阅读说明：本技术 利用胶囊相机进行胃部检查的方法及装置 (Method and device for stomach examination by capsule camera ) 是由 王康怀 G·威尔逊 于 2017-12-18 设计创作，主要内容包括：本发明披露一种利用胶囊相机系统成像患者的胃肠道(包括胃的上部)的方法。依据该方法,以经由患者的口吞咽该胶囊相机的方式将该胶囊相机给予患者。对于选自一组检查位置的每个目标检查位置：在该患者在定位器床上的情况下,将该患者定位系统调节至与该目标检查位置相关的目标定位器床位置。调节患者定位系统包括调节该定位器床以倾斜于一个倾斜角度,以及其中,该组检查位置包括至少两个不同的倾斜角度；以及该患者定位系统仍被保持于该目标检查位置达预定的驻留时长,以使该胶囊相机撷取稳定的图像。接着,收集由该胶囊相机撷取的图像数据。(A method of imaging a gastrointestinal tract (including an upper portion of a stomach) of a patient using a capsule camera system is disclosed. According to the method, the capsule camera is administered to the patient in such a way that the capsule camera is swallowed via the mouth of the patient. For each target inspection location selected from a set of inspection locations: with the patient on the positioner bed, the patient positioning system is adjusted to a target positioner bed position associated with the target examination position. Adjusting the patient positioning system includes adjusting the positioner bed to tilt at a tilt angle, and wherein the set of examination positions includes at least two different tilt angles; and the patient positioning system is still held at the target examination location for a predetermined dwell time to enable the capsule camera to capture stable images. Next, image data captured by the capsule camera is collected.)

1. A patient positioning system for imaging a gastrointestinal tract of a patient, including a proximal portion of the patient's stomach, with a capsule camera, the patient positioning system comprising:

a positioner bed adapted to have the patient lie thereon;

means for tilting at least a portion of the locator bed at a tilt angle;

means for rotating the locator bed to a rotational angle about a longitudinal axis of the locator bed; and

a controller or state machine coupled to the positioner bed to control the tilt angle, the rotation angle, or both, such that the patient on the positioner bed undergoes a sequence of patient examination positions.

2. The patient positioning system of claim 1, further comprising a bed support coupled with the positioner bed to provide support for the positioner bed.

3. The patient positioning system of claim 1, further comprising a restraint device to restrain the patient on the positioner bed.

4. The patient positioning system of claim 1, wherein the angle of rotation has a range covering at least 180 ° of rotation about the longitudinal axis of the positioner bed.

5. The patient positioning system of claim 1, further comprising a monitoring subsystem to monitor the tilt angle, the rotation angle, or a combination thereof to verify that the current examination location is compliant.

6. The patient positioning system of claim 5, wherein the monitoring subsystem comprises an image input device to capture one or more images of the postural position of the patient to determine the current examination position.

7. The patient positioning system of claim 1, further comprising a user interface to issue a series of instructions to the patient or clinician to change the position of the patient on the positioner bed in accordance with the sequence of patient examination positions.

8. The patient positioning system of claim 7, wherein the series of instructions are issued audibly or through a visual display to guide or demonstrate the proper action or positioning in relation to the sequence of patient exam positions.

9. The patient positioning system of claim 1, further comprising a memory device to store program code, wherein the program code is executable on the controller to cause the patient on the positioner bed to undergo the sequence of patient examination positions.

10. The patient positioning system of claim 9, wherein the program code is configured to cause at least two different tilt angles to be included in the sequence of patient examination positions.

11. The patient positioning system of claim 9, wherein the program code is configured to cause at least one tilt angle to be included in the sequence of patient examination positions, the at least one tilt angle corresponding to an angle at which the upper body of the patient lies diagonally in a range from 10 ° to 30 °.

12. The patient positioning system of claim 11, wherein the program code is configured to cause a set of tilt angles to be included in the sequence of patient examination positions, wherein the set of tilt angles corresponds to the upper body of the patient being reclined in small steps to a first angle and then to a second angle, and wherein the first angle is about 0 ° or less and the second angle is in a range from 10 ° to 30 °.

13. The patient positioning system of claim 11, wherein the program code is configured to tilt at least a portion of the positioner bed in a continuous motion.

14. The patient positioning system of claim 9, wherein the program code is configured to cause at least two different angles of rotation about the longitudinal axis of the positioner bed.

15. The patient positioning system of claim 9, wherein the program code is configured to change the tilt angle and the rotation angle at a rate slow enough to minimize instability in capsule orientation and cause the capsule camera to capture stable images.

16. The patient positioning system of claim 15, wherein the rate of change of tilt and rotation angle is dependent on the frame acquisition rate of the capsule camera such that for every two degree change of positioner tilt and rotation angle, at least one frame is acquired.

17. The patient positioning system of claim 15, wherein the program code is configured to hold the positioner bed stationary in at least one examination position for a predetermined dwell time.

18. The patient positioning system of claim 9, wherein the program code is configured to return the positioner bed to a flat position as the patient changes position, thereby saving the patient's effort and reducing the risk of falling from the positioner bed.

19. The patient positioning system of claim 9, further comprising a viewing subsystem to display images captured by the capsule camera, wherein the postural position, the inclination angle, or both of the patient accompanying the capture of at least one displayed image is displayed by the viewing subsystem concurrently with the at least one displayed image.

20. The patient positioning system of claim 9, further comprising a communication channel to communicate with the capsule camera.

21. The patient positioning system of claim 20, wherein the communication channel is configured to receive images or other sensor data captured by the capsule camera, to transmit one or more instructions to the capsule camera, or both.

22. The patient positioning system of claim 21, wherein the positioner bed is adjusted in response to the image received from the capsule camera.

23. The patient positioning system of claim 21, wherein the one or more instructions cause the capsule camera to adjust operating parameters.

