Mohammed IK

Neasham JA

Sharif BS

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

Design and implementation of positioning and control systems for capsule endoscopes

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