to the patient 39 s body this information will eliminate the discomfort of a tether or the guesswork necessary in pinpointing the location of abnormality by simple visual examination of the video or by time tracking the video there currently exist several proven methods to determine the six degree of freedom pose of a remote object most often used in robotics to track mobile robots or to digitize human movements for example in hand tracking and head tracking controllers these devices use a rf or em beacon that reflects signals from an externally fixed transmitter somewhat like a miniature radar system distances are typically limited to a few meters cubic which fall well within the specifications for this device the beacons are passive devices and will not draw power from the onboard battery external stations that can be strapped or belted to the patient provide the signal sources given the recorded time spacing tracking information there are numerous ways to develop a correspondence between the video images and the patient 39 s internal structures for example a computer can overlay the time parametrized space path of the capsule on an image based on cat scan or mri of the patient or over a computer generated model based.