24. A method for imaging a gastrointestinal tract of a patient, including a proximal portion of the patient's stomach, using a capsule camera and a patient positioning system, wherein the patient positioning system includes a positioner bed on which the patient lies, the method comprising:

administering the capsule camera to the patient through the patient's mouth, wherein the capsule camera takes pictures while passing through the patient's gastrointestinal tract without propulsive force;

for at least two target patient examination positions in a sequence of patient examination positions:

adjusting the positioner bed to a target positioner bed position associated with a target patient examination position with the patient on the positioner bed, wherein said adjusting the positioner bed comprises adjusting at least a portion of the positioner bed to tilt at an angle of tilt, adjusting the positioner bed to rotate about a longitudinal axis of the positioner bed at an angle of rotation, or adjusting both the positioner bed to rotate about the longitudinal axis and at least a portion of the positioner bed to tilt, and wherein the sequence of patient examination positions comprises at least two different angles of tilt; and

holding the positioner bed stationary at the target patient examination position for a predetermined dwell time, or continuously and slowly adjusting the positioner bed through the sequence of patient examination positions, such that the capsule camera captures stable images; and

image data captured by the capsule camera is collected.

25. The method of claim 24, wherein the sequence of patient examination positions includes at least one tilt angle corresponding to the patient's upper body lying at 10 ° to 30 °.

26. The method of claim 24, wherein the sequence of patient examination positions includes at least two different angles of rotation about the longitudinal axis of the positioner bed.

27. The method of claim 24, wherein the patient positioning system comprises a restraining device to restrain the patient on the positioner bed, and the angle of rotation has a range covering 180 ° about the longitudinal axis of the positioner bed.

28. The method of claim 24, further comprising monitoring the positioner bed position to verify that the current inspection position is in compliance.

29. The method of claim 24, further comprising issuing a series of instructions to the patient, clinician, or both to follow during said adjusting the positioner bed.

30. The method of claim 24, further comprising, for the at least two target examination locations in the sequence of patient examination locations:

positioning the patient on the positioner bed in a lying position selected from a group of lying position comprising supine, prone, patient lying to the left side and patient lying to the right side, wherein said positioning the patient on the positioner bed is performed before or after said adjusting the positioner bed to a target positioner bed position associated with a target patient examination position.

31. The method of claim 30, further comprising monitoring the patient's lying position to verify compliance of the current examination location.

32. The method of claim 31, further comprising analyzing one or more images of the patient captured by a camera located outside of the patient's body.

33. The method of claim 30, wherein the sequence of patient examination positions includes a plurality of lying positions for a selected localizer bed position.

34. The method of claim 30, further comprising transmitting data from the capsule camera, receiving the data, and adjusting the positioner bed or adjusting the patient's recumbent position, or both, in response to the data.

35. The method of claim 34, wherein the data comprises an image of the gastrointestinal tract of the patient, and said adjusting the positioner bed, adjusting the recumbent position of the patient, or both, is used to change the region of the gastrointestinal tract imaged by the capsule camera.

36. The method of claim 24, further comprising monitoring the position of the patient on the positioner bed using a sensor and issuing an alarm if the sensed position of the patient does not correspond to a target examination location.

37. The method of claim 24, wherein the capsule camera has a center of mass that is offset from a center of volume of the capsule camera such that the capsule camera is nominally oriented with the center of mass of the capsule camera below the center of volume of the capsule camera such that the at least two target patient examination locations correspond to different relative orientation angles between the capsule camera and the patient's gastrointestinal tract and at least a portion of a region of the patient's gastrointestinal tract imaged by the capsule camera at one target patient examination location is not imaged at another target patient examination location.

38. The method of claim 24, further comprising: a corresponding relationship is formed between a plurality of images in the image data and the at least two target patient examination positions when the images are captured, and the corresponding relationship, the image data and the patient examination positions are stored in a computer memory.

39. The method of claim 38, wherein the correspondence is based on image time stamps and timing of the sequence of patient examination locations determined by a computer program controlling the positioner bed or by a log of sensors monitoring patient examination locations.

40. A patient positioning system for imaging a gastrointestinal tract of a patient, including a proximal portion of the patient's stomach, with a capsule camera, the patient positioning system comprising:

a positioner bed adapted to have the patient lie thereon;

means for tilting at least a portion of the locator bed at a tilt angle; and

means for sending one or more instructions to the patient or clinician to change the recumbent position of the patient on the positioner bed or adjust the positioner bed to tilt to a target tilt angle to subject the patient to a sequence of patient examination positions to cause the capsule camera to capture images of the patient's gastrointestinal tract including a proximal portion of the patient's stomach.

41. The patient positioning system of claim 40, further comprising a bed support coupled with the positioner bed to provide support for the positioner bed.

42. The patient positioning system of claim 40, the means for transmitting one or more instructions comprising an audio device or a visual device to guide or demonstrate proper action or positioning in relation to the sequence of patient exam positions.

43. The patient positioning system of claim 40, further comprising means for monitoring the positioner bed, the patient's recumbent position, or both, to determine whether the positioner bed, the patient's recumbent position, or both, conform to a target patient examination position.

44. The patient positioning system of claim 43, the means for monitoring the positioner bed, the patient's lying position, or both, comprising means for capturing images or video of the positioner bed, the patient's lying position, or both.

Technical Field

The present invention relates to diagnostic imaging of the interior of the human body or any other living being. In particular, the present invention relates to methods and systems for imaging the upper portion of the stomach.

Background

Devices for imaging a body cavity or passage in vivo are known in the art and include endoscopes and autonomous encapsulation cameras. Endoscopes are flexible or rigid tubes that are passed into the body through a body orifice or surgical opening, usually into the esophagus via the oral cavity or into the colon via the rectum. An image is formed at the distal end by using a lens and transmitted to the proximal end outside the body through a lens relay system or through a coherent fiber bundle. A conceptually similar instrument might record an image electronically at the distal end, for example, by using a CCD or CMOS sensor array, and transmit the image data as an electrical signal to the proximal end via a cable. Endoscopes allow a physician or veterinarian to control the field of view and are a widely accepted diagnostic tool. However, they do have several limitations, pose a risk to the patient, are invasive and uncomfortable for the patient, and their cost limits their application as a conventional health screening tool.

Due to the difficulty of passing through the convoluted channel, endoscopes cannot easily reach most of the small intestine and require special techniques and precautions that add cost to reach the entire colon. Endoscopic risks include possible perforation of the body organ being passed through and complications due to anesthesia. Furthermore, a compromise must be made between patient pain during the procedure and health risks and post-procedure downtime associated with anesthesia.

