KR102019228B1 - Apparatus, method and system for tracking the three dimensional position of a capsule endoscope - Google Patents

Abstract

The present invention relates to a three-dimensional position tracking device, method and system of the capsule endoscope, and to arrange the receiving antenna to form a three-dimensional space that includes the capsule endoscope, 3 from the three-dimensional position coordinates of the receiving antenna in advance It is characterized by performing dimensional interpolation. According to the present invention, by performing the three-dimensional interpolation based on the inverse of the reception sensitivity, it is possible to precisely track the three-dimensional position of the capsule endoscope, and also to surround the outside of the body with the receiving antenna in a predetermined space with the body The disposition of contacting the device to the body is eliminated by disposing the panels or housings apart from each other.

Description

3D position tracking device, method and system for capsule endoscopy {APPARATUS, METHOD AND SYSTEM FOR TRACKING THE THREE DIMENSIONAL POSITION OF A CAPSULE ENDOSCOPE}

The present invention relates to an apparatus, a method and a system for tracking the three-dimensional position of the capsule endoscope, and more particularly, to precisely track the position of the capsule endoscope in three-dimensional space by receiving a wireless signal from the capsule endoscope introduced into the body An apparatus, method, and system are provided.

Endoscopy is often used to perform medical activities such as photographing the state of human organs, collecting tissues, or injecting drugs without surgery. However, because the endoscope is introduced into the body through the tube, there is pain and discomfort, and to solve this problem, a wireless capsule endoscope without a tube has been developed and used in the medical field.

The capsule endoscope is introduced into the body by swallowing the patient, which is discharged by natural organ peristalsis without driving from the outside, and intensively conducts medical activities only on the necessary parts by driving directly to the magnetic field from the outside. have.

In order for the capsule endoscope to function effectively as a medical device, it is important to track the position of the capsule endoscope. In particular, in addition to the simple in-body imaging, in order to precisely photograph the lesion site, tissue collection or drug injection, it is necessary to specify the precise position in the three-dimensional space.

Techniques for detecting or tracking the position of the capsule endoscope include a method using a magnetic field, a method using human communication, a method using a radio signal (RF), and the like. As known in Japanese Patent Nos. 621065 and 5313689, a method of using a magnetic field generates a magnetic field for position detection in a capsule endoscope and detects the magnetic field from the outside. However, there is a limit to increasing the accuracy of position tracking. In particular, there is a problem that it is difficult to track the location of the three-dimensional space. The technique known from Korean Patent No. 0522132 is a method using human body communication, which is inconvenient to bring the electrode in contact with the body.

The method of using a wireless signal has a problem of being used in a capsule endoscope in which a power consumption of a high frequency modulation circuit for transmission is large and power consumption is limited because an antenna needs to be attached. However, due to the rapid development of portable devices, high frequency of ultra low power The transmitter can be easily implemented, and the transmission antenna can be implemented in an ultrafine pattern type. In addition, wireless communication is often used to compress the image taken by the capsule endoscope and transmit it to the outside. In this case, since the transmitter and antenna provided for image transmission may be used for the location tracking, There may be no need for a separate high frequency transmitter and antenna. Japanese Patent No. 451819 discloses a method for detecting the position of a capsule endoscope using a wireless signal, which is inconvenient to attach an antenna array to a body or to wear clothes with an antenna array attached thereto. There is a problem that only the position detection of the 3D precise position specification and tracking is difficult.

JP 6121065 B2. JP 5313689 B2. KR 10-0522132 B1. JP 4251819 B2.

The present invention has been made to solve the above problems of the prior art, in tracking the position of the capsule endoscope introduced into the body, the device is provided so as not to contact with the body and to enable accurate three-dimensional tracking, It is an object to provide a method and system.

In order to achieve the above technical problem, according to an embodiment of the present invention, in the apparatus for tracking the three-dimensional position of the capsule endoscope that is introduced into the body for transmitting a wireless signal, provided to be spaced apart from the body on the outside of the body An antenna unit configured to receive the wireless signal; And a control unit, wherein the antenna unit includes a plurality of receiving antennas forming a three-dimensional space, wherein the receiving antenna is disposed so that the capsule endoscope is located in the formed space, and the control unit is entirely or completely disposed in the antenna unit. Selecting a plurality of reception antennas and generating a three-dimensional interpolation from three-dimensional position coordinates of the selected plurality of receiving antennas to generate the position coordinates of the capsule endoscope, wherein the interpolation is performed by the reception sensitivity of each of the selected reception antennas. Provided is a three-dimensional position tracking device of a capsule endoscope, characterized in that performed in inverse proportion.

