Controlled image capturing method including position tracking and system used therein

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. 1. An computer executable examination method using a capsule endoscope , comprisingintroducing 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;{'sub': i', 'c', 'i', 'i', 'c', 'c, 'moving the capsule endoscope from a previous position Pto a first position P, wherein when capsule endoscope has a previous orientation Oat the previous position P, and has a first orientation Oat the first position P;'}{'sub': c', 'i', 'c', 'i, 'calculating a distance D between Pand P; or/and calculating a difference N between Oand O; and'}{'sub': c', 'c, 'determining if an image should be taken when the capsule endoscope is taken at Pand/or orientation O, 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 0.2. The method of claim 1 , wherein moving the capsule endoscope to a first position further includes moving the capsule endoscope by peristalsis.3. The method of claim 1 , further compriseObtaining a total picture count n, wherein n is an integer greater than zero.4. The method of claim 3 , further comprises comparing a distance between P−P claim 3 , wherein 0 Подробнее

System and Method for Orientation and Movement of Remote Objects

The disclosed invention provides apparatus, systems, and methods for moving an object in an enclosed area using a magnetic dipole deployed in the enclosed area and thereafter applying an external rotating magnetic field for applying a rotational force to the dipole along one or more selected axis. The external magnetic field is moved to manipulate object in the desired direction(s) of movement. 1. A method for moving an object in an enclosed area comprising the steps of:placing an object comprising a magnetic dipole in an enclosed area;applying an external rotating magnetic field for applying rotational force to the object from pole to pole along a variable axis; andmoving the external magnetic field to manipulate object along the variable axis in the desired direction of movement.2. The method according to wherein the step of placing an object in an enclosed area further comprises placing the object in vivo.3. The method according to comprising the further step of using frictional force to stabilize the movement of the object.4. The method according to wherein the step of using frictional force further comprises the step of increasing the frictional force by placing a high-friction substance on a surface of the object.5. The method according to wherein the step of placing an object in an enclosed area further comprises providing an object comprising a medical diagnostic tool.6. The method according to wherein the step of placing an object in an enclosed area further comprises providing an object comprising a medical therapy tool.7. The method according to wherein the step of placing an object in an enclosed area further comprises providing an object comprising a surgical tool.8. The method according to wherein the step of placing an object in an enclosed area further comprises providing an object comprising a three-dimension magnetic sensor.9. The method according to wherein the step of placing an object in an enclosed area further comprises providing an object ...

WIRELESS CAPSULE ENDOSCOPE AND POWER SUPPLY CONTROL METHOD THEREOF

The present invention relates to a wireless capsule endoscope and a power supply control method thereof. The method includes controlling the power supply of the capsule endoscope wirelessly and automatically adjusting power consumption of the power supply in the capsule endoscope. The wireless capsule endoscope includes a capsule casing, a light generator arranged at outside of the capsule casing, an opto-electronic switching starter arranged in the capsule casing, a power supply, a control module, a posture sensor, an illumination unit, an image processing device and a radio frequency transmission unit. The power supply being driven by the light generator in the present invention can effectively solve the incompatible problem between a traditional magnetic switch and a magnetic control device. Meanwhile, the control module and the posture detector enable the power supply to be in different working status under different states, which can prolong the service life of the power supply of the capsule endoscope. 1. A wireless capsule endoscope comprising an illumination unit , an image processing unit; a radio frequency transmission unit and a power supply;wherein the wireless capsule endoscope further comprises an opto-electronic switching starter, a control module, a posture sensor and an external light generator, the opto-electronic switching starter and the illumination unit being mounted on an annual illumination circuit board with through holes, the power supply being arranged between the image processing unit and the radio frequency transmission unit, and the control module and the posture sensor being disposed between the power supply and the radio frequency transmission unit.2. The wireless capsule endoscope as claimed in claim 1 , wherein the power supply is composed of silver oxide batteries and a power control board.3. The wireless capsule endoscope as claimed in claim 1 , wherein the control module performs to process information claim 1 , and has a circuit ...

