System and methods for locating relative positions of multiple patient antennas

• US 9,131,842 B2
• Filed: 08/16/2013
• Issued: 09/15/2015
• Est. Priority Date: 08/16/2012
• Status: Active Grant

• Current Assignee: Rock West Medical Devices, LLC
• Original Assignee: Rock West Solutions, Inc.
• Inventors: Old, Thomas Eugene, Baker, John Christopher, Carron, Neal J., Pritchett, Donald Gordon
• Primary Examiner(s): Kahelin, Michael
• Assistant Examiner(s): Alter, Mitchell E
• Application Number:
  US13/969,423
• Publication Number:
  US 20140051949A1
• Time in Patent Office: 760 Days
• Field of Search: 600/424, 600/428
• US Class Current: 1/1
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 5/0002 Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network A61B5/07 takes precedence; transmission systems for measured values G08C; transmission H04B; transmission of digital information H04L; wireless communication networks H04W
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/073 Intestinal transmitters
• CPC Class Codes: G01S 11/06 using intensity measurements
• CPC Class Codes: G01S 5/0289 of multiple transceivers, e.g. in ad hoc networks
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering

Abstract

Systems and methods described herein use near field communications to locate a set of antennas attached to, coupled with, or near the patient. A signal emitted by an antenna in the set of antennas can be received by the other antennas in the set. A second signal can be further transmitted from another antenna in the set. The differential phase and/or time shifts between the antennas from the multiple signal transmissions can contain sufficient information to find the locations of the antennas in antenna centric coordinates. The antenna locations can then be used to find a location of a pill transmitter swallowed by the patient.

Claims

1. A method of locating a plurality of antennas positioned about a body of a patient, the method comprising:

determining first relative locations of antennas coupled with a patient, said determining first locations comprising;

generating a first transmit signal for transmission from any of a plurality of antennas, the plurality of antennas positioned about a body of a patient;

providing the first transmit signal to at least two of the plurality of antennas to cause at least the two of the antennas to transmit the first transmit signal;

receiving a set of first receive signals from the antennas, the first receive signals responsive to the first transmit signal;

determining first phase shifts among the first receive signals;

adjusting the first phase shifts to produce adjusted first phase shifts based at least in part on first mutual inductance between at least two of the antennas to account at least partly for the second order coupling effects between at least some of the antennas;

determining initial estimates of first relative locations of the antennas based at least in part on linear processing of the adjusted first phase shifts; and

refining the initial estimates of first relative locations of the antennas by applying nonlinear processing to the initial linear estimates of first relative locations to produce nonlinear estimates of first relative locations of the antennas;

determining second relative locations of the antennas coupled with the patient to account for movement of the antennas due to movement of the patient, said determining second locations comprising;

generating a second transmit signal for transmission from any of the plurality of antennas;

providing the second transmit signal to at least two of the plurality of antennas to cause at least the two of the antennas to transmit the second transmit signal;

receiving a set of second receive signals from the antennas, the second receive signals responsive to the second transmit signal;

determining second phase shifts among the second receive signals;

adjusting the second phase shifts to produce adjusted second phase shifts based at least in part on second mutual inductance between at least two of the antennas to account at least partly for the second order coupling effects between at least two of the antennas;

determining initial estimates of second relative locations of the antennas based at least in part on linear processing of the adjusted second phase shifts; and

refining the initial estimates of second relative locations of the antennas by applying nonlinear processing to the initial linear estimates of second relative locations to produce nonlinear estimates of the second relative locations, the second relative locations of the antennas different from the first relative locations of the antennas;

using the nonlinear estimates of the first and second relative locations of the antennas to calculate first and second respective positions of a pill transmitter swallowed by the patient;

outputting the first and second positions of the pill transmitter for presentation to a clinician on a display; and

wherein at least said estimating relative locations of the antennas is performed by processing electronics.

2. The method of claim 1, wherein said estimating the first and the second relative locations of the antennas comprises performing multilateration.

3. The method of claim 1, further comprising revising the second estimated relative locations of the antennas to account for movement of the patient.