The receiving antennas may be spaced apart from each other in a panel or a housing having a shape surrounding the outside of the body.

The 3D location tracking device may further include a storage unit for storing the 3D location coordinates of the reception antenna in advance.

The generated position coordinates of the capsule endoscope may be stored in the storage unit together with time information and used for repetitive tracking of the capsule endoscope.

The plurality of receiving antennas may be at least four receiving antennas not present in one plane.

When the control unit selects all or some reception antennas from the antenna unit, the control unit selects at least four reception antennas forming a three-dimensional space based on the position immediately before the capsule endoscope or the reception sensitivity of each reception antenna, The receiving antenna may be selected such that the capsule endoscope is positioned inside the formed space.

The interpolation may use trilinear interpolation, quadratic interpolation, Newton interpolation, or Lagrange interpolation.

According to another embodiment of the present invention for achieving the above technical problem, in the method for tracking the position of the capsule endoscope that is introduced into the body for transmitting a wireless signal, provided to be spaced apart from the body on the outside of the body Receiving, by a device including a plurality of receiving antennas, a radio signal transmitted from the capsule endoscope; Extracting reception sensitivity of each reception antenna; Selecting a plurality or all of the plurality of reception antennas; And generating position coordinates of the capsule endoscope by performing three-dimensional interpolation from three-dimensional position coordinates of the selected plurality of receiving antennas based on an inverse proportion of the reception sensitivity of each of the selected receiving antennas. A three-dimensional location tracking method is provided.

The receiving antenna may include at least four receiving antennas forming a three-dimensional space, and the capsule endoscope may be disposed in the formed space.

Selecting a plurality or all of the plurality of receiving antennas may include selecting at least four to form a three-dimensional space based on the position immediately before the capsule endoscope or the receiving sensitivity of each receiving antenna, but not in the formed space. The capsule endoscope may be selected to be located.

According to another embodiment of the present invention for achieving the above technical problem, the capsule endoscope is introduced into the body for transmitting a wireless signal; And a location tracking device provided outside the body and spaced apart from the body and receiving the wireless signal, wherein the location tracking device includes at least four reception antennas forming a three-dimensional space. The capsule endoscope is disposed in the formed space, and the position tracking device selects a plurality of all or part of the receiving antennas from the receiving antenna, and three-dimensionally from three-dimensional position coordinates of the selected plurality of receiving antennas. By performing interpolation, a position coordinate of the capsule endoscope is generated, wherein the interpolation is performed based on an inverse of the reception sensitivity of each of the selected receiving antennas.

As described above, according to the present invention, the receiving antenna is arranged to form a three-dimensional space including the capsule endoscope, and the three-dimensional interpolation is performed based on an inverse proportion of the receiving sensitivity from the three-dimensional position coordinates of the receiving antenna previously recognized. By doing so, there is an effect of enabling precise position tracking.

In addition, the discomfort of the body contact is eliminated by disposing the wireless signal receiving antennas spaced apart from each other in a panel or a housing having a predetermined space and surrounding the outside.

1 and 2 is a block diagram showing a three-dimensional position tracking device and system of the capsule endoscope according to an embodiment of the present invention.
3 is a cross-sectional view of a three-dimensional position tracking device and system of the capsule endoscope according to another embodiment of the present invention.
4 is a view for explaining the arrangement and selection of the receiving antenna of the 3D position tracking device of the capsule endoscope according to another embodiment of the present invention.
Figure 5 is a block diagram showing a capsule endoscope according to another embodiment of the present invention.
6 and 7 are views for explaining the interpolation method of the three-dimensional position tracking device of the capsule endoscope according to another embodiment of the present invention.
8 is a flowchart illustrating a specific example of a three-dimensional position tracking method of the capsule endoscope according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. In the following description, only parts necessary for understanding the operation according to the embodiment of the present invention are shown and described, and illustrations and descriptions of other parts are omitted so as not to obscure the subject matter of the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

In addition, the terms or words used in the specification and claims described below are not to be construed as being limited to the ordinary or dictionary meaning, meaning that corresponds to the technical spirit of the present invention so as to best express the present invention To be interpreted as

Throughout the specification, when a part is "connected" to another part, it is not limited to "directly connected", but is "electrically connected" with another element in between. Also includes. In addition, when a part is said to "include" a certain component, this means that it may further include other components, except to exclude other components unless otherwise stated.

