Dual-beam dual-magnet capsule for endoscopy in stomach

Abstract

A swallowable capsule has a main magnet along a long axis that is aligned between movable electromagnets in a magnetic endoscopy machine. The flipping magnet is orthogonal to the long axis. The capsule rolls around the long axis to flip the orientation of the side camera on the side of the capsule. An external basic electromagnet under the foot of the patient is energized to roll the capsule. When the long axis is orthogonal to the magnetic axis of the basic magnet, the basic magnet acts on the overturning magnet but does not act on the orthogonal main magnet. Most components, such as controllers, side cameras, side lasers, batteries, and antennas, are mounted to a long printed circuit board (PCB) along a long axis, while front cameras and lasers are mounted to a front PCB mounted orthogonally to a front edge of the long PCB.

Description

TECHNICAL FIELD

[0001] The present invention relates to medical screening devices, and more particularly to capsule endoscopy of the stomach. BACKGROUND

[0002] Routine medical screening can save lives, as early detection before symptoms arise can allow early diagnosis and intervention before disease progression. For certain age groups, colonoscopy is routinely performed every 10 years to screen for signs of cancer in the general population well before symptoms develop. Endoscopy similarly shows potential for screening for gastric problems.

[0003] Recently, magnetic capsule endoscopy is being developed. The patient swallows a small capsule containing a camera, light source, battery, wireless transmitter, and magnet. The patient then lies on or stands in a magnetic endoscopy machine, which uses movable magnets outside the stomach to move the capsule in position and angle within the patient's stomach. Images taken by the capsule are wirelessly transmitted for display or analysis.

[0004] Figure 1 shows a magnetic endoscopy capsule being moved by external magnets in a patient's stomach. Capsule 11 is inside the patient's stomach, while electromagnets 12, 14 are external magnets that are moved outside the patient's body, but near his stomach. When both electromagnets 12, 14 are energized by current flowing through their coils, they create a magnetic field that exerts a magnetic force on the fixed magnet inside capsule 11. While the north (N) and south (S) poles of the fixed magnet in capsule 11 are fixed, the N and S poles of electromagnets 12, 14 can be flipped by reversing the direction of current flow through the coils. In this example, the N pole of electromagnet 12 is closest to capsule 11, attracting the S pole inside capsule 11, while the S pole of electromagnet 14 faces capsule 11, attracting the N pole inside capsule 11.

[0005] Electromagnets 12, 14 can be physically moved, such as by attachment to a tracking mechanism. When both electromagnets 12, 14 are energized and moved upward, capsule 11 is pulled upward. When both electromagnets 12, 14 are energized and moved downward, capsule 11 is pulled downward, even inside the patient's stomach.

[0006] Figure 2 shows the capsule being tilted upward. When electromagnet 12 is energized and moved downward, while electromagnet 14 is energized and moved upward, the S pole of the magnet inside capsule 11 is pulled downward, while the N pole of the magnet inside capsule 11 is pulled upward. Thus, capsule 11 is angled upward, or tilted upward. When the camera in capsule 11 is near the right end of capsule 11, the N pole, the camera is tilted upward, allowing the camera to capture images of the upper portion of the stomach. In this rendered example, the top of the stomach is facing upward, while the bottom of the stomach is facing downward.

[0007] The pitch angle is limited by the location of the electromagnets 12, 14 and the distance to the stomach. The tracking or other mechanism that moves the electromagnets 12, 14 can have a limited size, which also limits the pitch angle. It is difficult to achieve a large pitch angle and to point the camera at the end of the capsule 11 upward to the top of the stomach. As an example, the endoscopy machine layout and its geometry can therefore limit the pitch angle to 45 degrees. When the capsule 11 has only a single camera at its tip, it can be difficult to image the top and bottom of the stomach.

[0008] To solve the problem of imaging the top and bottom of the stomach when the capsule 11 has a limited pitch, a second camera can be added. The second camera can be added on the side of the capsule 11 and faces outward from the side, rather than from the end where the tip camera is located. This side camera can then image the top of the stomach when the pitch is zero (Fig. 1).

[0009] Fig. 3 highlights the rolling problem of the endoscopy capsule. The fixed magnets inside the capsule 11 are usually placed along or parallel to the long axis, such as the longitudinal axis 16. Because the longitudinal axis 16 is along the magnetic axis, when the electromagnets 12, 14 are positioned along this axis (such as in Figs. 1, 2), the capsule 11 tends to align itself with this axis. However, the capsule 11 itself can roll around the longitudinal axis 16 because the electromagnets 12, 14 exert a force along or parallel to the longitudinal axis 16.

[0010] This uncontrolled rolling of the capsule 11 along the longitudinal axis 16 is undesirable in some situations, such as when a second camera is added on the side of the capsule 11. This side camera can face any one of the 360 degrees around the longitudinal axis 16, because the angle of rotation is uncontrolled and is random and changing.

[0011] Fig. 4 shows a prior art magnetic endoscopy capsule. The capsule 11 has fixed magnets 23 oriented parallel to the longitudinal axis. The camera 17 is placed near the right end close to the N pole. Multiple circuit boards 15 can each be small printed circuit boards (PCBs) with a circular shape to fit inside the capsule 11. Flexible wiring 13 can connect the boards 15. Other components such as integrated circuits (ICs) can be mounted to the boards 15. The size of the cutouts or holes in the boards 15 can be made to fit over the magnets 23 during assembly.

[0012] The multiple boards 15 and wiring 13 can increase cost and complexity, and can require an increase in the size of the capsule 11. A single larger board is desirable rather than having multiple boards 15 and wiring 13.

[0013] What is needed is a magnetic endoscopy capsule. What is needed is an endoscopy capsule that can be controlled to roll around a longitudinal axis. A capsule that allows imaging of the top and bottom of the stomach when the pitch angle is limited is also needed. An endoscopy capsule that mounts most of the components to a single internal board is desirable to reduce or eliminate wiring. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 shows a magnetic endoscopy capsule being moved by an external magnet in a patient's stomach.

[0015] Figure 2 shows the capsule being pitched up.

[0016] Figure 3 highlights the rolling problem of an endoscopy capsule.

[0017] Figure 4 shows a prior art magnetic endoscopy capsule.

[0018] Figure 5 is a diagram of a magnetic endoscopy capsule.

[0019] Figure 6 highlighting the flipping of the capsule using a basic magnet under a person's foot.

[0020] Figures 7A-7C showing the flipping of the capsule.

[0021] Figures 8A-8C showing a cross section of the rolling of the capsule using a flipping magnet.

[0022] Figure 9 is a polar plot.

[0023] Figures 10A-10H showing the use of a laser range finder to map the stomach wall in a capsule being pitch scanned and rotated and moved.

[0024] Figures 11A through 11D show a magnetic endoscopy capsule in more detail.

