Capsule type endoscope including magnetic drive

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:
• an image recording unit and an image data processing unit,
• a position sensor for providing data about the positioning of the endoscope relative to a gravitation vector,
• a data transmitting unit, and
• an energy source for supplying energy to the image recording unit, the image data processing unit, the data transmitting unit, and the position sensor, and
• an internal magnet, the internal magnet having a north-south polarization axis forming one resulting magnetic field, wherein the internal magnet with its one resulting magnetic field are positionally offset relative to the center of gravity of the endoscope, and the north-south polarization axis of the internal magnet and its one resulting magnetic field are positionally offset relative to the longitudinal central axis of the endoscope,
• 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.