An alternative in vivo image sensor that addresses many of these problems is the capsule endoscope. The camera is housed in the swallowable capsule together with a radio transmitter for transmitting data comprising mainly the images recorded by the digital camera to a base station receiver or transceiver outside the body and a data recorder. The capsule may also include a radio receiver for receiving instructions or other data from the base station transmitter. Instead of radio frequency transmission, lower frequency electromagnetic signals may be used. Power may be supplied inductively from an external inductor to an internal inductor within the capsule or from a battery within the capsule.

An Autonomous capsule Camera system with On-board data Storage is disclosed In U.S. Pat. No. 7,983,458 entitled "In Vivo Autonomous Camera with On-Board data Storage or Digital Wireless Transmission In regulated apparatus attached Band", granted 7/19/2011. This patent describes a capsule system that stores captured images by using on-board storage (e.g., semiconductor non-volatile archive memory). After the capsule has passed within the body, it is retrieved. The capsule shell is opened and the stored images are transmitted to a computer workstation for storage and analysis. For capsule images received via wireless transmission or retrieved from on-board storage, the images would have to be displayed and examined by a diagnostician to identify potential abnormalities.

While a forward-looking capsule camera includes one camera, there are other types of capsule cameras that use multiple cameras to provide side-view or panoramic views. A lateral or reverse angle is required to properly view the tissue surface. It is important for a physician or diagnostician to see all regions of these organs, as polyps or other irregularities need to be observed adequately for accurate diagnosis. A camera configured to capture a PANORAMIC image of the environment surrounding the camera is disclosed in U.S. patent No. 7,817,354 entitled "PANORAMIC IMAGING SYSTEM," granted 10/19/2010.

Although Capsule Endoscopy (CE) is an important diagnostic tool for visualizing the Gastrointestinal (GI) tract, most commercial capsule endoscopes are used to visualize the esophagus, small intestine, or colon. Although capsules pass through the stomach after being swallowed by a patient, they typically do not adequately image the entire stomach for definitive diagnosis. After entering the proximal stomach from the esophagus, they descend rapidly to the distal stomach under the influence of gravity. Due to the limited field of view (FOV) of the camera in the capsule, certain gastric mucosal surfaces (especially in the fundus and cardia) cannot be captured within the camera's field of view. Due to the rapid drop of the capsule, the illumination control has no time to optimize the exposure for each imaged surface, and the captured image may exhibit motion blur. Once the capsule resides in the bottom of the stomach, it cannot visualize the proximal portion of the stomach. Fig. 1 shows a scenario where the capsule camera facing the end resides in the bottom of the stomach with the camera facing upwards. The field of view (FOV) of the camera is indicated. In addition, the portions around the stomach are marked. The stomach is partially filled with fluid and fluid lines are marked. If the center of mass of the capsule is offset from the center of volume in a direction away from the camera, the capsule will be oriented vertically with the camera facing upward. However, the fundus is located far away and viewed at low magnification, and it may be located outside the depth of field of the camera and therefore unclear. Moreover, the stomach does not normally distend as shown in FIG. 1. As the stomach contracts and folds more, the capsule does not always have a clear line of sight from one area of the stomach to another.

The capsule endoscope is generally not effective for diagnosing the upper (i.e., proximal) stomach, studies by Jun et al have reported low Detection rates associated with the use of the capsule endoscope to detect Gastric cancer in the upper stomach (Detection of Gastric administration, cervical Gastric intestinal diagnostic, nasal catheter, volume probe, volume Gastric diagnostic probe and clinical diagnostic, vocal catheter, volume diagnostic probe, volume therapeutic, volume nuclear, volume diagnostic, volume nuclear, volume diagnostic, patient nuclear, patient diagnostic, patient diagnostic, patient diagnostic, patient diagnostic, patient nuclear diagnostic, patient nuclear, patient diagnostic, patient diagnostic, patient diagnostic patient, patient diagnostic head, patient diagnostic.

In order to manipulate the capsule as it passes through the gastrointestinal tract of the human body, systems have previously been developed and disclosed for manipulating the capsule by means of a magnetic field. One version of such a capsule is moved around the stomach by a magnet mounted on a robotic arm while the patient is supine. The systems used to manipulate the magnets are large and expensive. Another system uses a hand-held magnet to manipulate the capsule. In either case, the clinician is required to pay close attention to guide the capsule around the stomach and manipulate the pose position of the camera to view the entire stomach.

Accordingly, it is desirable to develop methods or systems that can manipulate the location of a capsule within the stomach of a patient without the need for complex equipment. Moreover, it is desirable that the methods and systems be simple for the clinician and patient.

Disclosure of Invention

A patient positioning system for imaging a gastrointestinal tract of a patient, including a proximal portion of a stomach, with a capsule camera is disclosed. The patient positioning system comprises: a positioner bed adapted to have the patient lie thereon; a support coupled to the locator bed to provide support for the locator bed; means for tilting at least a portion of the locator bed at a tilt angle; means for rotating the locator bed to a rotational angle about a longitudinal axis of the locator bed; and a controller or state machine coupled to the positioner bed to control the tilt angle, the rotation angle, or both, such that the patient on the positioner bed undergoes a sequence of patient examination positions.

The patient positioning system may further comprise restraint means (restraint) to restrain the patient on the positioner bed. The angle of rotation has a range covering at least 180 ° of rotation about the longitudinal axis of the locator bed. The patient positioning system may also include a monitoring device. For example, the monitoring device may correspond to a monitoring subsystem to monitor the tilt angle, the rotation angle, or a combination thereof to verify whether the current inspection position is in compliance. The monitoring subsystem may include an image input device to capture one or more images of the postural position of the patient to determine the current examination position. The patient positioning system may also include means for sending instructions to the patient or clinician to change the lying position of the patient on the positioner bed or adjust the positioner bed to tilt to a target tilt angle to cause the positioner bed to undergo a sequence of patient examination positions to cause the capsule camera to capture images of the gastrointestinal tract of the patient, including a proximal portion of the patient's stomach. For example, the means for sending instructions may include a user interface to issue a series of instructions to the patient or clinician to change the position of the patient on the positioner bed in accordance with the sequence of patient examination positions. The series of instructions may be issued audibly or through a visual display to guide or demonstrate the proper action or positioning associated with the sequence of patient exam positions.

