In this article, we propose a method for locating a magnetic capsule endoscope, which is utilized to observe the gastrointestinal tract, especially for colon. Recent studies mainly focus on either single-magnet positioning or multiple magnets positioning with similar scale in magnetic parameters, whereas these methods cannot be directly applied to the proposed magnetic-assisted capsule endoscope system, in which two magnets with big differences in magnetic parameters are used. An algorithm based on the Levenberg-Marquardt algorithm and a Hall sensor array is presented to solve this problem. Three different experiments have been carried out to validate the feasibility and effectiveness of the proposed method for the magnetic capsule positioning and orientation.
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