as) United States
`a2) Patent Application Publication co) Pub. No.: US 2011/0125007 Al
` Steinberget al. (43) Pub. Date: May26, 2011
`
`
`
`US 20110125007A1
`
`(54) LOCALIZATION OF CAPSULE WITH A
`SYNTHETIC SOURCE OF QUADRUPOLES
`AND DIPOLES
`
`Publication Classification
`
`(51)
`
`Int. Cl
`e
`ip
`AGIB 5/05
`
`(2006.01)
`
`(76)
`
`Inventors:
`
`Ben Zion Steinberg, Kfar Saba
`(IL); Ido Bettesh, Zichron Ya’akov
`(IL)
`
`(21) Appl. No.:
`(22)
`PCTFiled:
`
`13/003,078
`Jul. 6, 2009
`
`(86) PCT No::
`
`PCT/IL09/00676
`
`§ 371 (¢)(1),
`Feb.3, 2011
`(2), (4) Date:
`Related U.S. Application Data
`
`(60) Provisional application No. 61/079,530, filed on Jul.
`10, 2008.
`
`(52) US. CD. eeccecccesscceecssescsseessneesssessesessneessneesans 600/424
`
`ABSTRACT
`(57)
`This invention relates to methods and apparatusfor localizing
`an in vivo imaging device by means of a single magnetic
`source coil assembly and a single magnetic detector coil
`assembly. This invention also relates to methods and appara-
`tus to enable the use ofa single magnetic source coil assembly
`to also transmit and receive information, images, and controls
`signals, as well as for the coil assembly to be used in DC-DC
`voltage conversion. A user interface with a display provides
`the user with the option of viewing selected images captured
`by the in vivo imaging device.
`
`
`
` DC-DC
`CONVERTER
`
`149
`
`CAPSULE
`
`ILLUMINATION
`DEVICE
`
`
`142
`
`
`ANALOG ©
`
`PROCESSOR
`147
`SWITCH
`
`
`148
`
`
`IMAGER
`
`AID
`
`
`146
`CONVERTER
`
`
`
`144
`
`
`
`
`OPTICAL SYSTEM
`450
`
`IMAGING SYSTEM
`100
`
`
`
`
`
`
`
`
`MAGNETIC
`
`
`TRANSCEIVER/
`RADIATOR
`
`SOURCE COILS
`RECORDER
`
`
`
`41
`112
`
`
`
`
`
`
`MAGNETIC
`DATA
`
`
`MONITOR
`LOCATOR
`PROCESSOR
`
`
`418
`
`
`
`116
`114
`
` 1 WORKSTATION
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 001
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`Page 001
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`

`

`Patent Application Publication May 26,2011 Sheet 1 of 17
`
`US 2011/0125007 Al
`
`
`
`
`DC-DC
`POWER
`
`CONVERTER
`
`
`SOURCE
`4149
`
`
`
`
`145
`CAPSULE
`
`ILLUMINATION
`
`
`DEVICE
`142
`
`
`
`
`ANALOG |
`
`
`PROCESSOR
`
`SWITCH
`
`447
`141.
`
`
`148
`
`
`OPTICAL SYSTEM
`150
`
`
`
`
`
`A/D
`
`
`
`CONVERTER
`144
`
`
`
`
`
`
`IMAGER
`146
`
`IMAGING SYSTEM
`100
`
`tyA
`
`%
`
`
`
`TRANSCEIVER/
`RECORDER
`112
`
`
`
`
`
`
`RADIATOR
`SOURCE COILS
`441
`
` MAGNETIC
`
`
`
`
`
`
`
`
` DATA
`
`
`
`PROCESSOR
`
`414
`
`
`MAGNETIC
`LOCATOR
`116
`
`MONITOR
`418
`
`
`
`11
`Ale
`WORKSTATION
`
`
`Figure L
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 002
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`Momentum Dynamics Corporation
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`Page 002
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`

