System and method for determining location and orientation of a device in-vivo

摘要

A system and method for determining location and orientation of an in-vivo device, with respect to an external system in which the device is located include a frame with external magnets attached thereon. An in-vivo device is inserted into the patient's body, which is placed within the system, and the external magnets apply magnetic forces on the in-vivo device. A radio beacon transmitter is attached to the frame for transmitting a radio pulse. The in-vivo device includes an ultrasonic transmitter for transmitting an ultrasonic signal, which is triggered by the radio pulse. At least three transponders are placed on the patient's body, each transponder sending a first acoustic signal triggered by the radio pulse, and each sending a second acoustic signal triggered by the device's ultrasonic signal. At least three sonic detectors are located on the frame for detecting each of the transponders' first and second sonic signals, and a processor measures time of detection of the transponders' signals and thus calculates location of the device in frame coordinates, and in body coordinates.

主权项

1. A system for determining a location of an in-vivo device, the system comprising:
a frame comprising external magnets and magnetic actuators for surrounding a patient's body, said body comprising an in-vivo device, said in-vivo device comprising an internal magnet, wherein said external magnets are configured for applying magnetic forces on the internal magnet of said in-vivo device; a radio beacon transmitter attached to the frame for transmitting a radio pulse; wherein said in-vivo device comprises an ultrasonic transmitter for transmitting an ultrasonic signal that is triggered by said radio pulse; at least three transponders placed on the patient's body, each transponder sending a first acoustic signal triggered by the radio pulse, and each sending a second acoustic signal triggered by the in-vivo device's ultrasonic signal; at least three sonic detectors located on the frame for detecting each of the transponders' first and second acoustic signals; and a processor configured for:
measuring a time of detection of said transponders' signals by said sonic detectors,measuring a time of detection of said in-vivo device's signal by said transponders,calculating a distance between said transponders and said sonic detectors, based on the time of detection of said transponders' signals,calculating a distance between the in-vivo device and said transponders, based on the time of detection of the in vivo device's signal, anddetermining the location of the in-vivo device in frame coordinates, and in body coordinates, based on both the distance between the transponders and the sonic detectors, and the distance between the in-vivo device and the transponders.