[0025] Figure 12 is a cross section of the capsule. DETAILED DESCRIPTION

[0026] The present invention relates to improvements in magnetic endoscopy capsules. The following description is presented to enable one of ordinary skill in the art to make and use the invention as provided in the context of a particular application and its requirements. Various modifications to the preferred embodiment will be apparent to those with skill in the art, and the general principles defined herein can be applied to other embodiments. Therefore, the present invention is not intended to be limited to the particular embodiments

[0027] This application describes a computer-controlled magnetic endoscopy machine with external magnets. An automated program energizes and moves the external magnets to position a magnetic capsule within the stomach. The patient stands in the endoscopy machine rather than lying down.

[0028] Figure 5 is a diagram of a magnetic endoscopy capsule. The capsule 10 is relatively small and is swallowed by a person only prior to an endoscopy screening. The capsule 10 can be activated or woken up prior to being given to the person so that the battery 90 is not depleted prior to the start of the screening.

[0029] The capsule 10 executes a program installed on a controller 94 mounted to a printed circuit board (PCB) 78 that connects power from the battery 90 to the controller 94 and to other components on or off the PCB 78, such as the cameras 72, 82 and their light emitting diodes (LEDs) 74, 84, and the lasers 76, 86.

[0030] The lasers 76, 86 can each be a vertical cavity surface emitting laser (VCSEL) with an emitter that produces a laser beam with a fixed angle that reflects off the inner walls of the stomach. The returned laser beam is then received by an image sensor, such as a CCD or CMOS sensor. The received laser beam is then analyzed to measure the distance between the capsule and the inner walls of the stomach. The physical shape of the stomach can then be mapped out by the lasers 76, 86 prior to the cameras 72, 82 capturing images. An inertial measurement unit (IMU) inside the capsule 10 can provide the position of the capsule 10 during the mapping. The IMU can be part of the controller 94 or can be a separate component mounted to the PCB 78.

[0031] The tip or end of the capsule 10 is provided with a laser 76, a camera 72, and its LED 74 so that laser distance can be measured and images can be captured from the front end of the capsule 10. The long side of the capsule 10 is also equipped with a laser 86, a camera 82, and its LED 84 so that laser distance can be measured and images can be captured from the side of the capsule 10. The LED 74 provides forward-facing illumination for the images captured by the front camera 72, while the LED 84 provides side-facing illumination for the images captured by the side camera 82.

[0032] The cameras 72, 82 and lasers 76, 86 are oriented within the stomach by external electromagnets 20, 22 that move the capsule 10 using magnetic forces applied to the main magnet 70. During the endoscopy screening, the actuators and rotation rings move within the endoscopy machine. This movement changes the magnetic field orientation, and thus the orientation of the capsule 10 to capture different images within the stomach. A sequence of such movements can be programmed into an automated screening routine so that images of the entire stomach can be quickly captured.

[0033] The main magnet 70 and the flip magnet 80 are permanent magnets mounted at right angles to each other. The main magnet 70 is larger and has a higher magnetic strength than the flip magnet 80. When the external electromagnets 20, 22 ( Figures 6-7A ) are energized, they exert a greater force on the main magnet 70 than on the flip magnet 80, causing the capsule 10 to move to align the main magnet 70 with the external magnetic field generated by the electromagnets 20, 22.

[0034] During screening, after images from the upper half of the stomach are captured by the upward-facing side camera 82, the capsule 10 can be flipped over to have the camera 82 face downward, so that the lower half of the stomach can be imaged by the side camera 82. When the capsule 10 is in or near the X-Y plane, the base electromagnet 34 ( Figures 6-8C ) is activated. The base electromagnet 34 is then nearly parallel to the main magnet 70, so that only a small net force is exerted on the main magnet 70 from the base electromagnet 34. Thus, the base electromagnet 34 primarily exerts a magnetic force on the flip magnet 80, not as great a magnetic force on the main magnet 70. This force on the flip magnet 80 causes the capsule 10 to rotate along its longitudinal axis parallel to the main magnet 70, thereby flipping the camera 82 to face downward, rather than upward.

[0035] The images captured by the cameras 72, 82 are sent to the controller 94 or its memory (not shown), and then wirelessly transmitted by the antenna 92 to a wireless transceiver on the automated magnetic endoscopy machine. The received images can then be stored and analyzed by the automated screening program. When an abnormality is detected, such as a dark spot on the stomach wall, the program can instruct the actuators and rotary ring to move the external magnets to orient the capsule 10 with the camera pointing at the site of the abnormality, so that further images can be captured. The program can also move the capsule 10 closer to the abnormality, such as by increasing the power supplied to the electromagnet 20 or 22, until the capsule 10 is over the desired site for close-up image capture.

[0036] Figure 6 The capsule is flipped using a base magnet under a person's foot. During endoscopy screening, after images from the upper half of the stomach are captured by the upward-facing side camera 82, the capsule 10 can be flipped over to have the side camera 82 face downward, so that the lower half of the stomach can be captured by the side camera 82.

[0037] Capsule 10 is inside the patient's stomach, while external electromagnets 20, 22 are outside and to the side of the stomach. Base electromagnet 34 is under the patient's feet. Base electromagnet 34 does not move, but external electromagnets 20, 22 are moved up and down in the Z direction by actuators 30, 32. Actuators 30, 32 can include track mechanisms that move external electromagnets 20, 22 up and down along tracks. Actuators 30, 32 can be mounted to a rotating ring so that external electromagnets 20, 22 can be rotated around the patient's body. Thus, external electromagnets 20, 22 can be placed at any angle around a vertical axis through the patient's head, stomach, and standing body.

[0038] When capsule 10 is close to the X-Y plane, and the amount of pitch or roll is not great, base electromagnet 34 under the patient's feet is activated. Actuators 30, 32 can be placed at the same or nearly the same Z point or setting so that electromagnet 20 and electromagnet 22 are in the same X-Y plane parallel to the floor on which the patient is standing. Alternatively, external electromagnets 20, 22 can have different Z values so that capsule 10 is only slightly pitched.

[0039] Base electromagnet 34 is then nearly parallel to main magnet 70 so that only a small net force is applied from base electromagnet 34 to main magnet 70. Thus, base electromagnet 34 primarily exerts a magnetic force on flip magnet 80, not as great a magnetic force on main magnet 70.

[0040] When the automated procedure energizes base electromagnet 34, the force that base electromagnet 34 exerts on flip magnet 80 causes capsule 10 to rotate along a longitudinal axis parallel to main magnet 70 so that side camera 82 is flipped to face downward, not upward.

[0041] The flip force required is relatively small because the rotational motion of capsule 10 faces less resistance in the stomach than the translational motion of capsule 10 faces. Thus, base electromagnet 34 does not have to be as strong, although the greater the distance to capsule 10 (from the soles of the feet to the stomach), the greater the magnetic force that can be required than for electromagnets 20, 22 that are closer.

