Capsule endoscope

A method comprising:

• determining the orientation of a body axis relative to a first frame of reference;
• determining the orientation of an image axis relative to the first frame of reference;
• and
• determining the orientation of the image axis relative to the body axis.

A method for imaging a gastrointestinal (GI) track of a patient using an imaging capsule and an external unit, the imaging capsule comprising a first housing, an image capture device carried by the first housing and defining an image-axis, a first gyroscope carried by the first housing, and a first wireless device carried by the first housing and coupled to the image capture device and first gyroscope, the external unit comprising a second housing, a second gyroscope carried by the second housing, and a second wireless device carried by the second housing, the method comprising:

• calibrating a frame of reference of the imaging capsule and the external unit;
• having the patient ingest the imaging capsule;
• operating the image capture device while the imaging capsule traverses the GI track of the patient;
• and
• operating the external unit while attached to the patient so that image data is sent from the first wireless device to the second wireless device and image-axis orientations associated with the image data are determined based upon the first and second gyroscopes.