A Position and Orientation Tracking of a Capsule Endoscope based on Intestine Model

摘要

This paper proposed a capsule endoscope orientation evaluation method based on an intestine model. We obtained an orientation method to supply a reference frame for the capsule orientation evaluation. The accuracy of the intestine model depicted on pitch and yaw was found down to 0.2°, respectively. The average error values on repeated trials were less than 0.5° for orientation angles. These values were good enough to supply diverse functions such as image processing, medication doping and specimen sampling for capsule endoscope.