Figure 1.

Magnetic sensor and duodenal arch. Tracking of the magnetic pill by 16 (4x4) external sensors. The position is defined by coordinates X, Y and Z, and the rotation is defined by the angles φ and θ (left). 3D representation pyloric and duodenal passage (right). The sequence displayed is 10 seconds long

Karlsen et al. BMC Gastroenterology 2012 12:176   doi:10.1186/1471-230X-12-176
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