Design of A Novel Electromagnetic Actuation System for Actuating Magnetic Capsule Robot The active motion control of the magnetic capsule endoscope in the human body is an important guarantee for accurate and complete acquisition of the internal photographs of the gastrointestinal tract. In this paper, we will design a novel electromagnetic actuation system that allows the magnetic capsule endoscope to perform pointtopoint movement and fixed point rotation and the potential for this system to enter clinical medicine will be presented thanks to its open structure that can be combined with existing medical equipment, especially the imaging system, for diagnosis and treatment. The system consists of 8 electromagnetic coil modules. In order to optimize space occupancy and energy consumption, we utilize finite element analysis data to parameterize a single electromagnetic coil module. The spatial orientation of electromagnetic coil module is determined according to the geometric parameters of the human stomach and the magnetic field radiation range of electromagnetic coil modules. The mathematical model of the combined magnetic field distribution will be constructed based on the BiotSavart law, and a simple model of the magnetic capsule endoscope is used to demonstrate the basic functions of this system.

Towards External Sensor based Simultaneous Magnetic Actuation and Localization for WCE This paper presents a closeloop simultaneous acceleration and localization system for the wireless capsule endoscopy inside the intestine for clinical applications. A compact capsule with two embedded magnetic rings is actuated by an external rotating magnet, and the magnetic fields of the three magnets are measured by an external sensor array. In the proposed workflow, the magnetic field of the external magnet is first eliminated using an Integral Filter based strategy. Then the magnetic field of the moving capsule is modeled to generate an estimation of its pose. The fusion of the actuation and localization steps are implemented using an Unscented Kalman Filter. The proposed method is validated through experiments on phantoms and animal organs. The localization accuracy of the capsule reaches 5.5mm and 5.2xc2xb0 for position and orientation, respectively.