REAL-TIME POSE AND MAGNETIC FORCE DETECTION FOR WIRELESS MAGNETIC CAPSULE

摘要

Systems and methods are described for determining an orientation and position of a capsule inserted into the body of a patient. A magnetic field is applied to an area of the patient where the capsule is located. Sensor data, including inertial data from an inertial sensor and magnetic field data indicative of the applied magnetic field as detected by at least one magnetic field sensor, is wirelessly received from the capsule. An orientation angle of the capsule is determined based at least in part on the inertial data. The magnetic field data is compared to known characteristics of the applied magnetic field and a location of the capsule is determined based on the comparison.

主权项

1. A method of determining an orientation and position of a capsule inserted into the body of a patient, the method including:
applying a magnetic field to an area of the patient where the capsule is located; receiving sensor data from the capsule, the sensor data including inertial data from an inertial sensor mounted on the capsule and magnetic field data indicative of the applied magnetic field as detected by at least one magnetic field sensor mounted on the capsule; determining an orientation angle of the capsule based at least in part on the inertial data; comparing the magnetic field data to known characteristics of the magnetic field applied to the patient; and determining a location of the capsule based on the comparison of the magnetic field data and the known characteristics of the applied magnetic field.