve localization when a time-varying internal magnetic field (IMF) exists. This study presents a compound sensing method for the magnetic ultrasound capsule endoscope (MUSCE) based on an internal magnetic field sensor array and an external permanent magnet source, achieving simultaneous 6-degree-of-freedom (DOF) localization for magnetic navigation and real-time ultrasound (US) beam scanning angle detection for distortion-free US imaging reconstruction. Firstly, a MUSCE consisting of an internal magnet, a US transducer, and hall sensors is designed, enabling simultaneous spiral structure-based locomotion and high-quality endoluminal US imaging. Then, a compound sensing strategy is presented, realizing the separation of time-varying IMF and external magnetic field (EMF), allowing synchronous 6-DOF MUSCE localization and US beam scanning angle detection. Finally, the effectiveness of the presented method is validated by tests. The demonstrated static localization error is 4.08 ± 1.91 mm in position norm and 2.46 ± 1.31<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> in orientation, in a workspace shared with the robotic manipulator. Also, the scanning angle detection can rectify distortion in US image, showing potential clinical applications.
BibTeX
@inproceedings{iros2025_simultaneous6dof,
title = {Simultaneous 6-DOF localization and scanning angle detection of magnetic ultrasound capsule endoscope (MUSCE) with internal sensors},
author = {Zhengxin Yang and Lihao Liu and Yang Jiao and Yaoyao Cui},
booktitle = {IROS 2025},
year = {2025}
}