Controlled image capturing method including position tracking and system used therein

• US 10,143,364 B2
• Filed: 07/23/2015
• Issued: 12/04/2018
• Est. Priority Date: 07/23/2015
• Status: Active Grant

• Current Assignee: Ankon Technologies Co.,Ltd
• Original Assignee: Ankon Technologies Co.,Ltd
• Inventors: Duan, Xiaodong, Wang, Xinhong, Xiao, Guohua
• Primary Examiner(s): Leubecker, John P
• Application Number:
  US14/807,681
• Publication Number:
  US 20170020374A1
• Time in Patent Office: 1,230 Days
• CPC Class Codes: A61B 1/00036 Means for power saving, e.g. sleeping mode
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging

Abstract

Controlling an image capturing process by tracking the positions of the capsule endoscope is described. The images are taken only when there is either new position and/or new orientation change of the capsule endoscope. The method described effectively decreases the total amount of images that a doctor needs to review, and improves the power consumption of the capsule endoscope examination process.

Claims

1. An examination method using a capsule endoscope, comprising

introducing the capsule endoscope into a target area by swallowing,

wherein the capsule endoscope comprises a camera;

providing an external location system, capable of sensing and tracking a position and orientation the capsule endoscope;

moving the capsule endoscope from a previous position P_i to a first position P_c, wherein when capsule endoscope has a previous orientation O_i at the previous position P_i, and has a first orientation O_c at the first position P_c;

calculating a distance D between P_c and P_i;

or/and

calculating a difference N between O_c and O_i;

obtaining a total picture count n, wherein n is an integer greater than zero;

comparing distance D for each position between position P_c to position P<sub>(n−

m)</sub> with a threshold value D_min, wherein 0<

m<

n; and

taking an image when D is greater than D_min for all previous P_n to P<sub>n−

m</sub> positions and

not to taking an image but update the picture count n to n+1 and returning to the step of calculating a distance D between P_c and P_i;

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, wherein

m is an integer between 2-120.

4. The method of claim 1, further comprises

calculating the difference N between O_c and O_i only when the distance D between P_c and P_i is less than or equal to D_min.

5. The method of claim 4, further comprises

taking an image if N is greater than N_min.

6. The method of claim 5, wherein N_min is about 15-50 degrees.

7. The method of claim 1, wherein

D_min is 0.4-1.2 cm.

8. The method of claim 7, wherein

D_min is about 0.5-0.7 cm.

9. The method of claim 7, wherein

D_min is about 0.6-0.7 cm.

10. The method of claim 1, further comprises

taking an image if N is greater than N_min.

11. The method of claim 10, wherein N_min is about 15-50 degrees.

12. The method of claim 11, wherein N_min is about 25-30 degrees.

13. The method of claim 10, wherein

N_min is about 20-35 degrees.

14. The method of claim 1, wherein the step of

determining if to take an image or not based on distance D or angle N, further comprises

taking an image when N is greater than N_min for all previous P_n−

P<sub>n−

m</sub> positions.

15. The method of claim 1, further comprising

assigning P_c=P_n+1, O_c=O_n+1 if an image has been taken or has been decided to be taken at P_c.

16. The method of claim 1, further comprising a step of

recording position information P_c and orientation information O_c when an image is taken and when an image is not taken.