In the state-of-the-art of static magnetic localization of capsule endoscopes relatively large magnets compared with the small capsules are used. Therefore, small disc magnets and ring magnets for integration with the built-in components were evaluated. The mean position and orientation errors did not exceed 5 mm and 4° for all applied magnets except the thinnest disc magnets with a length of 1.5 and 3 mm. Therefore, the state-of-the-art was outperformed even for smaller magnets.

For wireless capsule endoscopy (WCE), precise localization is an open research topic. In this study, a novel differential magnetic localization method for WCE is proposed. The differential method prevents interference of the geomagnetic field. Therefore, the mean position and orientation errors were significantly reduced by three orders in magnitude to less than 0.1 mm and 0.1°, respectively. In the future, the simulation-based results will be validated in experiments.