Apparatus and method for controlling movement of a capsule endoscope in digestive tract of a human body

A system for controlling movement of a capsule endoscope in a human GI track is disclosed. The system comprises a magnetic dipole for placement in human GI track, an external magnet in a sphere shape generating dipole magnetic field and applying external translational and or rotational magnetic field force to the capsule endoscope, and a control system for moving the external magnet to manipulate the object along the variable axis in a desired direction of movement. 1. A system for controlling movement of a capsule endoscope in a human GI track , comprising;a magnetic dipole for placement in human GI track; an external magnet in a sphere shape generating dipole magnetic field and applying external translational and or rotational magnetic field force to the capsule endoscope; anda control system for moving the external magnet to manipulate the object along the variable axis in a desired direction of movement.21112111012910127104754761205654120203121. The system of claim 1 , wherein the system comprises a base () claim 1 , two X-axis sliding rails () claim 1 , fixed on the base () in parallel claim 1 , at least one Y-axis sliding rail () claim 1 , vertically positioned to the X-axis sliding rails () along a horizontal plane claim 1 , two X-axis modules () claim 1 , respectively fixed to the ends of Y-axis sliding rail () and slidingly joined with the X-axis sliding rails () claim 1 , a Z-axis supporting frame () vertically set on and slidingly-joined with the Y-axis sliding rail () claim 1 , a Z-axis sliding rail () vertically disposed with respect to the horizontal plane claim 1 , fixed on the Z-axis supporting frame () claim 1 , a Z-axis cantilever () which is parallel to the horizontal plane and whose one end is slidingly-joined with the Z-axis sliding rail () claim 1 , having one end slidingly connected to Z-axis supporting frame () through . a frame () connected with the other end of the Z-axis cantilever () claim 1 , a Z-axis motor () driving the Z-axis ...

Apparatus and method for controlling movement of a capsule endoscope in digestive tract of a human body

System and method to provide a suspended capsule endoscope at a liquid gas interface is described. The capsule comprises a permanent magnetic dipole and has a density greater than the density of the liquid. An sphere-shaped external magnet is used to suspend and control the movement of the capsule endoscope at the liquid/gas interface. The capsule endoscope can translate along variable axes, rotate and tilt, according to the movement of the external magnet. The external magnet performs a translation and rotation simultaneously to keep the capsule endoscope still and anchored at the same position of the liquid/gas interface. The external magnet adjusts its distance to the liquid/gas interface during the rotation in order to apply a constant magnetic field force to the capsule endoscope. 1. A capsule endoscope system , comprising 'a permanent magnetic dipole, wherein the capsule endoscope has a mass center and the permanent magnetic dipole has a magnetic center; and', 'a capsule endoscope suspended in a liquid environment having a liquid/gas interface, comprising'}an external magnetic field, interacting with the permanent magnetic dipole inside the capsule endoscope to position and orient the capsule endoscope at the gas/liquid interface;wherein the density of capsule endoscope is larger than the density of the liquid.2. The capsule endoscope of claim 1 , wherein the mass of the capsule endoscope is larger than 3 g.3. The capsule endoscope of claim 1 , wherein a magnetic moment of the permanent magnetic dipole inside the capsule endoscope is between 0.001-0.6 Am claim 1 ,4. The capsule endoscope of claim 1 , wherein a mass of the capsule endoscope is between 3-8 g.5. The capsule endoscope of claim 1 , wherein the magnetic moment of the external magnetic field is at 2000 Am.6. The capsule endoscope of claim 1 , wherein the distance between the magnetic center and mass center is less than 2 mm.7. The capsule endoscope of claim 1 , wherein the line connecting the ...

