Tracking and orientation modeling of capsule endoscope

This paper proposed a capsule endoscope orientation evaluation method based on ultrasonic ranging and piecewise intestine modeling. An intestine coordinate system was introduced to evaluate the capsule orientation. The Matlab simulations allowing 10% variations on roll, pitch and yaw were found around 3°, 10° and 2° respectively. Average values on 10 trials were less than 0.4° for orientation angles. These values were good enough cover image processing, medication doping and specimen sampling.