The patient positioning system may also include a memory device to store program code (programcode), wherein the program code is executable on the controller to cause the patient on the positioner bed to undergo the sequence of patient examination positions. The program code may be configured to cause at least two different tilt angles to be included in the sequence of patient examination positions. The program code may also be configured to cause at least one tilt angle corresponding to the patient's upper body being reclined by about 10 ° to about 30 ° to be included in the sequence of patient examination positions. The program code may be configured to cause a set of tilt angles to be included in the sequence of patient examination positions, wherein the set of tilt angles corresponds to the upper body of the patient being reclined in small steps (step) to a first angle and then to a second angle, and wherein the first angle and the second angle correspond to 10 ° and 30 °, respectively, or 30 ° and 10 °, respectively. The program code may also be configured to make the predetermined dwell time dependent on a frame acquisition rate of the capsule camera such that at least one frame is acquired every 2 degrees within the tilt angle range (e.g., about 0 ° to 10 °, 0 ° to 15 °, 0 ° to 20 °, or 0 ° to 30 °). The change in tilt may be continuous, not residing at a fixed position, but slow enough to minimize sloshing of fluid in the stomach, and slow enough relative to the capsule camera frame rate to capture at least one frame every 2 degrees within the range of tilt angles. In yet another embodiment, the program code is configured to cause at least two different angles of rotation about the longitudinal axis of the locator bed. In another embodiment, the program code is configured to return the positioner bed to a flat position as the patient changes position, thereby saving the patient's effort and reducing the risk of falling from the positioner bed. In yet another embodiment, the program code is configured to cause the positioner bed to remain stationary at each patient examination position for a predetermined dwell time to cause the capsule camera to capture stable images. The predetermined dwell time may correspond to 5 to 10 seconds. The change in rotation angle may be continuous, not residing at a fixed position, but slow enough to minimize sloshing of fluid in the stomach, and slow enough relative to the capsule camera frame rate to acquire at least one frame every 2 degrees over the rotation angle range. The patient positioning system may also include a viewing subsystem to display images captured by the capsule camera, wherein the postural position, the inclination angle, or both of the patient associated with each image are displayed by the viewing subsystem.

The patient positioning system may also include a communication channel to communicate with the capsule camera. The communication channel may be configured to receive images or other sensor data captured by the capsule camera, to transmit one or more instructions to the capsule camera, or both. The positioner bed may be adjusted in response to the image received from the capsule camera. The instructions may cause the capsule camera to adjust an operating parameter.

The invention also discloses a method for imaging a gastrointestinal tract of a patient, including a proximal portion of the patient's stomach, using a capsule camera and a patient positioning system, wherein the patient positioning system includes a positioner bed on which the patient lies. The method comprises the following steps: administering the capsule camera to a patient in a manner that swallows the capsule camera via the patient's mouth, wherein the capsule camera takes pictures without propulsive force while traversing the patient's gastrointestinal tract. For each target patient examination position of a sequence of patient examination positions: adjusting the positioner bed to a target positioner bed position associated with the target patient examination position with the patient on the positioner bed, wherein said adjusting the positioner bed comprises adjusting the positioner bed to tilt at an angle of tilt, adjusting the positioner bed to rotate at an angle of rotation about a longitudinal axis of the positioner bed, or adjusting the positioner bed to tilt and rotate, and wherein the sequence of patient examination positions comprises at least two different angles of tilt. The positioner bed is held stationary at the target patient examination position for a predetermined dwell time to allow the capsule camera to capture stable images. Image data captured by the capsule camera is collected.

The present invention also discloses another patient positioning system for imaging a gastrointestinal tract of a patient, including a proximal portion of the patient's stomach, with a capsule camera. The patient positioning system comprises: a positioner bed adapted to have the patient lie thereon; a bed support coupled to the positioner bed to provide support for the positioner bed; means for tilting at least a portion of the locator bed at a tilt angle; and means for sending one or more instructions to the patient or clinician to change the recumbent position of the patient on the positioner bed or adjust the positioner bed to tilt to a target tilt angle to cause the positioner bed to undergo a sequence of patient examination positions to cause the capsule camera to capture images of the patient's gastrointestinal tract including a proximal portion of the patient's stomach. The patient positioning system may also include means for monitoring the positioner bed, the patient's recumbent position, or both, to determine whether the positioner bed, the patient's recumbent position, or both, conform to a target patient examination position. The means for transmitting one or more instructions may include audio means or visual means to guide or demonstrate the proper action or positioning in relation to the sequence of patient examination positions. The means for monitoring the positioner bed, the patient's lying position, or both, may include means for capturing images or video of the positioner bed, the patient's lying position, or both.

Drawings

Fig. 1 shows a scenario where a forward-looking capsule camera is lowered to the bottom of the stomach, where the field of view (FOV) of the camera is hardly capable of performing good imaging of the upper part of the stomach.

Fig. 2A shows a scenario in which a patient lies on a patient positioning system and includes a positioner bed on which the patient lies and a support resting on a floor, wherein the positioner bed can be tilted to raise or lower the upper portion of the patient.

Fig. 2B shows a front view of a patient on the positioner bed, wherein the positioner bed can be rotated about its longitudinal axis.

Fig. 3 shows various scenarios of the capsule camera in the stomach with the stomach partially filled with fluid, where each scenario corresponds to the positioner bed being at a target tilt angle and the patient being in a selected recumbent position.

FIG. 4 shows an example process of having the capsule camera take images at a set of tilt angles of the positioner bed and a set of patient lying positions.

FIG. 5 shows an example flow diagram for imaging a patient's upper stomach using the patient positioning system and capsule camera in accordance with this invention.

FIG. 6 illustrates another example flow diagram for imaging a patient's upper stomach using the patient positioning system and capsule camera in accordance with this invention.

Detailed Description

It will be readily understood that the components of the present invention, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following more detailed description of the embodiments of the systems and methods of the present invention, as represented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.