`

`Patent Application Publication May 26,2011 Sheet 2 of 17
`
`US 2011/0125007 Al
`
`Observation
`
`point Quadrupole
`
`
`center (origin)
`
`Fig. 2B
`
`Fig. 2C
`
`Momentum Dynamics Corporation
`Exhibit 1014
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`Momentum Dynamics Corporation
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`Page 003
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`

`

`Patent Application Publication May 26,2011 Sheet 3 of 17
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`US 2011/0125007 Al
`
`‘86
`
`d
`
`Fig. 3A
`
`Q,, if in opposite phase
`
`if excited in phase
`
`m,,
`
`Fig. 3C
`
`Momentum Dynamics Corporation
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`Page 004
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`Momentum Dynamics Corporation
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`Page 004
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`

`

`Patent Application Publication May 26,2011 Sheet 4 of 17
`
`US 2011/0125007 Al
`
`Siener
`0 eea
`iUnainoy, ee
`° ateerrLee ats)
`;
`
`ee TYNIDee
`
`
`
`
`,
`-10
`
`-20
`100
`
`100
`
`y [om]
`
`0
`
`0
`
`x [om]
`
`Fig.4
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 005
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`Momentum Dynamics Corporation
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`Page 005
`
`

`

`Patent Application Publication May 26,2011 Sheet 5 of 17
`
`US 2011/0125007 Al
`
`100
`
`x [cm]
`
`Momentum Dynamics Corporation
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`Momentum Dynamics Corporation
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`Page 006
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`

`

`Patent Application Publication May 26,2011 Sheet 6 of 17
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`US 2011/0125007 Al
`
`100
`
`y [cm]
`
`x [om]
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 007
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`Momentum Dynamics Corporation
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`Page 007
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`

`

`Patent Application Publication May 26,2011 Sheet 7 of 17
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`US 2011/0125007 Al
`
`100
`
`y [cm]
`
`0 0
`
`Fig./
`
`Momentum Dynamics Corporation
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`Momentum Dynamics Corporation
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`

`

`Patent Application Publication May 26,2011 Sheet 8 of 17
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`US 2011/0125007 Al
`
`100
`
`-20
`100
`
`y [cm]
`
`00
`
`x [em]
`
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`

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`Patent Application Publication May 26,2011 Sheet 9 of 17
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`US 2011/0125007 Al
`
`Average ferror|/1cm
`
`i
`
`=54
`44
`
`Low frame raie
`
`High frame rate
`
`Numberofiterations
`
`Fig.9
`
`Momentum Dynamics Corporation
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`Page 010
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`Momentum Dynamics Corporation
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`

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`Patent Application Publication May 26,2011 Sheet100f17
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`US 2011/0125007 Al
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`
`
`50
`
`400
`
`200
`450
`Frame #
`
`250
`
`300
`
`350
`
`Fig.10
`
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`Patent Application Publication May 26,2011 Sheet11o0f17
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`US 2011/0125007 Al
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`O=1 e-8
`
`100
`
`Fig.11
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`Patent Application Publication May 26,2011 Sheet 120f17
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`US 2011/0125007 Al
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`0,=4e-8
`
`100
`
`-10
`
`-20
`100
`
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`Patent Application Publication May 26,2011 Sheet130f17
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`US 2011/0125007 Al
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`6,=6e-8
`
`100
`
`-10
`
`-20
`100
`
`y [cm]
`
`09
`
`x [cm]
`
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`Patent Application Publication May 26,2011 Sheet140f17
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`US 2011/0125007 Al
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`o,=fe-8
`
`100
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`

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`Patent Application Publication May 26,2011 Sheet 150f17
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`US 2011/0125007 Al
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`Reconstruction quality under noise
`
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`Patent Application Publication May 26,2011 Sheet 160f17
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`US 2011/0125007 Al
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`
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`Patent Application Publication May 26,2011 Sheet170f17
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`US 2011/0125007 Al
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`

