Implementing an Autonomous Navigation System for Active Wireless Capsule Endoscopy

This work proposes an accurate navigation mechanism for active wireless capsule endoscopy (WCE). The proposed system collects data on the pressure experienced by a capsule inside the intestine through 33 pressure sensors positioned on the capsule in fixed spherical coordinates. Based on this information, a safer trajectory for the wireless capsule embedded with a permanent magnet is devised. An electromagnetic platform is developed to autonomously control the motion of the capsule away from the pressure point to minimize the chance of tissue perforation. This platform follows a cellular system-like methodology; only the electromagnets closest to the capsule are selected for the locomotion. The system can move the capsule forward, backward, or hold it still. We have validated the proposed system by navigating the capsule in various tabular environments, including ex-vivo pig intestine. Our results demonstrate that the proposed system can safely navigate the capsule in unknown and complex environments with high accuracy. The system records crucial information, such as the capsule's direction and distance traveled at each step. This information is used to create a distinct profile of the patient, which can be utilized for future diagnosis and reference purposes.