[0042] Base electromagnet 34 can be placed under a stationary disk under the patient's feet. Base electromagnet 34 is normally off, but can be turned on briefly to flip capsule 10. Base electromagnet 34 exerts a downward magnetic field in the vertical or Z direction.

[0043] Figures 7A-7C Flipping of the capsule is shown. In Figure 7AIn the embodiment, the capsule 10 has a main magnet 70 along the longitudinal axis. The external electromagnets 20, 22, when energized, exert a magnetic force on the main magnet 70 that aligns the capsule 10 with the external electromagnets 20, 22. The magnetic force generated by the external electromagnets 20, 22 is sufficient to overcome any resistance to movement of the capsule 10 due to the viscosity of the various gastric fluids.

[0044] After a delay for any movement of the capsule 10, the capsule 10 becomes aligned with the external electromagnets 20, 22 and stops moving. The front camera 72 faces left and can capture images within the front cone 172. Likewise, the front laser 76 is directed at the center of the front cone 172 so that the laser light reflects back into the image sensor for the front camera 72 or a separate image sensor for the laser light nearby.

[0045] The side camera 82 faces down and can capture images within the side cone 182. Likewise, the side laser 86 is directed at the center of the side cone 182 so that the laser light reflects back into the image sensor for the side camera 82 or a separate image sensor for the laser light nearby.

[0046] The pole axis of the main magnet 70 includes its N and S poles and is coincident or parallel with the longitudinal axis of the capsule 10. When the external electromagnets 20, 22 are energized, the line between the main magnet 70 and the external electromagnets 20, 22 is aligned, thereby moving the capsule 10 as needed. This pole axis of the main magnet 70 is horizontal in the embodiment. Figures 7A-7C

[0047] The flip magnet 80 has a pole axis that is vertical through its N and S poles. Because the flip magnet 80 is much smaller than the main magnet 70, for most of the pitch of the capsule 10, the force exerted by the external electromagnets 20, 22 on the main magnet 70 is much greater than the force exerted on the flip magnet 80. If the capsule 10 is vertical, with the flip magnet 80 horizontally aligned between the external electromagnets 20, 22, the flip magnet 80 can have a greater translational force than the main magnet 70 in the vertical alignment, however, the magnetic moment from the main magnet 70 will still be greater than the magnetic moment from the flip magnet 80. Moreover, any movement of the gastric fluids will push the capsule 10 out of this quasi-equilibrium and allow the larger main magnet 70 to align.

[0048] ​Thus, the capsule 10 tends to align the main magnet 70 with the external electromagnets 20, 22, regardless of any counteracting force from the flip magnet 80. When the capsule 10 is horizontally aligned, the flip magnet 80 exerts little or no force because the external electromagnets 20, 22 have magnetic fields that are 90 degrees out of phase with the magnetic field of the flip magnet 80. The flip magnet 80 has magnetic poles that are orthogonal to the magnetic poles of the main magnet 70 and between the external electromagnets 20, 22. Having magnetic poles that are orthogonal or orthogonal to each other allows the main magnet 70 and the flip magnet 80 to respond to different external magnets without interfering with each other.

[0049] The base electromagnet 34 is placed under the patient's foot and has vertical magnetic poles. The external electromagnets 20, 22 are placed to the side of the patient's stomach and have horizontal magnetic poles. When the base electromagnet 34 is energized with a current direction that has its N pole up and its S pole down, the S pole of the flip magnet 80 is drawn down toward the base electromagnet 34 and its N pole is repelled by the base electromagnet 34. The stronger magnetic field produced by the external electromagnets 20, 22 can prevent the capsule 10 from moving down toward the base electromagnet 34, or the base electromagnet 34 can be pulsed for a very short period of time to minimize any downward (-Z) movement.

[0050] In Figure 7B , the current direction of the base electromagnet 34 has been reversed. Now, the S pole of the base electromagnet 34 faces up toward the capsule 10 and the S pole of the flip magnet 80 of the capsule 10 faces down. This is a higher energy state and is unstable. The repulsion between the S pole of the base electromagnet 34 and the S pole of the flip magnet 80 causes the capsule 10 to start rotating about its longitudinal axis. The capsule 10 is small and its rotational inertia can be less than its translational inertia, causing it to rotate rather than move up away from the base electromagnet 34. It can move slightly up while still rotating. The external electromagnets 20, 22 can remain energized to prevent this upward movement when the base electromagnet 34 is activated.

[0051] In Figure 7C , the capsule 10 has rotated 180 degrees about its longitudinal (horizontal) axis. The base electromagnet 34 can be turned off. The capsule 10 has flipped or rolled over by the force of the base electromagnet 34 on the flip magnet 80. Now, the N pole of the flip magnet 80 faces down toward the S pole of the base electromagnet 34. This is a lower energy state than Figure 7B .

[0052] The front camera 72 is still facing left and can capture images within the front cone 172. Likewise, the front laser 76 is directed at the center of the front cone 172 so that the laser reflects back into the image sensor for the front camera 72 or a separate image sensor for the laser.

[0053] The side camera 82 is now facing up and can capture images within the side cone 182. Likewise, the side laser 86 is directed at the center of the side cone 182 so that the laser reflects back into the image sensor for the side camera 82 or a separate image sensor for the laser nearby. The upper wall of the stomach can now be imaged using the side camera 82 or the stomach upper wall can be mapped by the side laser 86.

[0054] Figures 8A-8C A cross-sectional view is shown of the capsule rolling using the flip magnet. In Figure 8A the flip magnet 80 has a vertical pole axis with the N facing up and the S facing down.

[0055] In this embodiment, there are two main magnets parallel to each other. The main magnets 70, 70' are placed on either side of the PCB 78 running along the length of the capsule 10, orthogonal to the plane of the drawing. Thus, the pole axis of the main magnet 70 is orthogonal to the plane of the drawing. Figures 8A-8C The side camera 82 and the side laser 86 are facing down. The N pole of the base electromagnet 34 faces up towards the S pole of the flip magnet 80.

[0056] In Figure 8B the current direction has been reversed in the base electromagnet 34 and the base electromagnet 34 has been energized. The S pole of the base electromagnet 34 now faces up, repelling the originally facing down S pole of the flip magnet 80 while attracting the facing up N pole of the flip magnet 80. This is an unstable state. So, the capsule 10 starts to roll around its long axis (orthogonal to the plane of the drawing). The base electromagnet 34 exerts equal forces on all parts of the main magnet 70, but the attractive force exerted on the N pole of the flip magnet 80 is greater than the attractive force exerted on the S pole of the flip magnet 80. This unbalanced force causes the flip magnet 80 and the capsule 10 to rotate or roll. As the rolling progresses, the base electromagnet 34 continues to attract the N pole of the flip magnet 80 and repel the S pole of the flip magnet 80.