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`US 2011/0125007 Al
`
`May 26, 2011
`
`LOCALIZATION OF CAPSULE WITH A
`SYNTHETIC SOURCE OF QUADRUPOLES
`AND DIPOLES
`
`FIELD OF INVENTION
`
`[0001] The present invention relates to an in vivo device
`and method such as for imaging an in vivo lumen. More
`specifically, the present invention relates to a method and
`apparatus for an in vivo system for localizing an autonomous
`in Vivo imaging device.
`
`BACKGROUND OF THE INVENTION
`
`[0002] Known devices maybehelpful in providing in vivo
`sensing, such as imaging or pH sensing. Autonomousin vivo
`sensing devices, such as swallowable or ingestible capsules or
`other devices may move through a body lumen, sensing as
`they move along. An autonomousin vivo sensing device such
`as an imaging device may include, for example, an imager for
`obtaining images from inside a body cavity or lumen,such as
`the gastrointestinal (GI)tract while the in vivo imaging device
`passes through the GI lumen. The imager may, for example,
`be associated with an optical system, and optionally a trans-
`mitter and an antenna. Someof these devices use a wireless
`connection to transmit image data. Other devices, systems,
`and methodsfor in vivo sensing ofpassagesor cavities within
`a body,and for sensing and gathering information(e.g., image
`information, pH information, temperature information,elec-
`trical impedance information, pressure information, etc.), are
`knownin theart.
`
`Since it is important not only to obtain imagesof the
`[0003]
`in vivo lumen,such as those of the GItract, but also to know
`wherethese images were takento be able to provide effective
`treatment, an accurate localization of the imaging device
`becomes an important task. A precise presentation of the
`localization of the imaging device, such as a swallowable
`capsule, would enable the operator of the apparatus to accu-
`rately determine where the in vivo the capsule was located
`when the image was captured.
`[0004] Localization ofan item ina three dimensional(3-D)
`space has been addressed by various methods andsolutions.
`Typically, the larger the entity that needs to be localized, the
`closer the item to the localizing system, and the stronger the
`source of energy used for the localization, the easier the
`solution for localization. Localization of an entity in a 3-D
`space may, typically, return a set of three coordinates, for
`example X, Y, and Z parameters in a Cartesian system, and a
`set of three orientation parameters, indicating the orientation
`of the item with respect to a reference frame.
`[0005] Various methods and systemsfor localization based
`on an elect [text missing or illegible when filedJare
`known. Magnetic localization methods are based on the use
`of a magnetic source that can generate a set of prescribed
`magnetic field patterns in a given domain in space, and a
`magnetic sensor designed to “read” the magnetic field. Tra-
`ditionally, the magnetic source consists of three orthogonal
`magnetic dipoles (current loops, or source coils) that can be
`excited independently by time-varying currents of frequency
`«. The sensor consists of three orthogonal coils. The voltage
`excited across the terminal of a single sensor coil is propor-
`tional to wH-fi, where H is the magnetic field, and n is a unit
`vector normalto the coil plane. Therefore, the three orthogo-
`nal sensor coils can be used to determine the local magnetic
`field, ie. its strength and its direction relative to the sensor
`coordinate system (for example,
`the coordinate system
`defined by the three orthogonal sensorcoils). The local mag-
`
`netic fields for three linearly independent excitations (the
`source orthogonal dipoles) provide sufficient information to
`determine the sensor location. Thisis the principle of opera-