For simplicity of explanation, although one or more methods are shown and described herein as a series of steps, for example in the form of a flowchart or flow chart, the present invention is not limited by the order of the steps, for the present invention. It will be appreciated that it may be done in a different order or simultaneously with other steps than shown and described herein. Moreover, not all illustrated steps may have to implement a methodology in accordance with the present invention.

In describing various embodiments of the present disclosure, corresponding elements will be described with the same names and the same reference numerals. In the drawings referred to for describing the embodiment of the present invention, the size of the component, the thickness of the line, etc. may be exaggerated for convenience of understanding.

1 and 2 is a block diagram showing a three-dimensional position tracking device and system of the capsule endoscope according to an embodiment of the present invention.

Referring to FIG. 1, the three-dimensional position tracking device 10 of the capsule endoscope according to the present invention may include an antenna unit 12 and a controller 14. In addition, the position tracking device 10 may further include a storage 18 or a panel (or housing) 16.

The antenna unit 12 includes a plurality of receiving antennas to form a three-dimensional space. Preferably, the antenna unit 12 should include at least four receiving antennas that do not exist in one plane to form a three-dimensional space. In the drawing, 12 receiving antennas (including 12a to 12d) are regularly arranged, and receiving antennas are also arranged on curved surfaces not shown in the drawing. However, the present invention is not necessarily limited thereto, and more or fewer reception antennas may be arranged or irregularly arranged. Referring to Fig. 2 (b), a larger number of receiving antennas (including 12a to 12d) are densely arranged. If the receiving antennas are arranged densely, the accuracy of the position tracking can be further improved.

The reception antenna (including 12a to 12d) may use various kinds of antennas including a pattern antenna or a dipole antenna, and an antenna having a high reception sensitivity is preferable because it can increase the accuracy of position tracking.

The reception antennas 12a to 12d are preferably spaced apart from each other on a panel (or housing) 16 having a shape surrounding the outside of the body 30, as shown in FIG. Although the shape of the panel is illustrated in a cylindrical shape, the shape of a rectangular cylinder is also possible, but is not limited thereto and may have various shapes. The panel 16 is preferably made of a non-metallic material such that there is no shielding phenomenon of wireless signal transmission and reception.

As a preferred embodiment of arranging the antenna portion 12, as shown in FIG. 1, the panel 16 may be attached to the magnetic induction device 50 of the capsule endoscope. Alternatively, the antenna unit 12 may be directly attached to the housing of the magnetic induction device 50 without a separate panel. For reference, the magnetic induction device 50 may include a bed 52 that the patient can lie down and a coil unit 54 for magnetic induction. The coil portion 54 often has a circular or square shape, and in this case, the antenna portion 12 may be disposed along the inner surface of the coil portion 54 (surrounding the patient's body).

The control unit 14 is connected to the antenna unit 12, it is possible to extract or measure the radio signal sensitivity of the reception antenna (12a to 12d), it can be used for location tracking. Detailed operations will be described later.

The storage unit 18 may store three-dimensional coordinates of each of the reception antennas 12a to 12d in advance. In addition, the three-dimensional position coordinates of the capsule endoscope generated in real time can be stored with the time information, and the stored information can be used for continuous and repetitive tracking of the capsule endoscope.

Referring to Figure 2 (a), it is shown that the antenna unit 12 surrounding the human body 30 of the human or animal. As described above, when the antenna unit 12 is spaced apart from the patient's body with a predetermined space, the inconvenience and hassle of attaching a receiving antenna to the patient's body or wearing a jacket with the receiving antenna is eliminated. .

3 is a cross-sectional view of a three-dimensional position tracking device 10 and system of the capsule endoscope according to another embodiment of the present invention.

Referring to FIG. 3, a cross-sectional view of FIG. 2A shows a plurality of receiving antennas 12e and 12f, a panel 16, a body 30, and a capsule endoscope 20.

The plurality of receiving antennas 12e and 12f and the panel 16 surround the body 30 by being spaced apart from the body 30 by a predetermined space so that there is no discomfort in contact with the body 30. In addition, it is preferable that the receiving antennas (including 12e and 12f) are evenly arranged in all directions of up, down, left and right with respect to the lying body 30 for accurate 3D position tracking.

In the present cross-sectional view, the plurality of receiving antennas 12e and 12f and the panel 16 are shown to surround the body 30 in a circular shape. However, the present invention is not limited thereto and includes a polygonal shape such as a rectangle and a hexagon. What is necessary is just a shape which wraps around the body 30.