COMPUTER-IMPLEMENTED SYSTEM AND METHOD FOR DETERMINING THE POSITION OF A REMOTE OBJECT

The invention provides methods and systems for determining the position of a remote object such as an in vivo medical device such as capsule or probe within a medical patient. Integrated computer and computer executable remote permanent magnetic dipole position and orientation detection system monitors remote object movement. User interface displays remote permanent magnetic dipole location and orientation in a 3-dimensional view. Database stores object position movement in association with time. Magnetic sensor planes detect remote objects with permanent magnetic dipole and generate magnetic field information signal. Computer stores and searches location and posture information use a file. 1. A system for locating a permanent magnetic dipole , comprisingan object having a permanent magnetic dipole in a target area;a first and a second sensor plane surrounding the target area, the sensor planes comprising a plurality of magnetic sensors; a remote permanent magnetic dipole identification module that identifies the position and orientation of remote permanent magnetic dipoles and associated target area information by receiving information from the sensors on the sensor planes;', 'a display unit that displays the position and orientation of remote permanent magnetic dipole and associated target area information in a two-dimensional map or three-dimensional view;', 'a storage module that stores the position and orientation of remote permanent magnetic dipole and associated target area information from the identification module and assigns a file name.', 'a search module that looks up the remote permanent magnetic dipole position data in response to a request of the file name., 'a computer and computer executable program, comprising'}2. The position detecting system of claim 1 , wherein the remote permanent magnetic dipole identification module identifies the position and orientation of the permanent magnetic dipole by obtaining position points of a maximum magnetic ...

Wireless capsule endoscope and power supply control method thereof

The present invention relates to a wireless capsule endoscope and a power supply control method thereof. The method includes controlling the power supply of the capsule endoscope wirelessly and automatically adjusting power consumption of the power supply in the capsule endoscope. The wireless capsule endoscope includes a capsule casing, a light generator arranged at outside of the capsule casing, an opto-electronic switching starter arranged in the capsule casing, a power supply, a control module, a posture sensor, an illumination unit, an image processing device and a radio frequency transmission unit. The power supply being driven by the light generator in the present invention can effectively solve the incompatible problem between a traditional magnetic switch and a magnetic control device. Meanwhile, the control module and the posture detector enable the power supply to be in different working status under different states, which can prolong the service life of the power supply of the capsule endoscope.

System and method for wireless capsule endoscope with adaptive frame rate

The present invention discloses a system for wireless capsule endoscope with adaptive frame rate, comprising: a recorder data processor to filter the first posture information of a capsule endoscope and the second posture information of a portable recorder to obtain a quaternion p 0 of the first posture information and a quaternion p 1 of the second posture information, and to calculate an interpolated median s 0 between p 0 and p 1 at time t 0 , and an interpolated median s 1 between p′ 0 and p′ 1 at time t 1 ; the recorder data processor also calculates a difference diff 0 between the interpolated median s 0 and s 1 , and works out the dot product of the difference diff 0 and unit quaternion [1, 0, 0, 0].

SYSTEM AND METHOD FOR ORIENTATION AND MOVEMENT OF REMOTE OBJECTS

The disclosed invention provides apparatus, systems, and methods for orientating an object in an enclosed area using a magnetic dipole deployed in the enclosed area and thereafter applying an external rotating magnetic field for applying a rotational force to the dipole along one or more selected axis. The external magnetic field is moved to manipulate object in the desired direction(s) of movement. 1. A method for orienting an object in an enclosed area comprising the steps of:placing an object comprising a magnetic dipole in an enclosed area, wherein the object has a first orientation;applying an external magnetic field in proximity to the magnetic dipole; andmanipulating the external magnetic field to interact with the magnetic dipole, thereby causing the object to adopt a second orientation relative to the first orientation.221. The method according to claim wherein the step of placing an object in an enclosed area further comprises placing the object in vivo.321. The method according to claim comprising the further step of using frictional force to stabilize the object in the enclosed area.421. The method according to claim comprising the further steps of:capturing an image at the starting orientation;capturing a separate image at the second orientation; andusing the captured images to calculate the spatial dimensions of the area.5. The method according to claim 1 , wherein the object at the first orientation adopts the second orientation by rotation.6. The method according to claim 1 , wherein the object at the first orientation adopts the second orientation by move axially.7. The method according to claim 1 , wherein the object carries a power supply.8. The method according to claim 1 , wherein the object does not carry an electrical power supply.9. The method according to claim 1 , wherein the magnetic field can move 360 degrees.10. The method according to claim 1 , wherein the position of the object at the first orientation is the same as the position of ...