Reference throughout this specification to "one embodiment," "an embodiment," or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, and so forth. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the invention.

Example embodiments of the invention will be better understood by reference to the drawings, wherein like reference numerals refer to like parts throughout. The following description is intended only by way of example, and simply illustrates certain selected embodiments of devices and methods that are consistent with the invention as claimed herein.

To overcome the limitations of existing solutions, we disclose a capsule camera system that can manipulate the capsule position within the patient's stomach without the need for complex equipment, simple for the clinician and the patient.

In accordance with the present invention, a patient positioning system is disclosed. Preferably, the capsule is ingested by the patient by swallowing, but if the patient fails to swallow, the capsule can be endoscopically placed in the stomach. The patient lies on the patient positioning system before or immediately after the patient ingests the capsule camera. The patient positioning system may then be operated to position the patient in various positions to image the proximal portion of the stomach, including the cardia and fundus. However, the present invention is not limited to visualizing the stomach. Fig. 2A (side view) and 2B (front view) illustrate example patient positions. The patient lies on a patient positioning system 200 that includes a surface 220 (e.g., a positioner bed) on which the patient 210 lies, and a bed support 230 to support the positioner bed in fig. 2A. The bed support is also referred to as a cradle in this disclosure. The bracket may be placed on the floor or it may be attached to a wall or ceiling. The support may include casters or wheels at the bottom so that the patient positioning system can be easily moved around. It may support the positioner bed from below, from the side, or from above. The surface may be rectangular or other similar shape for the patient to lie on while the patient's body is fully supported. For convenience, the two ends of the locator bed may be referred to as a head end 222 and a foot end 224. According to the invention, the surface inclination can be manipulated. For example, the foot end 224 may be raised or lowered as indicated by the arrowed line 240. In another example, the head end 222 may be raised or lowered as indicated by arrow line 250. In yet another example, both the head end 222 and the foot end 224 may be manipulated to be raised or lowered. Moreover, the positioner bed need not be a single rigid piece. For example, the positioner bed may include two portions connected by a joint 260 at a location near the center. Accordingly, the head 262 can be moved without affecting the foot 264. During imaging, the inclination of the torso of the patient is noticeable. In the following discussion, references to the inclination or tilt angle of the positioner will be understood to refer to the portion of the positioner that supports the torso, while other portions of the head and lower limbs may be supported at different tilt angles as required for patient comfort and safety. The positioner may also include an actuator, a control device, an audio-visual apparatus, a restriction device, a user interface, and a computer. Some of the devices, such as the computer, may be physically separated from the rest of the positioner, but connected by a communications channel.

In fig. 2A, surface 220 is shown in a horizontal position and the capsule is passing from the mouth through the esophagus to the stomach. The center of mass of the capsule is offset toward one end from the center of volume of the capsule so that the capsule remains in an approximately vertical orientation under the force of gravity in the absence of other forces. If the center of mass is also offset in the transverse plane of the capsule, its nominal orientation will be slightly tilted from vertical. The forces exerted by the stomach and the forces moving the liquid at the contact points may temporarily bias the position of the capsule away from the nominal orientation. In one embodiment, the capsule camera has a center of mass offset from a center of volume of the capsule camera such that the capsule camera is nominally oriented with the center of mass of the capsule camera below the center of volume of the capsule camera such that the at least two target patient examination positions correspond to different relative orientation angles between the capsule camera and the patient's gastrointestinal tract and at least a portion of a region of the patient's gastrointestinal tract imaged by the capsule camera at one target patient examination position is not imaged at another target patient examination position.

The patient positioning system controls the orientation of the patient. In the simplest case, the positioner may simply be a standard hospital bed that can be tilted to raise or lower the upper torso of the patient relative to the lower torso (i.e., rotated about an axis in the transverse plane of the patient). To visualize the proximal gastric region, e.g. fundus and cardia, the positioner bed is tilted at an angle, e.g. 10 °, 20 °, 30 °, 40 °, or 50 °, and the patient is partially inverted. As human anatomy may vary greatly between individuals. Positioning systems that have few pose positions and move between pose positions faster can result in inferior systems. Some posture positions have a specific inclination angle, e.g. any position between 10 ° and 30 ° is optimal, depending on the individual anatomy. For example, 16 ° may be optimal for subject a, while 29 ° may be optimal for subject B. In a preferred embodiment, the positioner bed can be moved in small steps (e.g., every 0.5 °, 1 °, or 2 °) from 10 ° to 30 ° in an inclined position. At each target patient examination location, the positioner bed will remain stationary for a predetermined dwell period. For example, a duration of 5 to 10 seconds may be good enough. Alternatively, there may be several steps as refinements, each residing for a few seconds. In yet another embodiment, the pose position varies continuously but slowly enough from 10 ° to 30 °, so that objects with wide anatomical differences in terms of angle (or orientation) can have images taken at or near the optimal position. The speed of the angular or positional movement is related to the camera frame rate such that 1 frame is taken per degree for each degree within 10-30 of the example above. These are practical considerations and more important requirements. Furthermore, care needs to be taken to prevent the capsule from prematurely exiting the stomach through the pyloric valve due to gravity during visualization of the proximal stomach.

In addition, the patient may also be rolled about their longitudinal axis to change their orientation on the positioner, for example, to lie prone, supine, to lie towards the left side, or to lie towards the right side. By combining the rolling motion with the positioner bed tilt, multiple body orientations can be achieved.

In order for the patient to roll easily and safely from side to side, the positioner bed can be returned to a flat position as the patient changes position, thereby saving the patient's effort and reducing the risk of falling from the positioner. After each longitudinal roll, the positioner may be tilted again to partially invert the patient. With each tilt of the positioner bed, the capsule moves along the stomach, moving distally when the positioner bed is horizontal or tilted forward, and moving proximally when the positioner bed is tilted backward. This capsule movement allows a series of camera views about the mucosa in the stomach, including views of the surface inside the folds of the stomach wall, which may be missed if the capsule is stationary.

