Patent ID: 8771175
Filing Date: 2014-07-08
Classification: A61B

Abstract:
1. A method, comprising: utilizing an actuator to correct positioning of an endoscope, the actuator having a moveable extracorporeal magnet mounted to an arm, the extracorporeal magnet having a north-south polarization axis, the endoscope including: orienting the extra corporeal magnet with respect to the internal magnet such that the respective longitudinal central axes of the extracorporeal magnet and the internal magnet are always substantially perpendicular, while the respective north-south polarization axes of the extra corporeal magnet and the internal magnet are substantially aligned and anti-parallel, detecting a gravitational orientation of the endoscope relative to the gravitation vector by utilizing the position sensor, changing a location of the endoscope by moving the extracorporeal magnet along one or more of a direction substantially along the north-south axis of the extra corporeal magnet, or a direction substantially transverse thereto, compensating for tilt induced in the endoscope around an axis transverse to its longitudinal central axis and with respect to its detected gravitational orientation, due to the changing of the location of the endoscope by the movement of the extra corporeal magnet, by tilting the extra corporeal magnet around an axis transverse to its north-south polarization axis, and compensating for rolling of the endoscope around its longitudinal central axis and with respect to its detected gravitational orientation, due to the changing of the location of the endoscope by the movement of the extra corporeal magnet, by displacing the extra corporeal magnet transversely with respect to the longitudinal central axis of the endoscope.