CAPSULE ENDOSCOPE

The present invention discloses a capsule endoscope, which comprises an enclosure, and an imaging unit, a data processing unit and an antenna unit arranged in the enclosure. The enclosure comprises a cylindrical middle enclosure and two hemispherical covers connected to both ends of the middle enclosure, and the antenna unit is arranged close to the inner surface of the middle enclosure. The antenna unit is arranged close to the inner surface of the middle enclosure. Such arrangement can save internal space and improve the space utilization, and also, the arrangement of the antenna unit does not affect the layout of the imaging unit. 2. The capsule endoscope of claim 1 , wherein the antenna unit comprises a flexible substrate and an antenna disposed on the flexible substrate claim 1 , and the antenna surrounds and extends spirally along the axis of the middle enclosure.3. The capsule endoscope of claim 2 , wherein the antenna comprises a first end and a second end disposed opposite to each other claim 2 , wherein the first end and the second end are respectively disposed on two ends having a maximum distance on the flexible substrate.4. The capsule endoscope of claim 3 , wherein a straight line joining the first end and the second end of the antenna is parallel to the axial direction of the middle enclosure.5. The capsule endoscope of claim 3 , wherein when the antenna unit is in an expanded state claim 3 , the antenna is linearly arranged on the flexible substrate.6. The capsule endoscope of claim 2 , wherein a first junction zone and a second junction zone are formed between the middle enclosure and the two covers respectively claim 2 , and the flexible substrate comprises a first end portion and a second end portion disposed opposite to each other claim 2 , wherein the first end portion is disposed in the first junction zone claim 2 , and the second end portion is disposed in the second junction zone.7. The capsule endoscope of claim 6 , wherein the flexible ...

SYSTEM FOR CAPSULE ENDOSCOPE HAVING A DIAGNOSTIC IMAGING MEANS AND METHOD OF USING THE SAME

The present invention discloses an ingestible endoscopy capsule including a permanent magnetic dipole, and an external positioning and orientation system to position and/or orientate the capsule in a target area including at least one magnet for positioning and/or orientating the endoscopy capsule within a patient, and one diagnostic imaging means. 1. An endoscopic imaging apparatus , comprising:an ingestible endoscopy capsule comprisinga permanent magnetic dipole and having a cylindrical housing and a hemi one hemi-spherical end or truncated hemi-spherical end, wherein the capsule length is in parallel to the direction of the magnetic dipole;a first light source for photography or video; 'to position and orientate the capsule in a target area including at least one magnet for positioning and orientating the endoscopy capsule within a patient, and', 'an external positioning and orientation system'} 'which is oblique back illumination microscopy (OBM) included in the capsule, configured to perform an imaging having a depth resolution of 1-30 um and comprises a second light source,', 'one diagnostic imaging means,'}wherein the diagnostic imaging means comprises an optical conduit to communicate light in at least one direction selected from toward the sample and away from the sample.25-. (canceled)69-. (canceled)109. The endoscopic imaging apparatus of claim , wherein the truncated hemi-spherical end has a non-transparent surface to prevent the stray light from the light source.11. The endoscopic imaging apparatus of claim 1 , wherein the capsule is less than 30 mm in a first dimension.12. The endoscopic imaging apparatus of claim 1 , wherein the capsule is less than 10 mm in a second dimension.13. The endoscopic imaging apparatus of claim 1 , wherein the capsule weighs greater than 3 g.14. (canceled)15. The endoscopic imaging apparatus of claim 1 , wherein the capsule further comprises a three-dimension magnetic sensor.16. The endoscopic imaging apparatus of claim 1 , ...