The capsule endoscope 20 is located in the body 30 by swallowing the patient 30. When the radio signal is transmitted from the capsule endoscope 20, the plurality of receiving antennas 12e and 12f surrounding the body 30 are received. This wireless signal is received.

4 is a view for explaining the receiving antenna arrangement and selection of the three-dimensional positioning device of the capsule endoscope according to the present invention.

Referring to FIG. 4, receiving antennas 12a to 12d are respectively located at four vertices of the tetrahedron, and the capsule endoscope 20 is located inside the tetrahedron. The tetrahedron is one of the three-dimensional figures with the minimum vertices to form a space.

First, a method of 'positioning' the antenna unit 12 according to the present invention will be described.

As shown in FIG. 4, the antenna unit 12 may include at least four reception antennas 12a to 12d that do not exist in one plane so as to form a three-dimensional space. In addition, the receiving antennas 12a to 12d must be disposed so that the capsule endoscope 20 is positioned in the formed space, so that accurate three-dimensional positioning can be performed.

That is, as shown in FIG. 4, at least four receiving antennas 12a to 12d may be disposed to include the capsule endoscope 20 in the space.

Next, we will look at how to 'select' the appropriate number of receive antennas for efficient interpolation.

The control unit 14 selects a plurality of all or part of the receiving antennas 12a to 12d in the antenna unit 12, and three-dimensional interpolation from three-dimensional position coordinates (prerecognized) of the selected plurality of receiving antennas. The coordinates of the position of the capsule endoscope 20 can be generated by performing ().

In this case, all the position coordinates of all receiving antennas may be used, but in some cases, too much calculation is required, so it is preferable not to select an antenna that is not necessary for interpolation unless it affects the accuracy of the position tracking. .

In order to select an appropriate number of receiving antennas for interpolation, the same concept as the above-described 'laying out' method can be used. When the control unit 14 selects all or part of the receiving antennas from the antenna unit 12, the controller 14 selects at least four receiving antennas forming a three-dimensional space based on a position immediately before the capsule endoscope 20, but in the formed space. It is preferable to select the reception antennas 12a to 12d so that the capsule endoscope is positioned at. For example, if there are 20 receiving antennas, 4 receiving antennas are selected. If the capsule endoscope 20 is not located inside the space formed by the 4 receiving antennas, the accuracy of the position tracking is inevitably deteriorated. .

In addition, if the position tracking is repeatedly performed at unit time intervals, since the movement distance of the capsule endoscope 20 during the unit time will be limited, referring to the position of the capsule endoscope 20 tracked before the previous unit time, the capsule endoscope 20 It is efficient to select receiving antennas 12a-12d containing

It is also preferable to select the receiving antennas in the order of the highest sensitivity in each direction based on the body based on the reception sensitivity of each of the currently received receiving antennas.

In addition, the reception antennas 12a to 12d may be selected in consideration of both the previous position and the current reception sensitivity at the same time.

5 is a block diagram illustrating a capsule endoscope 20 according to another embodiment of the present invention.

Referring to FIG. 5, the capsule endoscope 20 includes a wireless signal transmitter 22. The capsule endoscope 20 may further include a photographing unit 24, a magnet unit 26, a power supply unit 28, etc., in addition to the wireless signal transmitter 22. The description will be omitted.

The wireless signal transmitter 22 may include a modulation circuit for modulating the signal into a high frequency signal (or an RF signal) and a transmission antenna 23 for transmitting the signal.

When a predetermined reference signal is transmitted through the transmission antenna 23 of the wireless signal transmitter 22, the antenna unit 12 of the location tracking apparatus 10 outside the body receives it.

In general, a transmission method using a wireless signal has a high power consumption of a high frequency modulation circuit and has a burden of attaching an antenna. However, the rapid development of portable devices has made it easier to implement an ultra low power high frequency transmitter. ) Can also be implemented as an ultrafine pattern type.

In addition, wireless communication is often used when compressing the image captured by the capsule endoscope 20 and transmitting it to the outside. In this case, since the transmitter and the antenna provided for image transmission may be used for tracking the position, There may be no need for a separate high frequency transmitter and antenna for tracking.

6 and 7 are views for explaining the interpolation method of the three-dimensional position tracking device 10 of the capsule endoscope according to another embodiment of the present invention.

Referring to FIG. 6, four receiving antennas 12a to 12d and a capsule endoscope 20 are illustrated as a diagram for explaining a two-dimensional interpolation method. Sa, Sb, Sc, and Sd are signal sensitivity levels that the receiving antennas 12a, 12b, 12c, and 12d receive from the capsule endoscope 20, respectively.