`tion in traditional magnetic localization systems. However, in
`many applications the physical space and/or electronic
`resourcesthat can be allocated for a source and/or a sensor are
`extremely limited. In such cases, a magnetic localization
`system utilizing a single-coil source and/or sensor may be of
`importance. Oneoption is to use more than oneset of dipole
`sources and/or sensors; say N sources and/or N sensors, each
`with its own distinct location r,, n=1,...N-1 and orientation
`V,. n=1,...N-1 relative to the pre-defined “main” source
`and/or sensor, conveniently situated at r,=0. If the relative
`locations and orientations of these N distinct sensors are
`known,then an algorithm for determining the location of the
`source coil can be derived, as described by H. C. Gilbert in
`“Dipole momentdetector and localizer,’ U.S. Pat. No. 5,731,
`996. The main disadvantage of this approach is the need to
`have a precise knowledgeof r,, and V,,. For example, in some
`medical applicationsit is desirable to locate the sources on the
`patient’s body. In such a situation it may be difficult to mea-
`suretheir relative locations and orientations, and furthermore,
`these mayvary in time dueto patient’s movements. A solution
`for accurate localization, which requires a small space and
`overcomesthe drawbacksillustrated above,is thus required.
`
`SUMMARY OF THE INVENTION
`
`[0006] According to one embodimentof the present inven-
`tion, a method and apparatus are disclosed for determination
`by a single coil sensorof the location of a single electromag-
`netic source comprising a set of three orthogonal dipoles and
`three orthogonal quadrupoles, said quadrupoles being syn-
`thesized from said dipoles.
`[0007]
`In some embodiments, the system may include an
`electromagnetic s[text missing or illegible when filed]
`on, enabling the determination of substantially the precise
`location of an in vivo sensing device. In some embodiments,
`electromagnetic radiator source coils may serve as an external
`reference frame for enabling the localization of a device
`containing an electromagnetic detector coil. According to an
`embodiment of the invention, electromagnetic positioning
`source coils may be connected to an electromagnetic posi-
`tioning locator, which may be includedas part of a worksta-
`tion. In some embodiments, a D/A converter may be used to
`supply proper current to an electromagnetic source for local-
`ization purposes.
`[0008]
`In some embodiments, a single coil assembly may
`be used for one or more of three separate, distinct, and inde-
`pendent purposes: as a electromagnetic sensorusedfor local-
`ization of an in vivo imaging capsule; as a part of a DC-DC
`voltage step-up converter, which may be used, for example,
`for providing the capsule with power; and as part of an
`antenna transmit/receive system used for transmitting, for
`example, images from the capsule, receiving, for example,
`control instructions by the capsule, etc. According to some
`embodiments of the invention, time division multiplexing
`scheme maybeutilized for using the coil assembly to achieve
`its multiple purposes.
`[0009]
`Insome embodiments, the system may include an in
`vivo imaging device having an optical sensor, one or more
`illumination sources, a powersource, and a transceiver(a.k.a.
`transponderor transceiver). In some embodiments, an optical
`system may be implemented to enable enhanced imaging. In
`some embodiments, the device may includean in vivo image
`sensor, which may capture and transmit
`images of, for
`example, the GI tract while the device passes through the GI
`lumen.
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 019
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`Momentum Dynamics Corporation
`Exhibit 1014
`Page 019
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`

