Attitude Control System for Endoscopic Capsules


 

The propose an attitude control system for an endoscopic capsule which is controlled in a magnetic field. We designed a prototype of the endoscopic capsule consisting of a sensing coil and an actuating coil. The size of the prototype was about 20 mm cubic. We controlled the prototype using feedback system. The feedback was carried out by sensing and actuating the attitude of the prototype. The prototype was set within a magnetic field which consists of alternating magnetic field for sensing and static magnetic field for actuating. We successfully measured the attitude within an accuracy of 9° and achieved the attitude control within an accuracy of 13.