Method for capsule endoscope tracking based on friendly points and system for performing the same

The invention is disclosed a method and system for precise position measurement of the capsule endoscope. Position measurement of the capsule endoscope that is introduced into the body are necessary to identify the exact location of the affected area. Common position location methods to measure the distance to the intensity and time delay, such as RF or magnetic field, ultrasound and calculates the position information by triangulation. However, the location information by triangulation has a measured location information is the error due to the electromagnetic waves, or electromagnetic propagation delay time in accordance with various body environment, according to different patients. A position information calculated by trigonometry is the position information is calculated to be 1.5 times of errors with the measurement distance, in the worst case. Close-point method according to the invention calculates the position information of the select source three points a distance close from the intersection of which with the radius of the measured distance, and the capsule endoscope with inwardly, oesim or the center of gravity of the consisting of the selected three-point triangular a position information measured can be calculated to within measurement error distance has.