Controlled image capturing method including position tracking and system used therein

摘要

The present invention provides a method to control the image capturing process by tracking the positions of the capsule endoscope. The images are taken only when there is either new position and/or new orientation change of the capsule endoscope. The method provided by the present invention, effectively decreased the total amount of images that a doctor need to review, and improves the power consumption of the capsule endoscope examination process.

主权项

1. An computer executable examination method using a capsule endoscope, comprising
introducing the capsule endoscope into a target area, wherein the capsule endoscope comprises a permanent magnetic dipole and a camera on one end of the capsule endoscope; providing an external location system, configured to sensing a magnetic field generated by the permanent magnetic dipole of the capsule endoscope; moving the capsule endoscope from a previous position Pi to a first position Pc, wherein when capsule endoscope has a previous orientation Oi at the previous position Pi, and has a first orientation Oc at the first position Pc; calculating a distance D between Pc and Pi; or/and calculating a difference N between Oc and Oi; and determining if an image should be taken when the capsule endoscope is taken at Pc and/or orientation Oc, based on the value of distance D or angle N, wherein i is an integer greater than 0 and c is an integer greater than 0.