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Real-time pose and magnetic force detection for wireless magnetic capsule

  • US 10,485,409 B2
  • Filed: 01/17/2014
  • Issued: 11/26/2019
  • Est. Priority Date: 01/17/2013
  • Status: Active Grant
First Claim
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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:

  • 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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