Method and system for determining a device movement irrespective of movement of a reference frame

• US 9,949,666 B2
• Filed: 02/06/2014
• Issued: 04/24/2018
• Est. Priority Date: 02/08/2013
• Status: Active Grant

• Current Assignee: Given Imaging Limited (Medtronic Plc)
• Original Assignee: Given Imaging Limited (Medtronic Plc)
• Inventors: Rosenberg, Oren, Khait, Semion
• Primary Examiner(s): Natnithithadha, Navin
• Application Number:
  US14/761,320
• Publication Number:
  US 20150335264A1
• Time in Patent Office: 1,538 Days
• Field of Search: 600302, 600101, 600109, 600118, 600160, 600593, 600921
• CPC Class Codes: A61B 1/00006 of control signals
• CPC Class Codes: A61B 1/0002 provided with data storages
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/045 Control thereof
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 2562/166 the sensor is mounted on a specially adapted printed circuit board
• CPC Class Codes: A61B 2562/227 Sensors with electrical connectors
• CPC Class Codes: A61B 5/067 using accelerometers or gyroscopes
• CPC Class Codes: A61B 5/073 Intestinal transmitters
• CPC Class Codes: A61B 5/1107 Measuring contraction of parts of the body, e.g. organ, muscle apparatus for measuring work or force in general G01L
• CPC Class Codes: A61B 5/1123 Discriminating type of movement, e.g. walking or running A61B5/1116, A61B5/112 take precedence
• CPC Class Codes: A61B 5/7282 Event detection, e.g. detecting unique waveforms indicative of a medical condition A61B5/4094, A61B5/4818, A61B5/349, A61B5/0823 take precedence
• CPC Class Codes: A61B 5/7475 User input or interface means, e.g. keyboard, pointing device, joystick

Abstract

A swallowable in-vivo device contains a movement detection unit that includes a movement sensing unit, a frequency analyzing unit (FAU) and a time analyzing unit (TAU). The movement sensing unit senses movements of the in-vivo device relative to a non-stationary three-dimensional reference frame, and outputs a movement signal. The frequency analyzing unit may analyze the movement signal spectrally to detect a potential command-invoking movement, and the time analyzing unit may analyze the potential CIM temporally, possibly in conjunction with a series of other movement events, to determine whether the potential CIM is a genuine CIM. If the potential CIM is determined to be a genuine CIM, the in-vivo device may execute a predetermined command associated with the CIM. Otherwise, the in-vivo device may refrain from executing a CIM-related command. A PCB including the movement detection unit and a processor for processing their output is provided for the vivo sensing device.

Claims

1. A method for executing a command by a swallowable in-vivo device configured to move relative to a non-stationary three-dimensional reference frame and comprising a movement sensor, the method comprising:

spectrally analyzing, using a controller, a movement signal outputted from the movement sensor vis-a-vis fiducial command-invoking movements to detect one or more potential command-invoking movements, wherein each command-invoking movement is associated with a command;

temporally analyzing, using the controller, a particular one of the one or more potential command-invoking movements vis-a-vis one or more interference movements to classify the particular potential command-invoking movement as a command-invoking movement or as an interference movement;

if the particular potential command-invoking movement is classified as a command-invoking movement, executing, using the controller, a command associated with the command-invoking movement; and

if the particular potential command-invoking movement is classified as an interference movement, refraining from executing, using the controller, any command that is associated with any command-invoking movement.

2. The method as in claim 1, comprising filtering out an interference movement from the movement signal prior to the spectral analysis of the movement signal.

3. The method as in claim 2, wherein filtering out the interference movement from the movement signal comprises analyzing the movement signal spectrally, or temporally, or both spectrally and temporally vis-a-vis spectral characteristics, or temporal characteristics, or both spectral and temporal characteristics of the interference movement.

4. The method as in claim 2, wherein filtering out the interference movement from the movement signal comprises any of:

(i) analyzing the movement signal spectrally and then temporally, or temporally and then spectrally, using the pertinent spectral and temporal characteristics;

(ii) using information indicative of a location, or an orientation, or both a location and an orientation of the in-vivo device; and

(iii) analyzing the movement signal by iteratively performing spectral analysis and temporal analysis.