`

`US 2011/0125007 Al
`
`May 26, 2011
`
`In some embodiments, the in vivo device may be
`[0010]
`implemented using a swallowable capsule, but other sorts of
`devices or suitable implementations may be used. The in vivo
`device, according to some embodiments, may typically be or
`may be comprised of an autonomous swallowable capsule,
`but the device may have other shapes and need not be swal-
`lowable or autonomous. Embodiments of the device are typi-
`cally autonomous, andare typically self-contained. In some
`embodiments, the components of the device may be enclosed
`within a housing orshell, e.g., capsule-shaped, oval, or hav-
`ing other suitable shapes. The housing or shell may be sub-
`stantially transparent or semi-transparent, and/or may include
`one or more portions, windows or domes that may be sub-
`stantially transparent or semi-transparent.
`[0011]
`Insome embodiments, the transmitter of the in vivo
`device may include, for example, a transmitter module or
`sub-unit and a receiver module or sub-unit, or an integrated
`transceiver or transmitter-receiver. In some embodiments, the
`device may communicate with an external receiving and dis-
`play system to provide display of data, control, or othe [text
`missing or illegible when filed]me embodiments, a
`processor maybeutilizedfor the control ofthe processes and
`methods occurring within the device. In some embodiments,
`the transmitter may transmit/receive via an antenna. Control
`of the processes taking place within the in vivo capsule may
`be accomplished by a controller or a processor contained
`therein, or by a transmitter and/or another unit, which may
`include control capability.
`[0012]
`Insome embodiments, the imagerin the device may
`be operationally connected to a transmitter. The transmitter
`may transmit images to, for example, an external transceiver
`ora transceiver/recorder(e.g., through one or more antennas),
`which may send the data to a processor and/or to a storage
`unit. The transmitter may also be capable ofreceiving signals/
`commands, for example from an external transceiver. For
`example, in some embodiments, the transmitter may include
`an ultra low power Radio Frequency (RF) high bandwidth
`transmitter, possibly provided in Chip Scale Package (CSP).
`[0013]
`In some embodiments, a power source may include
`one or morebatteries or power cells and may be internalto the
`device, and/or may not require coupling to an external power
`source.
`
`[0014] Optionally, in some embodiments, the transmitter
`mayinclude a processing unit, or processor, or controller, for
`example, to process signals and/or data generated by the
`imager. In another embodiment, the processing unit may be
`implemented using a separate component within the device,
`e.g., a controller or a processor, or may be implemented as an
`integral part ofthe imager, transmitter, or another component,
`or may not be needed. The processor may include a process-
`ing unit, processor or controller. The processing unit may
`include, for example, a CPU, a DSP, a microprocessor, a
`controller, a chip, a microchip, a controller, circuitry, an IC,
`an ASIC,or any other suitable multi-purposeor specific pro-
`cessor, controller, circuitry or circuit.
`[0015]
`In some embodiments, the imager may acquire in
`vivo images continuously, substantially continuously, upon
`demandor upona triggering event; or in a non-discrete man-
`ner, for example, not necessarily upon-demand, or not nec-
`essarily upon a triggering event or an external activation or
`external excitement; or in a periodic manner, an intermittent
`manner, or an otherwise non-continuous manner. In some
`embodiments, the transmitter may transmit image data con-
`tinuously, upon demandor upona triggering event, or sub-
`stantially continuously, for example, not necessarily upon-
`
`demand, or not necessarily upon a triggering event or an
`external activation or external excitement; or in a periodic
`manner, an intermittent manner, or an otherwise non-continu-
`ous manner. In some embodiments, illumination source(s)
`may illuminate continuously, or substantially continuously,
`for example, not necessarily upon-demandornot necessarily
`upon a triggering event or an externa [text missing or
`illegible when filed]in a periodic manner.
`[0016] An optional optical system, including, for example,
`one or more optical elements, such as one or more lenses or
`composite lens assemblies, one or more suitable optical fil-
`ters, or any other suitable optical elements, may optionally. be
`includedin the device and mayaid in focusing reflected light
`onto the imager, focusing illuminated light, and/or perform-
`ing other light processing operations.
`[0017]
`In some embodiments, the device may include one
`or more illumination sources, for example one or more Light
`Emitting Diodes (LEDs), “white LEDs”, or other suitable
`light sources. In some embodiments, the device may include
`one or more illumination sources wherein the illumination
`
`sources are in a color transmission rangethat is narrower than
`“white LEDs” and may be monochromatic in certain embodi-
`ments. In certain embodiments, the color of the illumination
`source is selected based on the pathology sought to be
`detected.
`
`[0018] A data processor may analyze the data received via
`external transceiver/recorder from device, and may be in
`communication with storage unit, e.g., transferring frame
`data to and from storage unit. Data processor may provide the
`analyzed data to monitor, wherea user(e.g., a physician) may
`view or otherwise use the data. Monitor may include, for
`example, one or more screens, monitors, or suitable display
`units. Typically, the device may transmit image information
`in discrete portions. Each portion maytypically correspond to
`animageora frame; other suitable transmission methods may
`be used. In some embodiments, the image analysis and/or
`comparison may be performedin substantially real time. In
`another embodiment, the invention provides a graphical user
`interface, as displayed on monitor. This interface allows the
`user to enable moredistinct viewing ofthe selected images at
`will.
`
`[0019] Embodiments of the invention may provide various
`other benefits and/or advantages. Other features and advan-
`tages of the present invention will become apparent from the
`following detailed description examples andfigures. It should
`be understood, however, that the detailed description and the
`specific examples while indicating preferred embodiments of
`the invention are given by way of illustration only, since
`various changes and modifications within the spirit and scope
`of the invention will become apparent to those skilled in the
`art from this detailed description.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`[0020] The subject matter regarded as the invention is par-
`ticularly pointed out anddistinctly claimed in the concluding
`portion of the specification. The principles, organization, and
`method of operation of the system and apparatus, according
`to the present inv [text missing or illegible when filed]
`ith objects, features, and advantages thereof, may be best
`understood by reference to the drawings and the following
`description, it being understoodthat these drawingsare given
`forillustrative purposes only and are not meantto be limiting,
`wherein:
`FIG. 1 is a schematic illustration of an in vivo sys-
`[0021]
`tem according to an embodimentof the present invention;
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 020
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 020
`
`