The signal sensitivity has a larger value as the receiving position is closer to the signal generation point, and has a smaller value as far as it is remote. Therefore, Sb has the largest value and Sa has the smallest value.

At this time, when linear interpolation (or internal division) is performed on the positions of the receiving antenna 12a and the receiving antenna 12b in inverse proportion to the signal sensitivity, 1 / Sa: 1 / Sb on a straight line connecting the receiving antenna 12a and the receiving antenna 12b. The interpolation point of is calculated. That is, it is possible to calculate the point that is internalized as Sb: Sa. For example, when Sa is 3 and Sb is 7, an interpolation point of 7: 3 is calculated from the reception antenna 12a on a straight line connecting the reception antenna 12a and the reception antenna 12b. In the same manner, linear interpolation of 1 / Sc: 1 / Sd can be performed on the reception antenna 12c and the reception antenna 12d. Repeating the linear interpolation with the two calculated interpolation points may eventually calculate the position of the capsule endoscope 20.

If this is expressed as an expression, it is as follows.

과

의 좌표를 각각

,

라고 하고, 두 점간의 거리를

로 선형보간을 하는 방법은 수학식 1과 같다.Two points

and

Coordinates of each

,

The distance between the two points

Linear interpolation is as shown in Equation 1.

과

에서의 신호 감도를 각각

과

라고 하면, 수학식 2의 관계가 된다.However, as described above, the signal sensitivity from the capsule endoscope 20 is inversely proportional to the distance from the capsule endoscope 20.

and

Signal sensitivity at

and

If it is, it becomes the relationship of Formula (2).

Substituting Equation 2 into Equation 1 results in Equation 3.

Therefore, by using Equation 3, an interpolation point between two reception antennas can be obtained.

과

대신

,

, 또는

,

를 사용하여 수학식 4 또는 5를 사용할 수도 있으며, 이 외에도 다양한 방법으로 보간을 할 수 있다.Signal sensitivity is inversely proportional to distance, but may not necessarily be linearly inverse because the signal may be distorted as the wireless signal passes through the body. Therefore, Equation 2 is

and

instead

,

, or

,

Equation 4 or 5 can also be used, and in addition, interpolation can be performed in various ways.

As can be seen from the above equation, knowing the 'coordinate' and 'receive sensitivity' of the receiving antenna it is possible to calculate the position coordinates of the capsule endoscope 20 by interpolating the points between each receiving antenna.

With this concept, various interpolation methods can be applied, for example, trilinear interpolation, quadratic interpolation, Newton interpolation, Lagrange interpolation, and so on. . Referring to FIG. 7, an example of triple linear interpolation in three-dimensional space is shown.

Suppose that receiving antennas 12a-12h, whose coordinates are known, are located at eight vertices of a cube. Then, by applying Equation 3, the interpolation point M between the reception antennas 12a and 12d can be obtained in inverse proportion to the reception sensitivity. In the same way, N, U, and V can be found. Then, R can be obtained by interpolating M and N, S can be obtained by interpolating U and V, and three-dimensional position coordinates of the final capsule endoscope 20 can be obtained by interpolating S and R.

The interpolation method is not limited to the above-described embodiment, but a more complicated higher-order method may be used for more precise position tracking, but the computational amount increases exponentially, so it is preferable to select an appropriate algorithm in consideration of this.

8 is a flowchart illustrating a specific example of a three-dimensional position tracking method of the capsule endoscope according to an embodiment of the present invention.

Referring to FIG. 8, in operation S71, the antenna unit 12 may receive a radio signal transmitted from the capsule endoscope 20.

In operation S73, the controller 14 may extract the reception sensitivity of each reception antenna 12a to 12h.

In step S75, the control unit 14 includes four or more capsule endoscopes 20 in a three-dimensional space based on the position immediately before the capsule endoscope 20 stored in the storage unit 18 and the reception sensitivity of each receiving antenna. You can select the receiving antenna. Since the method of selecting the reception antenna has been described in detail with reference to FIG. 4, it will be omitted.

In operation S77, the position coordinates of the capsule endoscope may be generated by interpolating the position coordinates of the selected reception antennas based on the inverse of the reception sensitivity of each of the selected reception antennas. Since the method of interpolating the position coordinates has been described in detail with reference to FIG. 7, it will be omitted.