[0057] In Figure 8C the flip has been completed. Now, the capsule 10 is in a flipped state with the N pole of the flip magnet 80 facing down towards the S pole of the base electromagnet 34. Both the side laser 86 and the side camera 82 are now facing up. The side camera is facing has been flipped over. The base electromagnet 34 can remain active to prevent random rolling of the gastric fluid turbulence.

[0058] Figure 9is a polar plot. The VCSEL lasers 76, 86 can measure the distance that the laser beam travels from the laser source and back to the detector after reflecting off an object such as the stomach wall. For example, the laser can be pulsed on and the time delay until the laser is detected by the sensor can be used to determine the distance that the laser beam traveled. Alternatively, the image sensor can detect the diffraction pattern. The laser beam from the laser emitter can pass through a mask, causing diffraction of the laser beam out of the capsule. The diffracted laser beam reflects off the stomach wall and back to the image sensor on the capsule. Different distances will result in different diffraction patterns captured by the image sensor. The diffraction pattern can be analyzed to estimate the distance.

[0059] The capsule 10 can be sequenced through a series of different pitches, such as Figures 10A-10F shown in FIG. 6, the magnet can then be rotated, such as by rotating the rotating ring, and another scan of the pitch is performed. Thus, one vertical line is scanned, then the next vertical line is scanned, until all 360 degrees have been scanned. For example, each rotation can be 10 degrees, with 36 pitch scans.

[0060] The capsule 10 can be moved to different locations within the stomach, such as by using the actuators 30, 32 to move to different Z values. The radial location (X, Y) can be adjusted by increasing the current to electromagnet 20 while decreasing the current to electromagnet 22, or vice versa.

[0061] The different rotation angles and pitches of the capsule 10 can be such that the entire polar coordinate space can be mapped for each physical location of the capsule 10.

[0062] The actuators 30, 32 can be activated to increase the Z value of the capsule 10, and the 360 degree distance measurement sequence is repeated for each new location of the capsule 10. In addition, the current through the electromagnets 20, 22 can be set to non-uniform values to cause the capsule to move in the X direction, if desired.

[0063] For each of several physical locations of the capsule 10, a polar plot with measured distances to the stomach can be obtained by pitching the capsule 10 up and down through different angles, and rotating the rotating ring and magnet through 360 degrees. These polar plots can be combined to obtain an overall map of the stomach wall.

[0064] In addition, two lasers 76, 86 can be used for each measurement, so that two range measurements are obtained for two different points on the polar plot. Because the lasers 76, 86 are positioned at right angles to each other within the capsule 10, the polar plot can be obtained more quickly and accurately than if only one laser is used.

[0065] Figures 10A-10HShows mapping of the stomach wall using a laser rangefinder in a capsule that is being scanned in elevation and rotated and moved. Figure 10A In FIG. 1 , capsule 10 has been tilted upward so that front laser 76 and front LED 74 shine light on point C on the stomach wall. The light is reflected by the stomach wall and returns to the image sensor of front camera 72, where it is detected as laser light or visible light. The laser light may pass through a diffraction mask in the capsule and then reflect from the stomach wall.

[0066] An image sensor in the capsule captures the diffraction pattern. The image sensor can send this diffraction pattern to a controller for analysis to determine the distance from the capsule to the stomach wall. The diffraction pattern changes with distance. Alternatively, the time delay between the laser transmission and the detection can be used to determine the distance from the capsule 10 to the stomach wall at point C. This distance can be added to a spherical map of the stomach wall for point C ( Figure 9 ).

[0067] In addition Figure 10A In FIG. 1 , capsule 10 is tilted upward so that side laser 86 and side LED 84 shine light on point A on the stomach wall. The light is reflected by the stomach wall and returns to the image sensor of side camera 82, where it is detected as laser light or visible light. The diffraction pattern or the time delay from laser emission to detection can be used to determine the distance from capsule 10 to point A on the stomach wall, which can be added to a spherical map of the stomach wall for point A ( Figure 9 ).

[0068] exist Figure 10B In FIG. 1 , capsule 10 is flattened so that front laser 76 and front LED 74 shine light on point D on the stomach wall. This light is reflected by the stomach wall and returns to the image sensor of front camera 72, where it is detected as laser light or visible light. The diffraction pattern or the time delay from laser emission to detection can be used to determine the distance from capsule 10 to point D on the stomach wall. This distance can be added to a spherical map of the stomach wall for point D ( Figure 9 ).

[0069] In addition Figure 10B In FIG. 1 , side laser 86 and side LED 84 shine light on point B on the stomach wall. The light is reflected by the stomach wall and returns to the image sensor of side camera 82, where it is detected as laser light or visible light. The diffraction pattern or the time delay from laser emission to detection can be used to determine the distance from capsule 10 to point B on the stomach wall, which can be added to a spherical map of the stomach wall for point B ( Figure 9 ).

[0070] exist Figure 10C In FIG, capsule 10 is tilted downward so that side laser 86 bounces light from point C and front laser 76 bounces light from point E.Figures 10A-10C laser ranging to five discrete points A through E is shown, but there can be many more minor pitch changes between Figure 10A and Figure 10C so that distances to more than five points are obtained. Thus, the stomach wall between points A and E can be mapped for a particular rotational angle (of the longitudinal line Figure 9 Note that these points A through E only cover one half of the entire circle and do not include points in the lower portion of the stomach.

[0071] In the middle of the pitch scan, when the pitch is zero (such as in Figure 10B the control program can energize the base electromagnet 34 to flip the capsule 10 Figure 6 so that the side lasers 86 and side cameras 82 are facing down Figure 10E instead of up Figure 10B . The capsule 10 can then be pitched up Figure 10D so that the front laser 76 is shining on point C and the side laser 86 is shining on point E so that distances to points C and E can be obtained. In Figure 10E the capsule 10 is pitched flat so that the front laser 76 is shining on point D and the side laser 86 is shining on point F so that distances to points D and F can be obtained. In Figure 10F the capsule 10 is pitched down so that the front laser 76 is shining on point E and the side laser 86 is shining on point G so that distances to points E and G can be obtained.

[0072] Thus, a range of points A through G is obtained in a single pitch scan for a particular rotational angle. When intermediate pitches are interpolated between these points Figures 10A-10F , many points can be determined between A and G to obtain a more detailed map of the stomach wall. Note that the quarter between points G and A of the stomach wall is not mapped in a single pitch scan.

[0073] In Figure 10G the rotational angle or yaw is changed. The capsule 10 is rotated by the control program so that the external electromagnets 20, 22 rotate about a center line 705, which is approximately the center line of the standing patient, which also passes through the stomach. After the yaw angle is changed, the pitch scan of Figures 10A-10F can then be repeated for that yaw angle. The yaw angle can be changed again and another pitch scan is made. Each yaw angle can yield distance data about a longitudinal line Figure 9 . When the yaw angle is stepped through an entire circle (360 degrees or 2*pi), the distances for the missing quarter of points G through A are also covered because the opposite hemisphere is scanned.