`

`US 2011/0125007 Al
`
`May 26, 2011
`
`FIG. 2 is a schematic depiction of synthetic mag-
`[0022]
`netic quadrupoles using identical and oppositely polarized
`simple magnetic dipole coils according to an embodimentof
`the present invention;
`[0023]
`FIG. 3 is a schematic illustration of an extended
`magentic source approach according to an embodimentofthe
`present invention;
`[0024]
`FIG. 4 is a schematic illustration of the synthetic
`trajectory of the device in an in vivo lumen according to an
`embodimentof the present invention;
`[0025]
`FIGS. 5-8 are schematic depictions ofreconstructed
`trajectories using various frame rates and various numberof
`iterations per point according to an embodiment of the
`present invention;
`[0026] FIG.9isa graphic depiction ofa synthetic trajectory
`algorithm error convergence according to an embodimentof
`the present invention;
`[0027]
`FIG. 10 is a graphic depiction of a magnetic field
`readings taken at low framerate according to an embodiment
`of the present invention;
`[0028]
`FIGS. 11-14 are schematic depictions of recon-
`structed trajectories with various levels of noise according to
`an embodimentof the present invention;
`[0029]
`FIG. 15 is a graphic depiction of reconstruction
`trajectory quality under noisy data according to an embodi-
`mentof the present invention;
`[0030]
`FIG. 16 is a schematic depiction of reconstructed
`trajectory using the robust algorithm, according to embodi-
`ments of the present invention; and
`[0031]
`FIG.171isaschematic depiction ofthe reconstructed
`trajectory of FIG. 16 but with a scan resolution of 0.5°,
`according to embodiments of the present invention.
`[0032]
`It will be appreciated that for simplicity andclarity
`of illustration, elements shownin the figures have not neces-
`sarily been drawn to scale. For example, the dimensions of
`some of the elements may be exaggerated relative to other
`elements for clarity. Further, where considered appropriate,
`reference numerals may be repeated among the figures to
`indicate corresponding or analogous elements.
`
`DETAILED DESCRIPTION OF THE PRESENT
`INVENTION
`
`Inthe following detailed description, numerousspe-
`[0033]
`cific details are set forth in order to provide a thorough under-
`standing of the invention. However, it will be understood by
`those skilled in the art that the present invention may be
`practiced without these specific details. In other instances,
`well-known methods, procedures, and components have not
`been described in detail so as not to obscure the present
`invention.
`
`Some embodimentsofthe present invention may be
`[0034]
`directed to an in vivo device that may beinserted into a body
`lumen,e.g., the gastro-intestinal (GI)tract, for example, from
`outside the body. Some embodiments are directed to a typi-
`cally one-time use or partially single-use detection and/or
`analysis device. Some embodiments are directed to a typi-
`cally swallowable in vivo device that may passively or
`actively progress through a body lumen, e.g., the gastro-
`intestinal (GD tract, pushed along, for example, by natural
`peristalsis. Some embodimentsare directedto in vivo sensing
`devices that may be passed through other body lumens, for
`example, through blood vessels, the reproductivetract, or the
`like. The in vivo device may be, for example, a sensing
`device, an imaging device, a diagnostic device, a detection
`
`device, an analysis device, a therapeutic device, or a combi-
`nation thereof. In some embodiments, the in vivo device may
`include an image sensor or an imager and/or other suitable
`components. Some embodiments of the present invention