5. The method as in claim 1, wherein classifying a potential command invoking movement as a command-invoking movement or as an interference movement depends on a location, or orientation, or both location and orientation of the in-vivo device relative to the non-stationary three-dimensional reference frame.

6. The method as in claim 1, wherein determining whether the particular potential command-invoking movement is a command-invoking movement comprises analyzing the movement signal spectrally and then temporally, or temporally and then spectrally.

7. The method as in claim 1, wherein determining whether the particular potential command-invoking movement is a command-invoking movement comprises analyzing the movement signal by iteratively performing spectral analysis and temporal analysis.

8. The method as in claim 1, wherein the non-stationary three-dimensional reference frame is the gastrointestinal tract or a portion thereof containing the in-vivo device.

9. The method as in claim 1, wherein a command associated with a command-invoking movement is selected from the group consisting of:

command to change an image capturing rate of a camera of the in-vivo device, a command to change an operation mode or state of the in-vivo device and a command to transmit a message to a receiver external to the in-vivo device.

10. The method as in claim 1, wherein command-invoking movement is selected from a group consisting of:

movement due to contraction of the small bowel, movement due to contraction of the colon, movement due to contraction of the stomach, and movement due to intestine constipation, wherein an interference movement is a movement selected from a group consisting of;

movement due to human body gestures, movement due to human walking/running, movement due to respiration, movement due to coughing, movement due to finger tapping, and movement due to heart beating.

11. The method as in claim 1, wherein the movement signal comprises three movement signals corresponding to movement in three directions.

12. The method as in claim 11, comprising analyzing the three movement signals to detect a command-invoking movement when the in-vivo device is in the stomach, and analyzing one movement signal to detect a command-invoking movement when the in-vivo device is in the small bowel.

13. A method for executing a command by a swallowable in-vivo device configured to move to a non-stationary three-dimensional reference frame and comprising a movement sensor, the method comprising:

spectrally analyzing, using a controller, a movement signal outputted from the movement sensor vis-a-vis fiducial command-invoking movements to detect a potential command-invoking movement associated with a command;

temporally analyzing, using the controller, the potential command-invoking movements vis-a-vis interference movements to classify the particular potential command-invoking movement as a command-invoking movement or as an interference movement; and

executing the command, using the controller, if the potential command-invoking movement is classified as the command-invoking movement, and refraining from executing the command, using the controller, if the potential command-invoking movement is classified as the interference movement.

14. A swallowable in-vivo device comprising:

a memory device to store (i) spectral characteristics and temporal characteristics of fiducial command-invoking movements respectively representing device movements invoking commands, and (ii) spectral characteristics and temporal characteristics of interference movements;

a movement sensor to output a movement signal representing movement of the in-vivo device; and

a controller configured to,

(i) spectrally analyze the movement signal vis-a-vis fiducial command-invoking movements to detect one or more potential command-invoking movements, with each command-invoking movement is associated a command;

(ii) temporally analyze a particular one of the one or more potential command-invoking movements vis-a-vis one or more interference movements to determine whether the particular potential command-invoking movement is a command-invoking movement or an interference movement; and

(iii) execute a command associated with the command-invoking movement or refrain from executing any command-invoking movement related command based on the results of the spectral analysis and temporal analysis.

15. The swallowable in-vivo device as in claim 14, wherein the movement sensor comprises a sensor selected from a group consisting of accelerometer, magnetometer and gyroscope.

16. The swallowable in-vivo device as in claim 14, further comprising a matched filters array module configured to detect a command-invoking movement from the movement signal relative to a non-stationary three-dimensional reference frame.

17. The swallowable in-vivo device as in claim 16, wherein the matched filters array module comprises a band pass filter for each command-invoking movement or for a group of command-invoking movements.

18. The swallowable in-vivo device as in claim 14, wherein the movement sensor comprises an accelerometer whose sensing direction coincides with a longitudinal axis of the in-vivo device.