Performance bounds for RF positioning of endoscopy camera capsules

In this paper, we evaluate the factors affecting the accuracy achievable in localization of an endoscopic wireless capsule as it passes through the digestive system of the human body. Using a three-dimension full electromagnetic wave simulation model, we obtain bounds on the capsule-location estimation errors when the capsule is in each of three individual organs: stomach, small intestine and large intestine. The simulations assume two different external sensor arrays topologies. We compare these performance bounds and draw the conclusion that location-estimation errors are different for different organs and for various topologies of the external sensor arrays.