JP2006068109A - Spherical capsule type omnidirectional endoscope - Google Patents

Spherical capsule type omnidirectional endoscope Download PDF

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JP2006068109A
JP2006068109A JP2004252793A JP2004252793A JP2006068109A JP 2006068109 A JP2006068109 A JP 2006068109A JP 2004252793 A JP2004252793 A JP 2004252793A JP 2004252793 A JP2004252793 A JP 2004252793A JP 2006068109 A JP2006068109 A JP 2006068109A
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capsule
posture
capsule endoscope
cameras
endoscope
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JP4649606B2 (en
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Hideo Fujimoto
英雄 藤本
Jun Sato
佐藤　　淳
Masamichi Sakaguchi
正道 坂口
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Nagoya Institute of Technology NUC
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging

Abstract

<P>PROBLEM TO BE SOLVED: To provide a capsule type endoscope which never has blind spots in imaging a detecting region of a stomach or the like and facilitates the understanding of a position of an abnormal part in the detecting region when the abnormality is detected. <P>SOLUTION: The capsule type endoscope 1 has four cameras 4a, 4b placed in a spherically formed capsule 2 and enables the simultaneous acquisition of "image information" in all directions while keeping the same posture. Moreover, a posture sensor 5 is placed in the capsule 2 and "posture information" on its postures detected by the posture sensor 5 is output to the outside. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、生体内に留置させた状態で生体内部の撮影を行うためのカプセル型内視鏡に関するものである。   The present invention relates to a capsule endoscope for photographing an inside of a living body in a state where it is placed in the living body.

従来のカプセル型内視鏡としては、特許文献１の如く、カプセル内にＣＣＤ、ＬＥＤ、制御回路、生体内情報センター、電池等が設けられており、生体内部においてＬＥＤによる光を照射した状態でＣＣＤにより映像を入手し、その映像を制御回路と生体内情報センサによって外部に出力するものが知られている。   As a conventional capsule endoscope, as disclosed in Patent Document 1, a CCD, an LED, a control circuit, an in-vivo information center, a battery, and the like are provided in the capsule, and light is emitted from the LED inside the living body. It is known that an image is obtained by a CCD and the image is output to the outside by a control circuit and an in-vivo information sensor.

特開平９−３２７４４７号公報JP-A-9-327447

特許文献１のようなカプセル型内視鏡によれば、被検者がカプセル型内視鏡を経口するだけで、非常に容易に生体の内部を撮影することが可能となる。しかしながら、特許文献１のカプセル型内視鏡は、カプセルの先端に１台のカメラのみが設置されているだけであるので、検知部位の全ての部分を撮影することができない（すなわち、撮影において死角が生じてしまう）。加えて、カプセルが細長く形成されているため、生体内部の細長い空間内を流下する際には、そのような傾向が顕著に生じてしまう。   According to the capsule endoscope as disclosed in Patent Document 1, it is possible to take an image of the inside of a living body very easily only by the subject's oral use of the capsule endoscope. However, since the capsule endoscope of Patent Document 1 has only one camera installed at the tip of the capsule, it cannot capture all parts of the detection site (that is, blind spots in imaging). Will occur). In addition, since the capsule is formed in an elongated shape, such a tendency is remarkably generated when the capsule flows down in an elongated space inside the living body.

本発明の目的は、上記従来のカプセル型内視鏡が有する問題点を解消し、胃等の検知部位の撮影において死角を生じさせないカプセル型内視鏡を提供することにある。また、異常を検知した場合に、その異常箇所の検知部位における位置を容易に把握することが可能なカプセル型内視鏡を提供することにある。   An object of the present invention is to provide a capsule endoscope that solves the problems of the above-described conventional capsule endoscope and does not cause a blind spot in imaging a detection site such as the stomach. Another object of the present invention is to provide a capsule endoscope capable of easily grasping the position of the abnormal part at the detection site when an abnormality is detected.

かかる本発明の内、請求項１に記載された発明の構成は、生体内部に留置させた状態で生体内部の画像情報を得るためのカプセル型内視鏡であって、球状に形成されたカプセルの内部に、少なくとも２つ以上のカメラが内蔵されており、同一の姿勢で同時に全方位の画像情報を得ることにある。   Of the present invention, the configuration of the invention described in claim 1 is a capsule endoscope for obtaining image information inside the living body in a state of being placed inside the living body, and is a capsule formed in a spherical shape. Is provided with at least two or more cameras, and simultaneously obtaining image information in all directions in the same posture.

請求項２に記載された発明の構成は、請求項１に記載された発明において、カプセルの姿勢に関する姿勢情報を得るための姿勢センサが内蔵されており、その姿勢センサによって検出された姿勢情報を外部に出力することにある。   According to a second aspect of the present invention, in the first aspect of the invention, a posture sensor for obtaining posture information related to the posture of the capsule is incorporated, and posture information detected by the posture sensor is stored. It is to output to the outside.