In another embodiment, the positioner bed may be rotated along its longitudinal axis, as shown in fig. 2B, without requiring the patient to roll from one position to another. The patient may be restrained on the bed by optional restraint means such as one or more frames, harnesses, straps, belts, and/or rods. The positioner bed may then be rotated about the longitudinal axis a maximum rotational angle. For example, the rotation angle may be up to ± 90 °. In another example, the angle of rotation may be up to ± 180 ° (i.e., 360 ° in total). By rotation about two axes, e.g. a longitudinal axis and a transverse axis, the patient positioning system can position the patient's body at any angle with respect to the gravitational field.

In yet another embodiment, the patient positioning system can move the patient smoothly through a programmed sequence of motions autonomously without any action by the patient or system operator. The system includes a memory for storing a program and a motion controller for controlling the motion of the positioner. In a hospital environment, if the tool is difficult and complex to use, it will take a lot of time to learn how to use the tool correctly and properly. In addition, constant relearning is required to keep the skills fresh. Moreover, in a hospital environment, errors are prone to occur, and patients can pay a costly price for this. Often, the consequences of the error are irreversible and even death. Therefore, this complex serial positioning must be simplified by automating the system through a controller to minimize the workload of nurses or other health professionals and to make the examination process useful and practical in a hospital environment.

Fig. 3 shows an example of imaging the upper part of the stomach by manipulating the patient positioning system to bring the capsule to an estimated position, wherein the diagram of the capsule in the stomach is viewed from the front side for diagram 310 and 340. Graph 310 shows a non-buoyant (specific gravity SG >1) capsule in the stomach when the patient is upright. The capsule is located at or near the pylorus in the distal stomach. If the patient has recently drunk enough liquid (e.g., water), the capsule will be located below the fluid line. In these examples, the capsule camera has a panoramic field of view and captures images through the sidewall of the capsule housing within a 360 ° transverse field of view. In fig. 320, the patient is lying towards his/her left side and the capsule is moved into the proximal stomach. Fig. 330 and 340 show the same two stomach positions, with the capsule buoyant (SG < 1). In fig. 350, the stomach is shown from the right side when the patient is lying prone. In fig. 360, the stomach is shown from the left side of the patient in a supine position. Rotating the patient along the longitudinal axis causes various surfaces of the stomach to be imaged by the capsule. For example, the capsule is imaged as the cardia in fig. 350 and 360, but not in fig. 320. In the diagram 370, the patient is shown effectively tilted 20 from the position of the diagram 360, thereby shifting the field coverage of the gastric mucosa. Likewise, a similar field of view shift is achieved by tilting the patient from the position shown in figures 320, 340 and 350.

Visualization through water is preferred over visualization through air or other gases because reflection and scattering of the imaging light at the capsule surface is minimized, magnification of distant objects is increased, and specular reflection of mucosal surfaces is eliminated. If the camera is located at the lighter end of the capsule, the capsule with a transverse field of view mainly visualizes the submerged surface, while the capsule with a longitudinal field of view (fig. 1) mainly views the surface in air. If the camera is located at the heavier end of the capsule, the capsule with a longitudinal field of view will tend to view the submerged surface, but the camera will typically be very close to or in contact with the stomach wall, especially if it is not buoyant, and therefore may not be able to capture some mucosal surface in the image data.

The patient positioning system may include a subsystem that helps ensure that the patient properly undergoes the sequence prescribed action. If the positioner bed is tilted only about one or more transverse axes, but not longitudinally, the patient must perform a series of rolls (ideally with their own power) and these rolls must be synchronized with the bed motion. The clinician can control the bed movement and verbally guide when and how the patient rolls. The positioner may include a user interface that issues a series of instructions to the clinician or patient. For example, the patient positioning system may include a display that displays instructions in words and/or pictograms (pictograms). The locator may be instructed through the use of audio or video. The instructions may be directed to a clinician. Alternatively, they may be targeted to the patient. The positioner may follow a time control program stored in memory. The sequence may include issuing instructions to the patient and adjusting the patient positioning system position. The system may include a sensor, such as a camera, to monitor the position of the patient. If the patient does not comply with the indication, various actions may be taken, such as repeat indication or calling the clinician to help. In addition, the patient monitoring subsystem may issue an alarm if the patient falls or is in distress. The system may also analyze one or more images of the patient captured by a camera external to the patient. Based on the image analysis, the system may determine whether the current inspection location is in compliance.

In one embodiment, the patient positioning system may also include a viewing subsystem that may be configured to display the captured images. Also, the viewing subsystem may be configured to emphasize relevant images from 10-30 ° above to a healthcare professional or viewer based on time or image sequence in combination with frame rate or both. In general, the viewing subsystem may be configured to display a position and angle associated with each image. The viewing subsystem may include a processor, CPU (central processing unit) or similar programmable device such that a desired set of processing steps may be performed in accordance with software (e.g., various program code or assembly code) or firmware. The viewing subsystem may also be based on a notebook or mobile device, such as a tablet computer.

Fig. 4 shows an example control program for operating the patient positioning system. As mentioned before, the patient positioning system comprises a positioning couch, which can be tilted (incline) or tilted (recine) in the lateral direction. Further, the positioning bed may be rotated about the longitudinal axis. The program may set the positioning table to a lateral position m, as shown in step 410, where the initial position may be m-0. Next, the patient is instructed to move to the recumbent position n, as shown in step 420, where the initial roll position may be n-0. In step 430, compliance is verified from the monitoring information to check whether the patient is properly positioned on the positioning couch. The monitoring information may be based on image/video data captured when the patient is confined to the positioning couch. Other sensor inputs may also be used to determine whether the patient is in the proper position. The positioner bed will remain stationary for a predetermined dwell period so that a stable image can be acquired, as shown in step 440. In step 450, n and m are incremented. In step 460, n is checked to determine if n reaches a maximum n _ max. If n is equal to n _ max (i.e., the "yes" path from step 460), then the process proceeds to step 470. Otherwise (i.e., the "no" path from step 460), the process proceeds to step 420. In step 470, n is set to 0. In step 480, m is checked to determine if m reaches a maximum m _ max. If mn is equal to m _ max (i.e., the "yes" path from step 450), the process terminates. Otherwise (i.e., the "no" path from step 480), the process returns to step 410.