[0074] The control program uses the range of pitch changes ( Figures 10A-10F ) are sequenced to pitch the external electromagnets 20, 22 (FIG. 2) and then to orient the external electromagnets 20, 22 about the centerline 705 of the patient ( Figure 10G ) rotate, then repeat Figures 10A-10F Pitch scan.

[0075] The process can be repeated for each rotation angle to capture the information about each longitudinal line ( Figure 9 ) until the entire spherical map has been generated. Finally, the capsule 10 can be moved to a different X, Y, Z position and a new spherical map can be generated by repeating the process. Figure 10H A path 720 is shown showing the physical location of the capsule 10 , and for any point along the path 720 , a spherical map can be obtained.

[0076] exist Figure 10H In the embodiment of the present invention, once capsule 10 enters the stomach, the laser measures the distance to the stomach wall as the capsule moves within the stomach. The control program generates a stomach map 704, which is a 3D map of the stomach calculated from the laser distance measurement data and the inertial data from the capsule as the capsule is positioned or moved. As the laser distance measurement data is captured, if the stomach map is incomplete, the control program can activate electromagnets 20, 22, actuators 30, 32, and the rotary motor to adjust the position of capsule 10 within the stomach or within the desired position of the stomach.

[0077] The patient's centerline 705 may not be perfectly aligned with the stomach, e.g. Figure 10G Differently, the rotation can be about the rotation axis 702, Figure 10H .

[0078] In the lower region 712, the rotation axis 702 is the vertical axis about which the rotating ring or magnet rotates, which typically passes through the person's head and abdomen, depending on the person's exact standing position and body shape. Although the rotation axis 702 passes through the stomach, the asymmetrical shape of the stomach causes the rotation axis 702 to pass only through the lower region 712 and not through the upper region 710, except for a small portion occupied by the esophagus. When the control program creates the path 720 that the capsule will follow throughout the stomach, the control program can cause the capsule 10 to rotate when it is near the rotation axis 702. However, when the capsule 10 is away from the rotation axis 702 (such as in the upper region 710), the rotation of the rotating ring 40 may cause the capsule 10 to strike the stomach wall.

[0079] The control program performs the rotation mainly in the lower region 712. When generating the path 722 in the upper region 710, the control program uses mainly X motion and Z motion. The control program generates the path 720 by rotating the capsule when it is near the rotation axis 702 in the lower region 712, and also uses X motion and Z motion, noting that there is movement only inside the stomach map 704. The control program generates the path 722 without rotating the capsule sufficiently in the upper region 710, but using only partial rotation to adjust the camera angle, and X motion and Z motion, noting that there is movement only inside the stomach map 704. The control program can combine many paths 722, each path 722 tracking a different vertical slice of the stomach map 702 in the 3D map. When rotation is needed, the control program can cause the capsule 10 to return to the rotation axis 702 in the lower region 712 before returning to the upper region 710. Many paths and movement variations are possible.

[0080] When mapping the stomach wall using the laser, the path 722 can stay near the center of the stomach. When capturing images using the front camera 72 and the side camera 82, the capsule 10 can be moved closer to the stomach wall for better, more accurate imaging. Thus, the path 722 can be different for laser mapping and visible light imaging.

[0081] Figures 11A-D show the magnetic endoscopy capsule in more detail. In Figure 11A, in a top front view, the capsule 10 has the front camera 72 facing left, its four LEDs 74 and the front laser 76 (which can be mounted to the front PCB 79), mounted orthogonally to the PCB 78.

[0082] The top of the PCB 78 has the side camera 82 mounted to it, as well as the LEDs 84 and the side laser 86. The controller 94, along with other components, is also mounted to the PCB 78. The battery 90 is placed underneath the PCB 78, and can have more than one module. The flip magnet 80 is mounted between the two modules of the battery 90, underneath the PCB 78. The antenna 92 is mounted to the distal end of the PCB 78, facing back in this view.

[0083] In this embodiment, instead of having a single main magnet 70, there are two main magnets 70, 70' placed on either side of the PCB 78. Having two main magnets 70, 70' instead of a single magnet enables the side camera 82 to be placed in the center of the PCB 78 and the center of the capsule 10. The two main magnets 70, 70', parallel to each other, enable better and more balanced transmission of the external magnetic force to the capsule 10.

[0084] In Figure 11B, in a top bottom view, capsule 10 still has front camera 72 facing left with its four LEDs 74 and front laser 76 (mounted on front PCB 79). Compared to the view of Figure 11A, the top and bottom of PCB 78 have been reversed in this view, such as after being flipped by flip magnet 80. Flip magnet 80 is visible on top between the two modules of battery 90. Antenna 92 is visible at the far end. Main magnet 70 can be seen, but main magnet 70' is hidden from this view.

[0085] Figure 11C is a front view of capsule 10. Front camera 72 is mounted near the center of front PCB 79, and is surrounded by its four LEDs 74. Front laser 76 is also mounted to front PCB 79. The North (N) ends of main magnets 70 and 70' protrude through holes in this front PCB 79.

[0086] Figure 11D is a back view of capsule 10. The South (S) ends of main magnets 70 and 70' are visible on either side of PCB 78. Controller 94 is mounted to the bottom-facing surface of PCB 78 in this view, while battery 90 and flip magnet 80 are placed on the top-facing surface of PCB 78. Antenna 92 is visible in front of the first module of battery 90, with the middle of flip magnet 80 hidden from view by this first module of battery 90.

[0087] Figure 12 is a cross-sectional view of the capsule. Flip magnet 80 is placed between the two modules of battery 90. PCB 78 runs along most of the length of capsule 10, from back antenna 92 to front front PCB 79, with main magnet 70' hiding most of PCB 78 from view. The N ends of main magnets 70, 70' face left, near front camera 72, while the S ends of main magnets 70, 70' are near antenna 92. In this view, the N end of flip magnet 80 faces up, while the S end of flip magnet 80 faces down.

[0088] Side camera 82 with its LED 84 and side laser 86 are mounted to main PCB 78. Front PCB 79 is mounted orthogonally to PCB and connected to PCB 78. Front camera 71, LEDs 74, and front laser 76 are mounted to front PCB 79.

[0089] Most components are mounted to main PCB 78, while the remaining components are mounted to front PCB 79, which itself is mounted to main PCB 78. Many small round PCBs and wiring (Figure 4) are not needed. Because front PCB 79 is attached directly to main PCB 78, wiring is removed. Front PCB 79 can be attached to the front edge of main PCB 78 by direct soldering, pin connectors, sockets, or by some other connector.