`maybedirected to other devices, not necessarily having to do
`with in vivo imaging.
`[0035] Devices, systems and methods according to some
`embodiments of the present invention, including for example
`in vivo sensing devices, receiving systems and/or display
`systems, may be similar to embodiments described in US.
`Pat. No. 5,604,531 to Iddan et al., entitled “In vivo Video
`Camera System”, and/orin U.S. Pat No. 7,009,634 to Iddan et
`al., entitled “Device for In vivo Imaging”, all of which are
`hereby incorporated by reference in their entirety.
`[0036] Devices and systems as described herein may have
`other configurations and/or sets of components. For example,
`an external transceiver/recorder unit, a processor and a moni-
`tor, e.g., in a workstation, such as those described in the above
`publications, may be suitable for use with some embodiments
`of the present invention. Devices and systems as described
`herein may have other configurations and/or other sets of
`components. Somein vivo devices may be capsule shaped, or
`may haveother shapes, for example, a peanut shape or tubu-
`lar, spherical, conical, or other suitable shapes.
`[0037]
`Some embodiments of the present invention may
`include, for example, a typically swallowable in vivo device.
`In other embodiments, an in vivo device need not be swal-
`lowable and/or autonomous, and may have other shapes or
`configurations. Some [text missing or illegible when
`filed]be used in various body lumens, for example, the GI
`tract, blood vessels, the urinary tract, the reproductivetract, or
`the like.
`[0038] Embodiments of the in vivo device are typically
`autonomousand are typically self-contained. For example,
`the in vivo device may be or may include a capsule or other
`unit where all the components are substantially contained
`within a container, housing or shell, and where the in vivo
`device does not require any wires or cables to, for example,
`receive power or transmit information. The in vivo device
`may communicate with an external receiving and display
`system to provide display of data, control, or other functions.
`For example, power maybe provided by an internal battery or
`an internal powersource, or using a wired or wireless power-
`receiving system. Other embodiments may have other con-
`figurations and capabilities. For example, components may
`be distributed over multiple sites or units; and control infor-
`mationor other information maybe received from an external
`source.
`
`[0039] Devices, systems and methods in accordance with
`some embodiments of the invention may be used, for
`example, in conjunction with a device which may beinserted
`into a human body or swallowed by a person. However,
`embodiments of the invention are not limited in this regard,
`and may be used, for example, in conjunction with a device
`which maybeinserted into, or swallowed by, a non-human
`body or an animal body. Other embodiments of the invention
`need not be used with in vivo imaging devices, and may be
`used for determining the position of a sensing probe or other
`object within a cavity, a tract, or some other location whereit
`is difficult to determine the probe’s position.
`[0040]
`FIG. 1, to which reference is now made, schemati-
`cally illustrates an in vivo imaging system 100 in accordance
`with some embodiments of the present invention. Imaging
`system 100 may comprise a swallowable capsule device 140,
`transceiver/recorder 112 that may be connected to transmit-
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 021
`
`Momentum Dynamics Corporation
`Exhibit 1014
`Page 021
`
`

