Capsule endoscopy is a minimally invasive diagnostic technology for gastrointestinal diseases providing images from the human's digestion system. Developing a robust and real-time localization algorithm to determine the orientation and position of the endoscopic capsule is a crucial step toward medical diagnostics. In this paper, we propose a novel model-aided real-time localization approach to estimate the position and orientation of a magnetic endoscopic capsule swimming inside the stomach. In the proposed method, the governing equations of the motion of an ellipsoidal capsule inside the fluid, considering different hydrodynamics interactions, are derived. Then, based on the dynamic model, an Extended Kalman Filter (EKF) driven by the noisy measurements of the multiple magnetic sensors is developed. According to the simulations, the proposed method not only can accurately localize the endoscopic capsule but also can identify the unknown parameters of the dynamic model. The results confirm the superiority of our proposed method compared to the conventional localization technique in the presence of dynamic model uncertainties and corrupted sensor data. Experimental realization of the proposed technique proves the achievement of high accuracy in the trajectory estimation of the magnetic endoscopic capsule.

中文翻译：

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使用扩展卡尔曼滤波器对磁性内窥镜胶囊进行模型辅助实时定位和参数识别


胶囊内窥镜是一种针对胃肠道疾病的微创诊断技术，提供人体消化系统的图像。开发强大的实时定位算法来确定胶囊内窥镜的方向和位置是迈向医学诊断的关键一步。在本文中，我们提出了一种新颖的模型辅助实时定位方法来估计在胃内游动的磁性内窥镜胶囊的位置和方向。在所提出的方法中，考虑到不同的流体动力学相互作用，推导了流体内椭圆体胶囊运动的控制方程。然后，基于动态模型，开发了由多个磁传感器的噪声测量驱动的扩展卡尔曼滤波器（EKF）。根据仿真结果，该方法不仅能够准确定位内窥镜胶囊，而且能够识别动态模型的未知参数。结果证实了在存在动态模型不确定性和损坏的传感器数据的情况下，我们提出的方法相对于传统定位技术的优越性。该技术的实验实现证明了磁内窥镜胶囊轨迹估计的高精度。