[0090] The camera and laser that are orthogonal to each other are provided by two orthogonal mounted PCBs 78, 79. When the dual sensor faces two orthogonal directions, laser mapping and imaging of the entire gastric wall can be performed more easily. The entire gastric wall can be examined even if the capsule's pitch range is small.

[0091] Alternative embodiments

[0092] The inventor envisions several other embodiments. For example, many combinations and variations of the capsule, control program, hardware, software, firmware, controller, magnet, pole, clamp, and machine are possible. The laser can have an array of laser emitters or generators instead of a single laser emitter. The laser range finder can have a dedicated sensor that detects the reflected laser, or can use the image sensor of the camera. The camera can be an image sensor such as a charge-coupled device (CCD) or complementary metal-oxide-semiconductor (CMOS) sensor, or some hybrid or variation. The image sensor can detect light including the wavelength of the laser. The camera can flash the LED only when capturing visible light reflected back to the image sensor, or the LED can remain on before and after image capture. In some embodiments, the image sensor can also detect infrared (IR) light. The LED can emit various wavelengths such as IR, or IR light can be generated by heat from the gastric wall. There can be multiple LEDs or arrays of LEDs.

[0093] The image sensor can have some lens. The capsule 10's housing can be transparent, or can have transparent sections near the image sensor, LED, and laser emitter. The light sensor can have high resolution such as for an image sensor that captures visible light images, or can have little or no resolution such as a laser detector that only indicates when the laser is received without any image. The light sensor can have several parts that form an image capture array such as an array of R, G, and B detectors for red, green, and blue wavelengths, or a single laser detector for the laser wavelength that only detects the presence of the reflected laser.

[0094] The base electromagnet 34 can remain off most of the time, and pulsed on for a brief period of time when a flip is needed. The amount of time for the flip can be short because the capsule 10 has little rotational inertia so that it can roll quickly. Alternatively, the base electromagnet 34 can remain on or pulsed on periodically to ensure that the capsule 10 remains in the target orientation.

[0095] While it has been described that the capsule 10 is oriented to use the end camera 72 and side camera 82 to capture images, the capsule 10 can instead be oriented to use the end laser 76 and side laser 86. Prior to image capture, a laser mapping of the stomach wall can be performed. Because a laser beam can penetrate stomach fluid better than light from an LED, the capsule 10 can be positioned at only a few central locations, and the capsule 10 is moved along many locations closer to the stomach wall to capture images, so that a laser mapping of the stomach can be performed.

[0096] The control program can automatically select what images to capture, and map the stomach to determine locations to move the capsule 10. Thus, a skilled physician is not needed to operate the automated magnetic endoscopy machine. Furthermore, because the control program makes decisions about what areas to image, the screening process does not have to wait for a human physician to review the images and decide on the next move to make further images. With the control program, the speed of the screening process can be much faster than when a human physician is used. This faster screening has the benefit of allowing a smaller battery to be used, and a reduction in the size of the capsule 10, compared to a human controlled screening. More images can be captured automatically, so that a better screening can be provided.

[0097] When the remaining battery life is sufficient at the end of the screening, the control program can take additional images of areas where abnormalities were detected in the early scan of images. The control program can use artificial intelligence (AI) or other tools, and can offload the images to a remote server for such processing. The remote server can respond to the control program with coordinates of areas of interest in the stomach map to take additional images before the battery runs out of power.

[0098] The control program does not require human input. The control program maps the stomach wall, then adjusts the magnets to move the capsule 10 through a sequence of locations within the boundaries of the stomach wall identified by the stomach wall map, and captures images of the stomach wall from each of these locations. The control program can screen these images for abnormalities, and when an abnormality is detected, take additional images. The images with abnormalities can be flagged, and sent to a physician or technician for further evaluation, and when such an abnormality is detected by the control program, the person can be referred to a physician for a traditional endoscopy.

[0099] The controller inside the magnetic endoscopy capsule can determine the distance to a point on the stomach wall by timing the pulse of light reflected from the stomach wall, or by analyzing the received light pattern or light intensity. The controller can wirelessly send the actual distance, or a normalized distance, or a time delay, or some other function of the distance, or the light pattern received by the image sensor to an external control program. The external control program can modify the reported distances to construct a stomach wall map. The controller can analyze the diffraction pattern detected by the image sensor to determine the distance. The diffraction pattern can be analyzed by the controller, or can be sent to an external computer for analysis to determine the distance. The mask that diffracts the laser beam can be a diffraction grating or a small aperture opening. The mask can be part of the laser emitter module, or can be a separate mask inside the capsule, or can be a window through which the laser beam passes in the capsule.

[0100] While two cameras 72, 82 and two lasers 76, 86 have been described for the capsule 10, other embodiments can have only one camera or laser, or can have more than two. The capsule 10 can be further simplified or further enhanced. A hard plastic that is not permeable to stomach acid can be used for the capsule 10 shell, with transparent windows for the cameras 72, 82, LEDs 74, 84, and lasers 76, 86. The capsule 10 can be pill-shaped for easy swallowing.

[0101] While laser mapping and imaging of the stomach has been described, the capsule 10 eventually passes through the intestines, and when sufficient battery life is available, imaging of the intestines can also be performed. The more limited cross-sectional area of the intestines compared to the larger stomach can impede movement of the capsule 10, and due to natural intestinal contractions and other processes, the capsule 10 can move rapidly through the intestines regardless of the external magnetic field. Thus, the screening process can be more difficult to apply to colonoscopy, but not impossible. Further research into the invention can make it possible to extend to intestinal screening.

[0102] While rotation of the rotating ring has been described as 360 degrees, the rotation can not need to be a 360 degree measurement. For example, laser distance measurements or camera images can be taken only every 10 degrees, for a total of 36 measurements for a full 360 degree rotation period. Fewer measurements can be used for the higher latitude regions of the polar plot than for the equatorial regions with greater circumference. The field of view of the camera can affect the number of images per full rotation. A camera with a 45 degree field of view can capture an image every 36 degrees of rotation, for a total of 10 images for a full rotation, while a camera with a 15 degree narrow field of view can require an image every 10 degrees, for a total of 36 images for a full rotation. The amount of overlap between adjacent images can also be adjusted. Many optimizations are possible.

[0103] Various combinations of software, firmware, and hardware can be used to implement the various functions and operations. Hardware can provide low level control of the actuators 30, 32, software can use I / O writes to write commands and values into registers for the actuators 30, 32 to control movement, or to write to magnet current drivers to control current values. Hardware can decode the commands and initiate low level control routines such as rotating or moving a component a specified amount or for a specified time. Many variations and levels of control are possible.

[0104] Both the main PCB 78 and the front PCB 79 can be flexible or rigid circuit boards, and can have various numbers of metal and insulator layers.

