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Design and implementation of positioning and control systems for capsule endoscopes

Lookup NU author(s): Professor Jeffrey Neasham



This is the authors' accepted manuscript of an article that has been published in its final definitive form by IET, 2020.

For re-use rights please refer to the publisher's terms and conditions.


Wireless Capsule Endoscope (WCE) is a new diagnostic device that can be utilized for evaluating the whole digestivetract if effectively actuated. In this research, a new One Degree of Freedom (1DOF) actuation system based on a magnetic levitationconcept is proposed for capsule endoscope navigation system. The proposed system, is used to move a permanent magnetinserted in WCE body by an arrangement of current controlled electromagnetic actuator placed on a 3DOF movable frame. Theaim of this study is to design of a Proportional-Integral-Derivative (PID) controller to suspend the capsule and keep it at a demandtest region.DC and AC magnetic field-based positioning systems using the Hall effect sensor and the coil sensor respectively are used to providethe controller by capsule position feedback. Improvement of the position feedback accuracy based on AC magnetic field usingDiscrete Fourier Transform (DFT) is presented. A realistic simulation design of the system is implemented using Matlab/Simulinkenvironment to validate the PID controller. The navigation scheme is implemented practically utilizing Digital Signal Processor(DSP) to verify the effectiveness of the controller. Finally, simulation and experimental results of the capsule navigation system arepresented to show the performance of the proposed controller.

Publication metadata

Author(s): Mohammed IK, Sharif BS, Neasham JA

Publication type: Article

Publication status: Published

Journal: IET Science, Measurement & Technology

Year: 2020

Volume: 14

Issue: 7

Pages: 745-754

Print publication date: 01/09/2020

Online publication date: 12/03/2020

Acceptance date: 03/03/2020

Date deposited: 05/03/2020

ISSN (print): 1751-8822

ISSN (electronic): 1751-8830

Publisher: IET


DOI: 10.1049/iet-smt.2019.0223


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