Enhanced Optimal Control of a Magnetically Actuated Capsule Endoscope Using Electromagnetic Coils Considering Small Intestine Dynamics

Active locomotion of capsule endoscopes has become a prominent progress in minimally invasive diagnostic procedures. Utilizing external magnetic fields for this purpose enables contactless actuation and enhanced maneuverability. This study presents an optimal control technique for magnetically actuated capsule endoscopes (MACE) within the small intestine, using a modified OCTAMAG setup. The objective is to minimize input currents while ensuring accurate path tracking, thereby preventing coil overheating and avoiding actuation inaccuracies. A correction force is also incorporated into the controller to stabilize it against external disturbances. The proposed method is evaluated using a path inspired by the small intestine and compared to conventional PID control. Results show that the optimal controller achieves superior path tracking while maintaining input currents within safe limits. Additionally, the disturbance rejection capabilities of the optimal controller are comparable to those of the PID.