[0105] The circuit can be positive or negative current, direct or alternating, and flow in either direction. Many secondary and tertiary magnetic and electric effects can exist and can be significant, but are adjusted through benchmark testing.

[0106] The magnetic axis of the main magnet 70 can be entirely along the long or longitudinal axis of the capsule 10, or can be parallel to the long axis of the capsule 10. The magnetic axis can be defined as the line that passes through both the north and south poles. The main PCB 78 can also be entirely on the long axis, or can be parallel to the long axis. For example, in FIG. 12, the PCB 78 is slightly offset from the centerline of the capsule 10, though still parallel to the long axis or centerline. When there are two main magnets 70, 70', they can be offset from the centerline or long axis of the capsule 10, though still parallel to the long axis.

[0107] When terms such as perpendicular, orthogonal, and parallel are used, it is understood that there can be variations or offsets that result in slight differences from being perfectly perpendicular or parallel. For example, while an orthogonal plane is at a right angle, the angle can not be exactly 90 degrees, but can be within some tolerance of 90 degrees, such as between 80 and 100 degrees. While the present application operates best when the main magnet 70 and the flip magnet 80 are at 90 degrees to each other, the present application still operates at lower efficiency when the angle between these magnets is significantly offset from 90 degrees. The terms perpendicular and orthogonal are often used interchangeably.

[0108] Terms such as up, down, above, below, horizontal, vertical, interior, exterior, clockwise, counterclockwise, and the like are relative and dependent on the viewpoint, and are not intended to limit the present application to a particular perspective. The device can be rotated so that vertical is horizontal, and horizontal is vertical, so these terms are dependent on the viewer. While it has been described to have the patient standing, the patient can be in other positions, such as lying flat, and the term up would refer to the direction from the stomach to the patient's head, and down would refer to the direction from the stomach to the patient's feet.

[0109] The background of the invention section can include background information about the problem or environment of the invention, rather than describing the prior art by other means. Therefore, the inclusion of material in the background section is not an admission by the applicant that the material serves as prior art to the claimed invention.

[0110] Any method or process described herein is machine- or computer-implemented and is intended to be performed by a machine, computer or other device, and is not intended to be performed solely by a human being without such machine assistance. Tangible results produced can include reports or other machine-produced displays on display devices such as computer monitors, projection devices, audio producing devices and related media devices, and can include hard copy printouts which are also machine-produced. Computer control of other machines is another tangible result.

[0111] Any advantages and benefits described can not apply to all embodiments of the invention. When the word "means" is recited in a claim element, Applicant intends for that claim element to be interpreted based on 35 U.S.C. § 112, paragraph 6. Typically, one or more words are recited in front of the word "means". The recited word or words in front of the word "means" are intended to be labels for the structure recited in the claim element and are not intended to convey structural limitations. Such means-plus-function claim elements are intended to cover, among other things, structures to perform the function recited in the claim element, and structural equivalents thereof. For example, although a nail and a screw have different structures, they are equivalent structures because they both perform the function of fastening. Claims that do not use the word "means" are not intended to be interpreted under 35 U.S.C. § 112, paragraph 6. Signals are typically electronic signals, but can be optical signals such as can be carried over fiber optic lines.

[0112] The foregoing description of embodiments of the invention has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations are possible in light of the above teachings. It is intended that the scope of the invention not be limited to the specific embodiments described herein, but be given broadest interpretation possible in view of the teachings.

Claims

1. A magnetic endoscopy capsule comprising: a housing enclosing components inside the magnetic endoscopy capsule, the housing having a length greater than a width, a long axis being along the length of the housing; a main magnet disposed inside the housing, the main magnet having a first magnetic axis passing through a north pole and a south pole of the main magnet, the first magnetic axis being parallel to the long axis; a second magnet disposed inside the housing, the second magnet having a second magnetic axis passing through a north pole and a south pole of the second magnet, the second magnetic axis being orthogonal to the long axis; a main printed circuit board (PCB) enclosed by the housing, the main PCB having two surfaces for mounting components, the two surfaces being parallel to the long axis; a front light sensor disposed inside the housing near a front end where the first magnetic axis intersects the housing, the front light sensor for detecting received light; a front light source disposed inside the housing near the front end for generating light that reflects off an inner surface of a stomach and back into the front light sensor; a side light sensor mounted to one of the two surfaces of the main PCB for detecting received light; and a side light source mounted to the one of the two surfaces of the main PCB for generating light that reflects off the inner surface of the stomach and back into the side light sensor.

2. The magnetic endoscopy capsule of claim 1, further comprising: a front PCB mounted perpendicular to a front edge of the main PCB, the front PCB having a front surface orthogonal to the two surfaces of the main PCB, wherein the front light source is mounted to the front surface of the front PCB.

3. The magnetic endoscopy capsule of claim 2, wherein when an external first electromagnet disposed along the first magnetic axis is moved and energized, the external first electromagnet moves the magnetic endoscopy capsule within the stomach; wherein when an external base electromagnet disposed along the second magnetic axis is energized, and the external first electromagnet is energized but not moved, the external base electromagnet rolls the magnetic endoscopy capsule around the first magnetic axis; wherein when acted upon by the external base electromagnet, the second magnet rolls the magnetic endoscopy capsule, thereby flipping an orientation of the side light sensor.

4. The magnetic endoscopy capsule of claim 3, further comprising: a controller mounted to one of the two surfaces of the main PCB for controlling operation of components in the magnetic endoscopy capsule.

5. The magnetic endoscopy capsule of claim 4, wherein the front light source comprises a laser emitter for emitting laser light; wherein the side light source comprises a laser emitter for emitting laser light; wherein when mapping an inner surface of a stomach is initiated, the laser emitters are activated by the controller. ​ 6. The magnetic endoscopy capsule of claim 5, wherein the light sensor is an image sensor that senses a diffraction pattern; wherein the laser emitter further comprises a mask that diffracts the laser beam; wherein the laser beam reflects off an inner surface of the stomach and onto the image sensor; wherein the diffraction pattern varies with distance to the inner surface of the stomach; and wherein the controller generates a distance from the magnetic endoscopy capsule to the inner surface of the stomach where light is reflected by analyzing the diffraction pattern received by the image sensor.

7. The magnetic endoscopy capsule of claim 5, wherein the laser emitter comprises a vertical-cavity surface-emitting laser (VCSEL).

8. The magnetic endoscopy capsule of claim 6, wherein the front light source further comprises a light emitting diode (LED) for emitting visible light; wherein the side light source further comprises a light emitting diode (LED) for emitting visible light; wherein the LED is activated by the controller to capture a visible light image of the inner surface of the stomach.

9. The magnetic endoscopy capsule of claim 8, wherein the long axis is along a centerline of the magnetic endoscopy capsule.