`

`US 2011/0125007 Al
`
`May 26, 2011
`
`ting/receiving (Tx/Rx) antenna 113 and to workstation 117,
`and electromagnetic radiator source coils 111 that may be
`connected to workstation 117. One or more components of
`the system may be used in conjunction with, or may be
`operatively associated with, the devices and/or components
`described herein, or with other in vivo devices in accordance
`with embodiments of the invention.
`
`[0041] Device 140 may comprise an imager 146, one or
`more illumination sources 142, a power source 145, and a
`transceiver (Tx/Rx) 141. In some embodiments, an optical
`system 150 may be implemented to enable enhanced imag-
`ing. In some embodiments, processor 147 maybeutilized for
`the overall control of the processes and methods occurring
`within device 140.
`
`In some embodiments, device 140 may include a
`[0042]
`sensor coil asse [text missing or illegible when filed]
`may comprise a set of one or more coils, and which may be
`used for one or more functionalities, which may be indepen-
`dent of each other, as will be explained in detail below, such
`as an electromagnetic sensor used for localization of the
`imaging device 140; as a part of a DC-DC voltage step-up
`converter 149 used for providing light sources 142 with
`power from power source 145 for illuminating the GItract;
`and as an antennafor transceiver 141 used for transmitting
`images, receiving control instructions, etc. In some embodi-
`ments, device 140 may comprise an analog-to-digital (A/D)
`converter 144 that may be used to read the current from the
`electromagnetic sensor 143 for localization purposes. In
`some embodiments, a logical switch (such as an analog
`switch) 148 may be used as a meansof switching between coil
`143 andthe functional blocks such as DC-DC converter 149,
`transceiver module 141, and A/D converter 144 in order to
`achieve its multiple purposes. However, other means of
`switching between various functional blocks of capsule
`device 140 may be used in other embodiments. Moreover,
`these functional blocks may not necessarily be implemented
`as separate modules, but may be integrated into other modules
`or functional blocks of device 140.
`
`In some embodiments, device 140 may be imple-
`[0043]
`mented using a swallowable capsule, but other sorts of
`devices or suitable implementations may be used. A trans-
`ceiver/recorder 112 may be located outside the body of a
`patient,
`including, or operatively associated with,
`for
`example, one or more antennas 113, or an antennaarray.
`Additionally, electromagnetic positioning source coils 111,
`which are described in detail below, may be located outside
`the body of a patient. According to embodiments of the
`present invention, workstation 117 may be connectedto, or in
`operative
`communication with receiver/recorder
`112,
`antenna 113, and with electromagnetic positioning source
`coils 111. Workstation 117 may comprise storage unit 119,
`which may be or include, for example, one or more of a
`memory, a database,etc. or other storage systems; a processor
`114, a monitor 118, an electromagnetic source locator 116,
`and a digital-to-analog (D/A) converter 115, which may be
`used to deliver the appropriate amountofcurrent to electro-
`magnetic source coils 111 for localization purposes. Work-
`station 117 may be embodiedas a standalone unit or may be
`comprised in another unit (not shown).
`[0044] Transceiver 141 may operate using wireless trans-
`mission, such as radio waves; but in some embodiments, such
`as those where device 140 is or is included within an endo-
`
`scope, transceiver 141 may transmit/receive data via, for
`example, wire, optical fiber, and/or other suitable methods.
`Other known wireless methods of transmission may be used.
`Transceiver 141 may include, for example, a transmitter mod-
`
`ule or sub-unit and a receiver [text missing or illegible
`when filedJor an integrated transceiver or transmitter-re-
`ceiver.
`
`[0045] Device 140 typically may be or may include an
`autonomous swallowable capsule, but device 140 may have
`other shapes and need not be swallowable or autonomous.
`Embodiments of device 140 are typically autonomous, and
`are typically self-contained. For example, device 140 may be
`a capsule or other unit whereall the components are substan-
`tially contained within a container or shell, and where device
`140 does not require any wires or cables to, for example,
`receive power or transmit/receive information.
`In some
`embodiments, device 140 may be autonomous and non-re-
`mote-controllable; in another embodiment, device 140 may
`be partially or entirely remote-controllable.
`[0046]
`In some embodiments, device 140 may communi-
`cate with an external receiving and display system, e.g.,
`workstation 117 or monitor 118, to provide d