System and method for three dimensional display of body lumens

• US 20030045790A1
• Filed: 09/05/2002
• Published: 03/06/2003
• Est. Priority Date: 09/05/2001
• Status: Abandoned Application

• Current Assignee: Given Imaging Limited (Medtronic Plc)
• Original Assignee: Given Imaging Limited (Medtronic Plc)
• Inventors: Meron, Gavriel, Glukhovsky, Arkady, Lewkowicz, Shlomo, Levy, Daphna
• Application Number:
  US10/234,141
• Publication Number:
  US 20030045790A1
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/2736 Gastroscopes
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/073 Intestinal transmitters
• CPC Class Codes: A61B 5/14539 for measuring pH

Abstract

A method and system for positioning an in vivo device and for obtaining a three dimensional display of a body lumen include obtaining a plurality of in vivo images; generating position information corresponding to each in vivo image; and combining the plurality of in vivo images into a single image according to the position information.

Claims

1. An in vivo imaging system comprising:

at least one imaging device;

at least one position monitor;

a receiving unit configured for receiving position information from the position monitor; and

a processing unit for computing the position and orientation of the imaging device.

2. The system according to claim 1 wherein the receiving unit is capable of receiving image data from the imaging device.

3. The system according to claim 1 wherein the device obtains a plurality of in vivo images.

4. The system according to claim 3 wherein the receiving unit is capable of receiving position information that corresponds to each of the plurality of in vivo images obtained by the device.

5. The system according to claim 3 wherein the processing unit is capable of combining the plurality of in vivo images into a single image.

6. The system according to claim 5 wherein the single image is a mosaic image.

7. The system according to claim 3 wherein the processing unit is capable of combining the plurality of in vivo images in accordance with the position and orientation of the imaging device that corresponds to each of the plurality of images.

8. The system according to claim 1 wherein the position monitor comprises an external reference frame, said reference frame comprising transmitters at known positions, said transmitters configured for transmitting signals to the position monitor.

9. The system according to claim 1 wherein the position monitor comprises three elements configured for receiving electromagnetic signals transmitted from an external source.

10. The system according to claim 9 wherein the external source comprises a plurality of transmitters, said transmitter being at a fixed position in an external reference frame.

11. The system according to claim 1 wherein the system is wireless.

12. An autonomous in vivo imaging device comprising:

at least one image sensor;

at least one illumination source;

at least one transmitter configured for transmitting image signals to an external receiving unit; and

at least one position monitor configured for transmitting position data.

13. An autonomous in vivo sensing system comprising:

a sensing device;

a position monitor;

a receiving unit; and

a processing unit for computing the position and orientation of the sensing device.

14. The system according to claim 13 further comprising an external reference frame, said reference frame comprising transmitters at known positions configured for transmitting signals to the position monitor.

15. The system according to claim 13 wherein the sensing device is selected from a group consisting of a pH meter, a temperature sensing device and a pressure sensing device.

16. The system according to claim 13 wherein the sensing device is an image sensor.

17. A method for obtaining a three dimensional display of a body lumen, said method comprising the steps of:

obtaining a plurality of in vivo images;

generating position information corresponding to each in vivo image; and

combining the plurality of in vivo images into a single image according to the position information.

18. The method according to claim 17 wherein the step of combing the plurality of images is performed by computing local motion estimates between pairs of overlapping images or registration or gap closing or identification of overlapping portions of images or warping input images and aligning sets of overlapping images to construct a mosaic image.

19. The method according to claim 17 further comprising the step of transmitting the position information.

20. The method according to claim 17 wherein the step of obtaining a plurality of in vivo images is performed by an in vivo imaging device.

21. The method according to claim 19 further comprising the step of controlling the position of the imaging device.

22. The method according to claim 20 wherein the imaging device position is controlled in accordance with position information.

24. The method according to claim 22 further comprising the step of controlling position of the in vivo device.

23. A method for positioning an in vivo device, said method comprising the steps of:

generating position information of the in vivo device at any given time, said position information generated by a position monitor comprising three elements configured for receiving electromagnetic signals transmitted from an external source; and

computing the position and orientation of the in vivo device at any given time.

25. An autonomous in vivo sensing system comprising:

a sensing device;

a position monitor;

a receiving unit means for receiving information from the sensing device; and

a processing unit means for computing the position and orientation of the sensing device.

26. An autonomous in vivo imaging device comprising:

an image sensor;

an illumination source;

a transmitter means for transmitting image signals to an external receiving unit; and

a position monitor means for transmitting position data.

27. An in vivo imaging system comprising:

at least one imaging device;

at least one position monitor;

a receiving unit means for receiving position information from the position monitor; and

a processing unit means for computing the position and orientation of the imaging device.

28. An in vivo imaging system comprising:

at least one imaging device;

at least one position monitor;

a receiving unit configured for receiving position information from the position monitor; and

a processing unit capable of computing the position and orientation of the imaging device and capable of combining the plurality of in vivo images into a single image.

29. An in vivo imaging system comprising:

at least one imaging device;

at least one position monitor;

a receiving unit configured for receiving position information from the position monitor; and

a processing unit for computing the position and orientation of the imaging device;

wherein the processing unit is capable of combining a plurality of in vivo images in accordance with the position and orientation of the imaging device that corresponds to each of the plurality of images.

30. A method for obtaining a three dimensional display of a body lumen, said method comprising the steps of:

obtaining a plurality of in vivo images;

generating position information corresponding to each in vivo image; and

combining the plurality of in vivo images into a single image according to the position information;

wherein the step of combing the plurality of images is performed by computing local motion estimates between pairs of overlapping images or registration or gap closing or identification of overlapping portions of images or warping input images and aligning sets of overlapping images to construct a mosaic image.