{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,29]],"date-time":"2026-09-29T16:29:04Z","timestamp":1790699344241,"version":"4.1.0"},"reference-count":90,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"9","license":[{"start":{"date-parts":[[2012,9,1]],"date-time":"2012-09-01T00:00:00Z","timestamp":1346457600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Biomed. Eng."],"published-print":{"date-parts":[[2012,9]]},"DOI":"10.1109\/tbme.2012.2201715","type":"journal-article","created":{"date-parts":[[2012,6,18]],"date-time":"2012-06-18T19:44:40Z","timestamp":1340048680000},"page":"2387-2399","source":"Crossref","is-referenced-by-count":239,"title":["A Review of Localization Systems for Robotic Endoscopic Capsules"],"prefix":"10.1109","volume":"59","author":[{"given":"Trung Duc","family":"Than","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gursel","family":"Alici","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weihua","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1145\/1244002.1244230"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2007.4352914"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/IST.2007.379580"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/RFID.2011.5764608"},{"key":"ref76","article-title":"Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional X-ray images","author":"boese","year":"2010","journal-title":"U S Patent 7801342"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1016\/S1461-5347(00)00311-4"},{"key":"ref74","first-page":"3711","article-title":"Capsule endoscope localization based on computer vision technique","author":"li","year":"2009","journal-title":"Proc Annu Int Conf IEEE Eng Med Biol Soci"},{"key":"ref39","first-page":"311","article-title":"Sensor arrangement optimization of magnetic localization and orientation system","author":"chao","year":"2007","journal-title":"Proc IEEE Int Conf Integr Technol"},{"key":"ref75","article-title":"Method for determining the position and orientation of an endoscopy capsule guided through an examination object by using a navigating magnetic field generated by means of a navigation device","author":"kuth","year":"2007","journal-title":"U S Patent 20070038063"},{"key":"ref38","first-page":"1561","article-title":"A new calibration method for magnetic sensor array for tracking capsule endoscope","author":"mao","year":"2009","journal-title":"Proc IEEE Int Conf Robot Biomimetics"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1016\/S0169-409X(00)00135-6"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1002\/mrm.1910290322"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545490"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1299\/jsmec.45.967"},{"key":"ref31","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1016\/S0924-4247(01)00537-4","article-title":"Tracking system with five degrees of freedom using a 2D-array of Hall sensors and a permanent magnet","volume":"92","author":"schlageter","year":"2001","journal-title":"Sens Actuators A Phys"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1021\/js970185g"},{"key":"ref37","first-page":"162","article-title":"The calibration of 3-axis magnetic sensor array system for tracking wireless capsule endoscope","author":"chao","year":"2006","journal-title":"Proc IEEE\/RSJ Int Conf Intell Rob Syst"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2008.4649596"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2007.907581"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2005.1616154"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1016\/j.giec.2003.10.020"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/ICECE.2006.355318"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/49.778178"},{"key":"ref63","first-page":"2332","article-title":"A novel radio propagation radiation model for location of the capsule in GI tract","author":"lujia","year":"2009","journal-title":"Proc IEEE Int Conf Rob Biomimetics"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511845000"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2010.5627228"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-010-0004-5"},{"key":"ref65","first-page":"71","article-title":"Performance bounds for RF positioning of endoscopy camera capsules","author":"yi","year":"2011","journal-title":"Proc IEEE Top Conf Biomed Wireless Technol Netw Sens Syst"},{"key":"ref66","first-page":"209","article-title":"Design and implementation of a high resolution localization system for In-vivo capsule endoscopy","author":"jinlong","year":"2009","journal-title":"Proc 8th IEEE Int Conf Dependable Auton Secure Comput"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/10.284931"},{"key":"ref67","first-page":"749","article-title":"Design of 3D positioning algorithm based on RFID receiver array for in vivo micro-robot","author":"le","year":"2009","journal-title":"Proc 8th IEEE Int Conf Dependable Auton Secure Comput"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/BSN.2010.54"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/RFID.2010.5467268"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/107155170301000103"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1108\/02602280510620105"},{"key":"ref20","year":"0"},{"key":"ref22","doi-asserted-by":"crossref","first-page":"297","DOI":"10.1016\/j.sna.2010.04.037","article-title":"Novel electromagnetic actuation system for three-dimensional locomotion and drilling of intravascular microrobot","volume":"161","author":"yu","year":"2010","journal-title":"Sens Actuators A Phys"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2039942"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ISCAS.2011.5937714"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1088\/0967-3334\/30\/8\/003"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1504\/IJMA.2011.039154"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2010.01.064"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903946"},{"key":"ref51","first-page":"1165","article-title":"An hybrid localization system based on optics and magnetics","author":"wei","year":"2010","journal-title":"Proc IEEE Int Conf Rob Biomimetics"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1586\/erd.10.3"},{"key":"ref59","first-page":"ab126","article-title":"Localization of the wireless capsule endoscope in its passage through the GI tract","volume":"53","author":"fischer","year":"2001","journal-title":"Gastrointestinal Endoscopy"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ISIE.2007.4375035"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1080\/1931308X.2007.10644135"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1002\/9780470747988"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2011.2154313"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2009.2020541"},{"key":"ref53","year":"0"},{"key":"ref52","year":"0"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2011.2171182"},{"key":"ref11","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1007\/s11465-011-0203-5","article-title":"Capsule endoscopy—A mechatronics perspective","volume":"6","author":"lin","year":"2011","journal-title":"Frontiers of Mechanical Engineering"},{"key":"ref40","first-page":"1","article-title":"Position and orientation accuracy analysis for wireless endoscope magnetic field based localization system design","author":"kegen","year":"2010","journal-title":"Proc IEEE Wireless Commun Netw Conf"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES1879"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.2174\/1874764710801010024"},{"key":"ref14","doi-asserted-by":"crossref","first-page":"903","DOI":"10.1109\/JSEN.2009.2035711","article-title":"A cubic 3-axis magnetic sensor array for wirelessly tracking magnet position and orientation","volume":"10","author":"chao","year":"2010","journal-title":"IEEE Sens J"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1088\/0031-9155\/53\/16\/009"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2011.2134096"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990361"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2004.840497"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2010.2087332"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/SAS.2006.1634269"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2010.2051947"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642290"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-009-0068-2"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908100924"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.3748\/wjg.14.4142"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2010.03.1076"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1097\/00001610-200201000-00007"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s10544-006-9025-3"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1108\/02602280310468233"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2007.4352927"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1111\/j.1751-2980.2010.00448.x"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152292"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1038\/nrgastro.2009.69"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2011.01.022"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-bioeng-010510-103409"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/51.870227"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1038\/35013140"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2004.1403626"},{"key":"ref45","year":"0"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.2345\/0899-8205-44.4.354"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1080\/03091900701403979"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2007.10.051"},{"key":"ref41","year":"0"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2008.2003056"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2003.816750"}],"container-title":["IEEE Transactions on Biomedical Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/10\/6269950\/06220239.pdf?arnumber=6220239","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T23:54:12Z","timestamp":1633910052000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6220239\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,9]]},"references-count":90,"journal-issue":{"issue":"9"},"URL":"https:\/\/doi.org\/10.1109\/tbme.2012.2201715","relation":{},"ISSN":["0018-9294","1558-2531"],"issn-type":[{"value":"0018-9294","type":"print"},{"value":"1558-2531","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,9]]}}}