SYSTEM AND METHOD FOR AUTOMATIC NAVIGATION OF A CAPSULE BASED ON IMAGE STREAM CAPTURED IN-VIVO
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Abstract
A system and method for automatically navigating an in vivo imaging capsule in a body lumen. The system comprises an imaging capsule including an imager, optional pressure sensor for producing data of forces acting on the imaging capsule in vivo, and a transmitter to transmit image, positioning and pressure data from the capsule to an external unit. A positioning system for providing current position data of the capsule in vivo may be included in the capsule and/or external to it. External magnets may generate a magnetic field to scan a body lumen by causing a predetermined motion pattern of the imaging capsule within a region proximate to its current position, and generate a driving force to propel the imaging capsule according to a calculated target direction vector. A processor may calculate a target direction vector for propelling the imaging capsule based, on unique patterns identifiable in one or more images.
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Citations
34 Claims
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1-14. -14. (canceled)
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15. A method for automatic generation of a model of an organ, the organ imaged by an in vivo imaging device, the method comprising:
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generating an initial organ model, the initial organ model based on a predetermined estimated structure of the imaged organ; receiving, from an input device, an indication of an image captured while the in vivo imaging device images a first point of interest identified in the imaged organ; determining a position and orientation of the in vivo imaging device upon capturing the indicated image of the first point of interest; updating the initial model to a customized model, by setting a first location in the customized model, said first location corresponding to the position of the first point of interest in vivo. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33)
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29. A system for automatic generation of a model of an organ, the system comprising:
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a processor to receive images of an organ captured from an in vivo imaging device and input from an input device accepting an indication of an image captured while the in vivo imaging device images a first point of interest identified in the imaged organ, the processor configured to; generate an initial organ model, the initial organ model based on a predetermined estimated structure of the imaged organ; receive the indication of an image captured while the in vivo imaging device images a first point of interest identified in the imaged organ; determine a position and orientation of the in vivo imaging device upon capturing the indicated image of the first point of interest; and update the initial model to a customized model, by setting a first location in the customized model, said first location corresponding to the position of the first point of interest in vivo; and a storage unit to store images captured from the in vivo imaging device.
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34. A method for automatic generation of a model of an in vivo organ, the organ imaged by an in vivo imaging device, the method comprising:
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generating an initial organ model, the initial organ model generated as a hollow geometric shell that represents an inner surface of the imaged organ; receiving, from an input device, an indication of an image captured while the in vivo imaging device images a first point of interest identified in the imaged organ; determining a position of the in vivo imaging device upon capturing the indicated image of the first point of interest; and updating the initial model to a customized model, by updating the size of the customized model based on the determined position of the in vivo imaging device upon capturing the indicated image of the first point of interest.
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Specification