Localization of implanted devices combining TDOA, particle filter and map mapping with intestine modeling

In this paper, we propose a scheme to estimate the position of medical implanted device such as a capsule endoscopy in an intestine using combination among TDOA ranging/positioning, particle filter, and map information based on 2D/3D images taken by MRI or CT systems to compensate estimation error of implanted device position. The proposal scheme can perform reliable ranging and positioning by the compensation using the image which obtained by slicing small intestine, which we create with computer graphics and estimating the distance from the image by CNN.