A Wearable, Reconfigurable, and Modular Magnetic Tracking System for Wireless Capsule Robots

Wearable magnetic tracking systems (MTSs) offer a promising technology for the long-term tracking of wireless-capsule robots within the digestive tract. However, existing wearable MTSs are fixed in size and cannot accommodate patients with diverse abdominal circumferences. To address this limitation, we propose a wearable and reconfigurable MTS. First, we design a reconfigurable sensor array inspired by the structure of bamboo slips, allowing it to conform to the abdominal surface and accommodate individuals with different abdominal circumferences. Next, we formulate a magnetic tracking optimization problem based on the magnetic dipole model and our established kinematic model of the reconfigurable sensor array. Solving the magnetic tracking problem, we achieved outstanding localization accuracy of 1.44<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula>0.50 mm and 1.07<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm 0.16^\circ$</tex-math></inline-formula>. Experimental validation demonstrates our proposed system's portability, reconfigurability, and adaptability to varying abdominal circumferences, offering valuable technological means for diagnosing and treating gastrointestinal disorders.