SYSTEM AND METHOD FOR ORIENTATION AND MOVEMENT OF REMOTE OBJECTS

The disclosed invention provides apparatus, systems, and methods for orientating an object in an enclosed area using a magnetic dipole deployed in the enclosed area and thereafter applying an external rotating magnetic field for applying a rotational force to the dipole along one or more selected axis. The external magnetic field is moved to manipulate object in the desired direction(s) of movement. 1. A system for moving an object in an enclosed area comprising: a front end always positioned in the movement direction of the object;', 'a back end, disposed opposite to the front end of the object;', 'a geometric center is defined as a center point between the back end and front end;', 'a magnetic dipole placed inside the object, having a magnetization direction along a length of the object;', 'a weight center which is closer to the back end of the object than to the front end of the object; and', 'a stick surface configured to enhance adhesion between the object and a target surface of the enclosed area using van der Walls force,, 'an object, comprising'}an external magnet configured for generating a rotating magnetic field for applying rotational force to the object and for the object to attach and/or release from the surface; anda control mechanism for moving the external magnet to manipulate the object along a variable axis in a desired direction of movement.2. The system according to wherein the object is configured for placement in vivo.3. The system according to wherein an image sensor is position closer to the front end of the object than to the back end of the object.4. The system according to wherein the stick surface covers the back end of the object.5. The system according to wherein the stick surface wraps around the object like a belt.6. The system according to wherein the stick surface comprises nanostructures.7. The system according to wherein the stick surface having a plurality of surface protrusions.8. The system according to wherein the stick ...

Systems and methods for collecting and screening of pancreatic secretions

Disclosed here are systems and methods for collecting and/or screening of a pancreatic secretion, using a capsule endoscope comprising an imaging system and a trypsin sensor, and a tether coupled to the capsule endoscope.

一种温度可视化热泵水箱

本实用新型涉及热泵水箱领域，具体涉及一种温度可视化热泵水箱，包括水箱和设置在水箱前侧的玻璃面板，水箱上设有能够反应水箱内部温度的热源，玻璃面板上对应热源的位置设有感光区域，感光区域上涂覆有感温油墨，感温油墨能够随其感应的温度变化而呈现不同颜色；设置有感光区域以及涂覆在感光区域上的感温油墨，由于感温油墨能够随其感应的温度变化而呈现不同颜色，用户能够直接根据玻璃面板感光区域的颜色不同，看出水箱热水温度变化，从而可以了解到水箱内热水水温变化，进行采暖及热水使用，体验感强。

Uređaj za upravljanje kretanjem endoskopske kapsule u ljudskom probavnom sustavu

Naprava za krmiljenje gibanja kapsuliranega endoskopa v človeškem prebavnem traktu

Prietaisas, skirtas kontroliuoti kapsulinio endoskopo judėjimą žmogaus virškinamajame trakte

Indretning til styring af et kapselendoskops bevægelse i en human fordøjelseskanal

Systems and methods for collecting and screening of pancreatic secretions

Disclosed here are systems and methods for collecting and/or screening of a pancreatic secretion, using a capsule endoscope comprising an imaging system and a trypsin sensor, and a tether coupled to the capsule endoscope.

Apparatus and method for controlling movement of a capsule endoscope in digestive tract of a human body

A system for controlling movement of a capsule endoscope in a human GI track is disclosed. The system comprises a magnetic dipole for placement in human GI track, an external magnet in a sphere shape generating dipole magnetic field and applying external translational and or rotational magnetic field force to the capsule endoscope, and a control system for moving the external magnet to manipulate the object along the variable axis in a desired direction of movement.