Real-time pose and magnetic force detection for wireless magnetic capsule
First Claim
1. A method of determining an orientation and position of a capsule inserted into a body of a patient, the method including:
- applying a magnetic field to an area of the patient where the capsule is located, wherein the magnetic field is applied by an external permanent magnet coupled to a distal end of a robotic arm;
causing movement of the capsule by manipulating the robotic arm to change a pose of the external permanent magnet, wherein the capsule includes an internal permanent magnet that is attracted to the external permanent magnet of the robotic arm and moves in response to an applied magnetic force and/or torque from the external permanent magnet;
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;
determining an orientation angle of the external permanent magnet based on a controlled pose of the robotic arm;
generating an interpolated magnetic field map by performing a rigid transformation of a precompiled magnetic field matrix to align the precompiled magnetic field matrix with the capsule based on the determined orientation angle of the capsule and the determined orientation angle of the external permanent magnet, wherein the precompiled magnetic field matrix indicates a magnetic field applied by the external permanent magnet at each of a plurality of locations relative to the external permanent magnet;
comparing the magnetic field data to the interpolated magnetic field map; and
determining a location of the capsule based on the comparison of the magnetic field data and the interpolated magnetic field map.
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Accused Products
Abstract
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.
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Citations
14 Claims
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1. A method of determining an orientation and position of a capsule inserted into a body of a patient, the method including:
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applying a magnetic field to an area of the patient where the capsule is located, wherein the magnetic field is applied by an external permanent magnet coupled to a distal end of a robotic arm; causing movement of the capsule by manipulating the robotic arm to change a pose of the external permanent magnet, wherein the capsule includes an internal permanent magnet that is attracted to the external permanent magnet of the robotic arm and moves in response to an applied magnetic force and/or torque from the external permanent magnet; 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; determining an orientation angle of the external permanent magnet based on a controlled pose of the robotic arm; generating an interpolated magnetic field map by performing a rigid transformation of a precompiled magnetic field matrix to align the precompiled magnetic field matrix with the capsule based on the determined orientation angle of the capsule and the determined orientation angle of the external permanent magnet, wherein the precompiled magnetic field matrix indicates a magnetic field applied by the external permanent magnet at each of a plurality of locations relative to the external permanent magnet; comparing the magnetic field data to the interpolated magnetic field map; and determining a location of the capsule based on the comparison of the magnetic field data and the interpolated magnetic field map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A capsule position-determining system for determining an orientation and position of a capsule inserted into a body of a patient, the capsule position-determining system comprising:
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an inertial sensor mounted on the capsule, the capsule being insertable into a body cavity of the patient; an internal permanent magnet mounted to the capsule; at least one magnetic field sensor mounted on the capsule, the at least one magnetic field sensor configured to detect a magnetic field applied to the body of the patient by an external permanent magnet; a wireless transmitter mounted inside the capsule; and a controllable robotic arm, the external permanent magnet mounted on a distal end of the robotic arm; and a controller configured to cause movement of the capsule by manipulating the robotic arm to change a pose of the external permanent magnet, wherein the internal permanent magnet is attracted to the external permanent magnet and the capsule moves in response to an applied magnetic force and/or torque from the external permanent magnet, receive sensor data from the capsule, the sensor data including an output of the at least one magnetic field sensor and an output of the inertial sensor, determine an orientation angle of the capsule based at least in part on the output of the inertial sensor, determine an orientation angle of the external permanent magnet based on a controlled pose of the robotic arm, generate an interpolated magnetic field map by performing a rigid transformation of a precompiled magnetic field matrix to align the precompiled magnetic field matrix with the capsule based on the determined orientation angle of the capsule and the determined orientation angle of the external permanent magnet, wherein the precompiled magnetic field matrix indicates a magnetic field applied by the external permanent magnet at each of a plurality of locations relative to the external permanent magnet, compare sensed magnetic field data based on the output of the at least one magnetic field sensor to the interpolated magnetic field map, and determine a location of the capsule based on the comparison of the sensed magnetic field data and the interpolated magnetic field map. - View Dependent Claims (11, 12, 13, 14)
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Specification