FIG. 5 illustrates an example flow chart for imaging a gastrointestinal tract of a patient using the patient positioning system and capsule camera in accordance with this invention. In step 510, the capsule camera is administered to the patient in a manner that swallows the capsule camera via the patient's mouth, wherein the capsule camera takes pictures autonomously while passing through the gastrointestinal tract of the patient. In step 520, the target inspection position is set to the first target inspection position. In step 530, the patient positioning system is adjusted to a target patient bed position associated with the target examination position with the patient on the patient bed, wherein said adjusting the patient positioning system comprises adjusting the patient bed to be tilted at a tilt angle and the set of examination positions comprises at least two different tilt angles. In step 540, the patient positioning system remains stationary at the target examination location for a predetermined period of time to allow the capsule camera to capture a stable picture. In step 550, it is checked whether all target inspection positions are completed. If all target inspection locations are completed (i.e., "yes" path from step 550), then step 570 is performed in which the image data captured by the capsule camera is collected and the process is terminated. Otherwise (i.e., the "no" path from step 550), the target inspection location is moved to the next target inspection location, as shown in step 560, and the process proceeds to step 530. If the capsule endoscope has on-board storage for the image data, the collecting image data may correspond to reading out image data from the on-board memory. If the capsule endoscope uses a wireless transmitter to transmit the captured images, the collected image data may correspond to transmitting data from the transmitter to a base station receiver outside the body and transmitting the image data from the receiver to a system memory.

FIG. 6 illustrates another example flow diagram for imaging a gastrointestinal tract of a patient using the patient positioning system and capsule camera in accordance with this invention. The system of fig. 6 is substantially similar to the system of fig. 5, except that an additional step (610) is inserted between steps 530 and 540. In step 610, the patient is positioned on the positioner bed in a recumbent position selected from a group of recumbent positions including supine, prone, with the patient lying to the left, and with the patient lying to the right.

The patient positioning system may include a communication channel to communicate with the capsule camera. The communication channel may correspond to transmission only, reception only, or both transmission and reception. The in vivo image data may be transmitted in real time or stored in memory in the capsule and transmitted after some delay. Video data may be displayed to the clinician on a monitor and the patient positioner position and the patient's lying position on the positioner may be adjusted in response to the video data. For example, once the target stomach surface is visualized on the monitor, the patient position may be changed without residing at the examination location in the prescribed series for a predetermined time interval. If the target surface is not visualized, the patient's position can be adjusted as needed to achieve a full examination. The change in position may occur due to an action taken by a clinician viewing the video (e.g., controlling the positioner by manual manipulation or issuing an instruction to the positioner controller through a user interface); the clinician may indicate to the patient to change his or her lying position; or the clinician may issue an instruction or status update to the control system, such as completion of a visualization task in a series of visualization tasks, which in turn issues an indication to the patient, such as by audio or video. As described earlier, the monitor may be part of the viewing subsystem of the patient positioning system.

The communication channel may also be used to transmit instructions to the capsule to adjust operating parameters such as camera frame rate, focal length, exposure, or illumination. The appropriately enabled capsule may also be instructed to collect a biopsy or perform a treatment. Some capsule embodiments may include propulsion and navigation systems that may be controlled by instructions sent via the communication channel. These instructions may be synchronized with the control of the positioner bed position to synchronize the navigation of the capsule with the changes in the examination position to optimize gastric surface visualization. Moreover, the system may adjust the positioner bed, adjust the patient's recumbent position, or both, in response to the received data. For example, the data may include an image of the gastrointestinal tract of the patient, and the adjusting the positioner bed, adjusting the recumbent position of the patient, or both are performed to change the region of the gastrointestinal tract imaged by the capsule camera.

In another embodiment of the present invention, the system may include forming a correspondence between a plurality of images in the image data and the at least two target patient examination locations at the time the images were captured, and storing the correspondence, the image data, and the patient examination locations in a computer memory. The correspondence may be based on the image time stamp and the timing of the serial patient exam position as determined by a computer program controlling the positioner bed or as determined by a log of sensors monitoring the patient exam position.

The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The above examples should be considered in all respects only as illustrative and not restrictive. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. All changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.

The claims (modification according to treaty clause 19)

1. A patient positioning system for imaging a gastrointestinal tract of a patient, including a proximal portion of the patient's stomach, with a capsule camera, the patient positioning system comprising:

a positioner bed adapted to have the patient lie thereon;

means for tilting at least a portion of the locator bed at a tilt angle;

means for rotating the locator bed to a rotational angle about a longitudinal axis of the locator bed; and

a controller or state machine coupled to the positioner bed to control the tilt angle, the rotation angle, or both, such that the patient on the positioner bed undergoes a sequence of patient examination positions; and

wherein the rate of tilt and rotation angle changes is dependent on the frame capture rate of the capsule camera such that for every two degree change in positioner tilt and rotation angle, at least one frame is captured.

2. The patient positioning system of claim 1, further comprising a bed support coupled with the positioner bed to provide support for the positioner bed.

3. The patient positioning system of claim 1, further comprising a restraint device to restrain the patient on the positioner bed.

4. The patient positioning system of claim 1, wherein the angle of rotation has a range covering at least 180 ° of rotation about the longitudinal axis of the positioner bed.

5. The patient positioning system of claim 1, further comprising a monitoring subsystem to monitor the tilt angle, the rotation angle, or a combination thereof to verify that the current examination location is compliant.

6. The patient positioning system of claim 5, wherein the monitoring subsystem comprises an image input device to capture one or more images of the postural position of the patient to determine the current examination position.

7. The patient positioning system of claim 1, further comprising a user interface to issue a series of instructions to the patient or clinician to change the position of the patient on the positioner bed in accordance with the sequence of patient examination positions.

8. The patient positioning system of claim 7, wherein the series of instructions are issued audibly or through a visual display to guide or demonstrate the proper action or positioning in relation to the sequence of patient exam positions.

9. The patient positioning system of claim 1, further comprising a memory device to store program code, wherein the program code is executable on the controller to cause the patient on the positioner bed to undergo the sequence of patient examination positions.

10. The patient positioning system of claim 9, wherein the program code is configured to cause at least two different tilt angles to be included in the sequence of patient examination positions.

