Enhanced Localization of Robotic Capsule Endoscopes Using Positron Emission Markers and Rigid-Body Transformation

Using positron emission markers for the localization of a robotic capsule endoscope is promising because it does not require onboard space or built-in battery for operation. Further, its compatibility with magnetic actuation is another significant advantage compared with conventional magnetic localization methods reported in the literature. In this paper, we propose a new tracking algorithm based ...