Sensor-less dc motor closed loop controller for imaging capsule

A method of imaging with an imaging capsule, comprising:

• receiving an imaging capsule, including a radiation source within a collimator, which provides a collimated beam from the radiation source, and further includes a detector configured to detect particles resulting from X-ray fluorescence and/or Compton backscattering in response to the collimated beam;
• rotating the collimator and detector with a motor around an axle to scan a partial or fill inner circumference of a user's colon with radiation;
• feeding a segmented commutator of the motor with a power signal via brush contacts of the motor;
• and
• wherein the motor provides a pulsed output signal based on mechanical switching of the segmented commutator on the brush contacts, providing an indication of the rotation angle of the motor as a function of time.