10. The magnetic endoscopy capsule of claim 8, wherein the housing is a pill-shaped cylinder with rounded ends.

11. The magnetic endoscopy capsule of claim 8, wherein the main magnet further comprises: a left main magnet disposed along a left side edge of the main PCB; a right main magnet disposed along a right side edge of the main PCB; wherein the left side edge is an edge between the two surfaces of the main PCB; wherein the right side edge is an edge between the two surfaces of the main PCB opposite the left side edge.

12. The magnetic endoscopy capsule of claim 8, further comprising: a battery mounted to one of the two surfaces of the main PCB for powering components inside the magnetic endoscopy capsule.

13. The magnetic endoscopy capsule of claim 12, wherein the battery further comprises: a first battery mounted to a first of the two surfaces of the main PCB; a second battery mounted to the first of the two surfaces of the main PCB; wherein the second magnet is mounted to the first of the two surfaces of the main PCB between the first battery and the second battery.

14. The magnetic endoscopy capsule of claim 8, further comprising: an antenna mounted to one of the two surfaces of the main PCB for wirelessly transmitting image data received by the front light sensor or the side light sensor.

15. The magnetic endoscopy capsule of claim 14, further comprising: an accelerometer for inertially tracking movement of the magnetic endoscopy capsule, wherein the inertial movement is transmitted from the controller to a control program using a wireless transmitter through the antenna, the control program executes to control the external first electromagnet and the external base electromagnet.

16. A dual-beam magnetic endoscopy capsule to be swallowed by a patient, the dual-beam magnetic endoscopy capsule comprising: a housing enclosing components inside the dual-beam magnetic endoscopy capsule, the housing having a length greater than a width, a long axis along the length of the housing, the housing being impermeable to gastric acid; a main magnet disposed inside the housing, the main magnet having a first magnetic axis through a north pole and a south pole of the main magnet, the first magnetic axis being parallel to the long axis; a second magnet disposed inside the housing, the second magnet having a second magnetic axis through a north pole and a south pole of the second magnet, the second magnetic axis being orthogonal to the long axis; wherein the main magnet has a length along the first magnetic axis that is longer than a length of the second magnet along the second magnetic axis; a front light sensor disposed inside the housing near a front end where the first magnetic axis intersects the housing, the front light sensor for detecting received light reflected from within the stomach at a first point; a front light source disposed inside the housing near the front end for generating a front light beam reflected from the first point within the stomach and back into the front light sensor; a side light sensor disposed inside the housing near a middle of the housing, the side light sensor for detecting received light reflected from within the stomach at a second point; a side light source disposed inside the housing near the middle of the housing for generating a side light beam reflected from the second point within the stomach and back into the side light sensor; wherein the side light beam is orthogonal to the front light beam; a controller controlling the front light source to generate the front light beam and using the front light detector to detect light reflected back from the first point on the stomach, the controller determining a first distance from the dual-beam magnetic endoscopy capsule to the first point in response to the front light detector; wherein the controller also controls the side light source to generate the side light beam and using the side light detector to detect light reflected back from the second point on the stomach, the controller determining a second distance from the dual-beam magnetic endoscopy capsule to the second point in response to the light detector; wherein using the two orthogonal light beams, the dual-beam magnetic endoscopy capsule generates distances to two points on the stomach for each location and orientation within the stomach.

17. The dual-beam magnetic endoscopy capsule of claim 16, wherein the front light beam is a laser beam and the front light source comprises a first laser emitter; wherein the side light beam is a laser beam and the side light source comprises a second laser emitter; wherein the first laser emitter and the second laser emitter are mounted orthogonally within the housing.

18. The dual-beam magnetic endoscopy capsule of claim 17, further comprising: a main printed circuit board (PCB), the main PCB housed by the housing, the main PCB having two surfaces for mounting components, the two surfaces parallel to the first magnetic axis; a side camera, the side camera mounted on one of the two surfaces of the main PCB, for capturing images inside the stomach; wherein when an external first magnet disposed along the first magnetic axis is moved and energized, the external first magnet moves the dual-beam magnetic endoscopy capsule inside the stomach; wherein when an external base electromagnet disposed along the second magnetic axis is energized, and the external first magnet is energized but not moved, the external base electromagnet rolls the dual-beam endoscopy capsule around the first magnetic axis; wherein when acted upon by the external base electromagnet, the second magnet rolls the dual-magnetic endoscopy capsule, thereby flipping the orientation of the side light sensor and the side light source, wherein the side beam reflects from a third point on the stomach after the second magnet flips; wherein using two beams that are orthogonal and rolling the dual-beam endoscopy capsule, a first distance from the capsule to a first point on the stomach is determined.

19. A capsule for swallowing to examine a stomach, comprising: a housing, the housing housing components inside the capsule, the housing having a length greater than a width, a long axis along the length of the housing, the housing being resistant to stomach acid; a main magnet, the main magnet disposed inside the housing, the main magnet having a first magnetic axis through a north pole and a south pole of the main magnet, the first magnetic axis being parallel to the long axis; a second magnet, the second magnet disposed inside the housing, the second magnet having a second magnetic axis through a north pole and a south pole of the second magnet, the second magnetic axis being orthogonal to the long axis; wherein the main magnet has a length along the first magnetic axis that is longer than a length of the second magnet along the second magnetic axis; a front light detector, the front light detector disposed inside the housing near a front end where the first magnetic axis intersects the housing, the front light detector for detecting received light reflected from a first point on the stomach; a front laser emitter, the front laser emitter disposed inside the housing near the front end, for producing a front beam that reflects from the first point on the stomach and back into the front light detector; a side light detector, the side light detector disposed inside the housing near a middle of the housing, the side light detector for detecting received light reflected from a second point on the stomach; a side laser emitter, the side laser emitter disposed inside the housing near the middle of the housing, for producing a side beam that reflects from the second point on the stomach and back into the side light detector; wherein the side beam is orthogonal to the front beam; a controller, the controller controlling the front laser emitter to produce the front beam, and using the front light detector to detect light reflected back from the first point on the stomach, the controller determining a first distance from the capsule to the first point in response to the front light detector; wherein said controller further controls said side laser emitter to generate said side beam, and uses said side light detector to detect light reflected back from a second point on the stomach, said controller determines a second distance from said capsule to said second point in response to said light detector; wherein two orthogonal beams are used to determine distances from said capsule to two points on the stomach for each location and orientation of said capsule within the stomach; wherein said front laser emitter and said side laser emitter are mounted orthogonally within said housing; a light emitting diode (LED) for illuminating the stomach; and an image sensor for capturing an image of light reflected from said LED back to said image sensor.

20. The capsule of claim 19, further comprising: a main printed circuit board (PCB) housed by said housing, said main PCB having two surfaces for mounting components, said two surfaces being parallel to said first magnetic axis; wherein said controller, said side laser emitter and said side light detector are mounted to said main PCB.

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