As described above, according to the present embodiments, the receiving antennas 12a to 12h are arranged to form a three-dimensional space including the capsule endoscope 20, and the three-dimensional receiving antennas 12a to 12h are recognized in advance. Precise position tracking is possible by performing three-dimensional interpolation based on the inverse of the received sensitivity from the position coordinates.

In addition, by disposing the wireless signal receiving antenna (12a to 12h) spaced apart from each other in a panel or housing shaped to surround the outside of the body with a predetermined space and the body there is an effect that the discomfort of the body contact disappears.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but this is merely exemplary, and those skilled in the art may various modifications and equivalent other embodiments from this. Will understand. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10: location tracking device
12: antenna unit
12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h: receiving antenna
14: control unit
16: panel or housing
18: storage unit
20: capsule endoscope
22: wireless signal transmitter
23: transmit antenna
24: the photographing unit
26: magnet
28: power supply
30: body or patient
50: magnetic induction device
52: bed
54: coil part

Claims (11)

In the apparatus for tracking the three-dimensional position of the capsule endoscope introduced into the body for transmitting a wireless signal,
An antenna unit provided outside the body and spaced apart from the body to receive the radio signal; And
Including a control unit,
The antenna unit includes a plurality of receiving antennas forming a three-dimensional space, the receiving antenna is disposed so that the capsule endoscope is located in the formed space,
The control unit generates a position coordinate of the capsule endoscope by selecting a plurality of all or part of the receiving antenna in the antenna unit, and performing three-dimensional interpolation from three-dimensional position coordinates of the selected plurality of receiving antennas,
And the interpolation is performed based on an inverse of the reception sensitivity of each of the selected reception antennas.
The method of claim 1,
The receiving antenna is spaced apart from each other in a panel or housing shaped to surround the outside of the body, capsule endoscope three-dimensional positioning device.
The method of claim 1,
A three-dimensional position tracking device of the capsule endoscope, characterized in that further comprising a storage unit for storing in advance the three-dimensional position coordinates of the receiving antenna.
The method of claim 3,
The location coordinates of the generated capsule endoscope is stored in the storage unit with time information and used for repetitive position tracking of the capsule endoscope, 3D position tracking device of the capsule endoscope.
The method of claim 1,
And the plurality of receiving antennas are at least four receiving antennas not present in one plane.
The method of claim 1,
When the control unit selects all or some reception antennas from the antenna unit, the control unit selects at least four reception antennas forming a three-dimensional space based on the position immediately before the capsule endoscope or the reception sensitivity of each reception antenna, And the receiving antenna is selected such that the capsule endoscope is positioned inside the formed space.
The method of claim 1,
The interpolation is characterized in that using trilinear interpolation, quadratic interpolation, Newton interpolation, or Lagrange interpolation, capsule endoscope three-dimensional position tracking device.
In the method for tracking the position of the capsule endoscope introduced into the body to transmit a radio signal,
An apparatus including a plurality of receiving antennas provided to be spaced apart from the body on the outside of the body,
Receiving a radio signal transmitted from the capsule endoscope;
Extracting reception sensitivity of each reception antenna;
Selecting a plurality or all of the plurality of reception antennas; And
Generating position coordinates of the capsule endoscope by performing three-dimensional interpolation from three-dimensional position coordinates of the selected plurality of receiving antennas based on an inverse of the reception sensitivity of each of the selected receiving antennas;
Including
The receiving antenna includes at least four receiving antennas forming a three-dimensional space, characterized in that the capsule endoscope is disposed to be located in the formed space, capsule endoscope three-dimensional position tracking method.
delete The method of claim 8,
Selecting a plurality or all of the plurality of receiving antennas may include selecting at least four to form a three-dimensional space based on the position immediately before the capsule endoscope or the receiving sensitivity of each receiving antenna, but not in the formed space. The capsule endoscope is selected, characterized in that for positioning, 3D position tracking method of the capsule endoscope.
Capsule endoscope that is introduced into the body to transmit a wireless signal; And
A location tracking device provided outside the body and spaced apart from the body to receive the radio signal;
Including,
The position tracking device includes at least four receiving antennas forming a three-dimensional space,
The receiving antenna is disposed so that the capsule endoscope is located in the formed space,
The position tracking device generates a position coordinate of the capsule endoscope by selecting a plurality of all or part of the receiving antennas in the receiving antenna and performing 3D interpolation from the 3D position coordinates of the selected plurality of receiving antennas,
Wherein said interpolation is performed based on an inverse of the reception sensitivity of each of the selected receiving antennas.

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