Wireless capsule endoscopy systems have been shown as a gold step to develop futurewireless biomedical multitask robotic capsules, which will be utilized in micro surgery, drugdelivery, biopsy and multitasks of the endoscopy. In such wireless capsule endoscopy systems,one of the most challenging problems is accurate localization and tracking of the capsule insidethe human body. In this thesis, we focus on robotic biomedical capsule localization andtracking using range measurements via electromagetic wave and magnetic strength basedsensors. First, a literature review of existing localization techniques with their merits andlimitations is presented. Then, a novel geometric environmental coefficient estimation techniqueis introduced for time of flight (TOF) and received signal strength (RSS) based rangemeasurement. Utilizing the proposed environmental coefficient estimation technique, a 3Dwireless biomedical capsule localization and tracking scheme is designed based on a discreteadaptive recursive least square algorithm with forgetting factor. The comparison betweenlocalization with novel coefficient estimation technique and localization with known coefficientis provided to demonstrate the proposed technique’s efficiency. Later, as an alternativeto TOF and RSS based sensors, use of magnetic strength based sensors is considered. Weanalyze and demonstrate the performance of the proposed techniques and designs in variousscenarios simulated in Matlab/Simulink environment.
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Adaptive Wireless Biomedical Capsule Localization and Tracking
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