4. The method of claim 1, further comprising mapping the estimated the first and the second relative locations of antennas to body coordinates.

5. The method of claim 4, wherein said using the estimated first and second relative locations of the antennas to calculate the position of the pill transmitter further comprises calculating the position of the pill transmitter relative to the body coordinates.

6. A system for locating a plurality of antennas positioned about a body of a patient, the system comprising:

an array of antennas configured to be positioned about a body of a patient; and

processing electronics configured to;

generate a transmit signal for transmission from the array of antennas,

provide the transmit signal to a first antenna of the array of antennas to cause the first antenna to transmit the transmit signal;

receive a set of receive signals from second antennas of the array of antennas, the receive signals responsive to the transmit signal;

determine phase shifts among the receive signals;

adjust the phase shifts to produce adjusted first phase shifts based at least in part on mutual inductance between at least two of the antennas to account at least partly for the second order coupling effects between at least some of the antennas;

apply linear processing on the adjusted phase shifts to generate first estimates of relative locations of the antennas;

refine the first estimates by applying nonlinear processing to the first estimates to generate second estimates of relative locations of the antennas; and

use the second estimated relative locations of the antennas to calculate a position of a pill transmitter swallowed by the patient.

7. The system of claim 6, wherein the processing electronics are further configured to estimate the relative locations of the antennas based on an analysis of time differences of arrival in the receive signals.

8. The system of claim 6, wherein the processing electronics are further configured to estimate the relative locations of the antennas based on an analysis of amplitude shifts in the receive signals.

9. The system of claim 6, wherein the array of antennas is configured to comprise a first set of antennas positioned about a front side of the patient and a second set of antennas positioned about a back side of the patient to facilitate three dimensional tracking of the pill transmitter.

10. The system of claim 6, wherein the antennas are positioned in one or more of the following locations:

an article of clothing, a bed sheet, a bed, a bed frame, or adhered to the patient'"'"'s skin.

11. The system of claim 6, wherein the processing electronics comprise a microprocessor.

12. The system of claim 6, wherein the processing electronics comprise a field programmable gate array (FPGA).

13. An apparatus for locating a plurality of antennas positioned about a body of a patient, the apparatus comprising:

processing electronics configured to dynamically calculate positions of antennas located about a body of a patient to account for movement of the body of the patient, the processing electronics operative to;

provide a first transmit signal to the antennas at a first time;

receive first receive signals from the antennas, the first receive signals responsive to the first transmit signal;

determine first mutual inductance between at least two of the antennas;

estimate first relative locations of the antennas based at least in part on linear processing of the first mutual inductance;

refine the first relative locations of the antennas by applying a nonlinear process to the first relative locations to produce non-linear estimates of the first relative locations of the antennas;

provide a second transmit signal to the antennas at a second time subsequent to the first time;

receive second receive signals from the antennas;

determine second mutual inductance between at least two of the antennas;

estimate second relative locations of the antennas based at least in part on a linear processing of the second mutual inductance, the second relative locations different from the first relative locations;

refine the second relative locations of the antennas by applying nonlinear processing to the second relative locations to produce nonlinear estimates of the second relative locations of the antennas; and

a memory device configured to store data representing the first and second relative locations of the antennas.

14. The apparatus of claim 13, wherein the processing electronics are further configured to calculate a trajectory of a pill swallowed by the patient based on the data representing the first and second relative locations of the antennas.

15. The apparatus of claim 13, wherein the processing electronics are further configured to estimate the first relative locations of the antennas based on time difference of arrival information or phase shift information in the first receive signals.

16. The apparatus of claim 13, wherein the processing electronics are further configured to estimate the first relative locations of the antennas based on normal vectors associated with the antennas.

17. The apparatus of claim 13, wherein the processing electronics are further configured to provide the first transmit signal by cycling the providing of the first transmit signal through each of the antennas, and wherein the first receive signals comprise signals received responsive to said cycling.

18. The apparatus of claim 13, wherein the processing electronics comprise a microprocessor or field programmable gate array (FPGA).