11. The patient positioning system of claim 9, wherein the program code is configured to cause at least one tilt angle to be included in the sequence of patient examination positions, the at least one tilt angle corresponding to an angle at which the upper body of the patient lies diagonally in a range from 10 ° to 30 °.

12. The patient positioning system of claim 11, wherein the program code is configured to cause a set of tilt angles to be included in the sequence of patient examination positions, wherein the set of tilt angles corresponds to the upper body of the patient being reclined in small steps to a first angle and then to a second angle, and wherein the first angle is about 0 ° or less and the second angle is in a range from 10 ° to 30 °.

13. The patient positioning system of claim 11, wherein the program code is configured to tilt at least a portion of the positioner bed in a continuous motion.

14. The patient positioning system of claim 9, wherein the program code is configured to cause at least two different angles of rotation about the longitudinal axis of the positioner bed.

15. The patient positioning system of claim 9, wherein the program code is configured to change the tilt angle and the rotation angle at a rate slow enough to minimize instability in capsule orientation and cause the capsule camera to capture stable images.

16. The patient positioning system of claim 15, wherein the program code is configured to hold the positioner bed stationary in at least one examination position for a predetermined dwell time.

17. The patient positioning system of claim 9, wherein the program code is configured to return the positioner bed to a flat position as the patient changes position, thereby saving the patient's effort and reducing the risk of falling from the positioner bed.

18. The patient positioning system of claim 9, further comprising a viewing subsystem to display images captured by the capsule camera, wherein the postural position, the inclination angle, or both of the patient accompanying the capture of at least one displayed image is displayed by the viewing subsystem concurrently with the at least one displayed image.

19. The patient positioning system of claim 9, further comprising a communication channel to communicate with the capsule camera.

20. The patient positioning system of claim 19, wherein the communication channel is configured to receive images or other sensor data captured by the capsule camera, to transmit one or more instructions to the capsule camera, or both.

21. The patient positioning system of claim 20, wherein the positioner bed is adjusted in response to the image received from the capsule camera.

22. The patient positioning system of claim 20, wherein the one or more instructions cause the capsule camera to adjust operating parameters.

23. A method for imaging a gastrointestinal tract of a patient, including a proximal portion of the patient's stomach, using a capsule camera and a patient positioning system, wherein the patient positioning system includes a positioner bed on which the patient lies, the method comprising:

administering the capsule camera to the patient through the patient's mouth, wherein the capsule camera takes pictures while passing through the patient's gastrointestinal tract without propulsive force;

while the capsule camera is in the patient's stomach, for each of at least two target patient examination positions in a sequence of patient examination positions:

adjusting the positioner bed to a target positioner bed position associated with a target patient examination position with the patient on the positioner bed, wherein said adjusting the positioner bed comprises adjusting at least a portion of the positioner bed to tilt at an angle of tilt, adjusting the positioner bed to rotate about a longitudinal axis of the positioner bed at an angle of rotation, or adjusting both the positioner bed to rotate about the longitudinal axis and at least a portion of the positioner bed to tilt, and wherein the sequence of patient examination positions comprises at least two different angles of tilt; and

holding the positioner bed stationary at the target patient examination position for a predetermined dwell time, or continuously and slowly adjusting the positioner bed through the sequence of patient examination positions, such that the capsule camera captures one or more stable images; and

collecting image data captured by the capsule camera; and

wherein the capsule camera has a center of mass that is offset from a center of volume of the capsule camera such that the capsule camera is nominally oriented with the center of mass of the capsule camera below the center of volume of the capsule camera, and wherein the at least two target patient examination positions correspond to at least two different relative orientation angles between the capsule camera and the patient's gastrointestinal tract such that the capsule camera images at least two partially different regions of the patient's stomach.

24. The method of claim 23, wherein the sequence of patient examination positions includes at least one tilt angle corresponding to the patient's upper body lying at 10 ° to 30 °.

25. The method of claim 23, wherein the sequence of patient examination positions includes at least two different angles of rotation about the longitudinal axis of the positioner bed.

26. The method of claim 23, wherein the patient positioning system comprises a restraining device to restrain the patient on the positioner bed, and the angle of rotation has a range covering 180 ° about the longitudinal axis of the positioner bed.

27. The method of claim 23, further comprising monitoring the positioner bed position to verify that the current inspection position is in compliance.

28. The method of claim 23, further comprising issuing a series of instructions to the patient, clinician, or both to follow during said adjusting the positioner bed.

29. The method of claim 23, further comprising, for the at least two target examination locations in the sequence of patient examination locations:

positioning the patient on the positioner bed in a lying position selected from a group of lying position comprising supine, prone, patient lying to the left side and patient lying to the right side, wherein said positioning the patient on the positioner bed is performed before or after said adjusting the positioner bed to a target positioner bed position associated with a target patient examination position.

30. The method of claim 29, further comprising monitoring the patient's lying position to verify compliance of the current examination location.

31. The method of claim 30, further comprising analyzing one or more images of the patient captured by a camera located outside of the patient's body.

32. The method of claim 29, wherein the sequence of patient examination positions includes a plurality of lying positions for a selected localizer bed position.

33. The method of claim 29, further comprising transmitting data from the capsule camera, receiving the data, and adjusting the positioner bed or adjusting the patient's recumbent position, or both, in response to the data.

34. The method of claim 33, wherein the data comprises an image of the gastrointestinal tract of the patient, and the adjusting the positioner bed, adjusting the recumbent position of the patient, or both, is used to change the region of the gastrointestinal tract imaged by the capsule camera.

35. The method of claim 23, further comprising monitoring the position of the patient on the positioner bed using a sensor and issuing an alarm if the sensed position of the patient does not correspond to a target examination location.

36. The method of claim 23, further comprising: a corresponding relationship is formed between a plurality of images in the image data and the at least two target patient examination positions when the images are captured, and the corresponding relationship, the image data and the patient examination positions are stored in a computer memory.

37. The method of claim 36, wherein the correspondence is based on image time stamps and timing of the sequence of patient exam positions as determined by a computer program controlling the positioner bed or as determined by a log of sensors monitoring patient exam positions.