請求項３に記載された発明の構成は、請求項１、または請求項２に記載された発明おいて、各カメラが、カプセルの表面であってカプセルに内接する正四面体の各頂点に相当する位置に設置されていることにある。   The configuration of the invention described in claim 3 corresponds to each vertex of a regular tetrahedron that is the surface of the capsule and inscribed in the capsule in the invention described in claim 1 or 2. It is that it is installed in the position to do.

請求項１に記載されたカプセル型内視鏡は、カプセルが球状に形成されているので、生体内部（たとえば、消化器内部）をスムーズに流下させることができる。また、カプセル内に複数のカメラが内蔵されており、同一の姿勢で同時にで全方位の映像を入手することができるので、撮影において死角を生じさせず、所望する部位（たとえば、胃等の臓器）をくまなく検査することができる。   In the capsule endoscope according to the first aspect, since the capsule is formed in a spherical shape, the inside of the living body (for example, the inside of the digestive organ) can smoothly flow down. In addition, since a plurality of cameras are incorporated in the capsule, and images in all directions can be obtained simultaneously in the same posture, no blind spots are generated in the imaging, and a desired part (for example, an organ such as the stomach) ) Can be inspected all over.

請求項２に記載されたカプセル型内視鏡は、カプセルの姿勢に関する姿勢情報を外部に出力することができるため、検査部位に異常が見られた場合には、その異常が検知された映像情報と、出力された姿勢情報とを対応させることにより、その異常箇所の検査部位における位置関係を容易に把握することが可能となる。   Since the capsule endoscope according to claim 2 can output posture information regarding the posture of the capsule to the outside, video information in which the abnormality is detected when an abnormality is found in the examination site By associating the output posture information with each other, it is possible to easily grasp the positional relationship of the abnormal part at the examination site.

請求項３に記載されたカプセル型内視鏡は、各カメラがカプセルに内接する正四面体の各頂点に相当する位置に設置されているため、カメラの数が比較的に少ないシンプルな構造であるにも拘わらず、撮影時に死角を生じさせることなく、所望する部位を効率的に検査することができる。   The capsule endoscope described in claim 3 has a simple structure in which the number of cameras is relatively small because each camera is installed at a position corresponding to each vertex of a regular tetrahedron inscribed in the capsule. Nevertheless, a desired part can be efficiently inspected without causing a blind spot at the time of imaging.

以下、本発明に係る治療装置について、図面に基づいて詳細に説明する。図１〜図４は、ぞれぞれ、カプセル型内視鏡の外観図、カプセル型内視鏡の内部を透視した状態を示す説明図、カプセル型内視鏡の内部構造を示す説明図、カプセル型内視鏡の制御機構を示すブロック図である（なお、図２および図３は、カプセル型内視鏡の内部構造の一部を省略して示したものである）。   Hereinafter, a treatment apparatus according to the present invention will be described in detail with reference to the drawings. 1 to 4 are respectively an external view of a capsule endoscope, an explanatory view showing a state seen through the inside of the capsule endoscope, an explanatory view showing an internal structure of the capsule endoscope, It is a block diagram which shows the control mechanism of a capsule endoscope (In addition, FIG. 2 and FIG. 3 abbreviate | omitted and showed a part of internal structure of the capsule endoscope.).

カプセル内視鏡１は、硬質の合成樹脂によって球状（直径約１０ｍｍ）に形成されたカプセル２内に、生体内部を撮影するための４個のカメラ４ａ，４ｂ，４ｃ，４ｄ、撮影用の光源である４個の発光体３，３・・、自己の姿勢を検知するための姿勢センサ５、電源であるバッテリ６、作動を制御するための制御回路１２、外部と信号の送受信を行うための送受信回路１３等を内蔵したものである。   The capsule endoscope 1 includes four cameras 4a, 4b, 4c, and 4d for photographing the inside of a living body in a capsule 2 formed in a spherical shape (about 10 mm in diameter) by a hard synthetic resin, and a light source for photographing. 4 light emitters 3, 3... Posture sensor 5 for detecting its own posture, battery 6 as a power source, control circuit 12 for controlling operation, signal transmission / reception with the outside The transmitter / receiver circuit 13 and the like are incorporated.

各カメラ４ａ，４ｂ・・は、全周方向に亘って２２５度の角度に亘って画像を撮影することができる広角なレンズ７を本体８に取り付けたＣＣＤ（固体撮像素子）カメラである。また、各カメラ４ａ，４ｂ・・は、被写体に対して自動的に焦点を合わせることができるようになっている。そして、各カメラ４ａ，４ｂ・・は、球状のカプセル２の表面であってカプセル２に内接する正四面体の各頂点に相当する位置に（すなわち、各カメラ４ａ，４ｂ・・の設置位置を結ぶと正四面体を構成するように）、レンズ７のみを外部に露出させた状態で設置されている。   Each of the cameras 4a, 4b,... Is a CCD (solid-state imaging device) camera in which a wide-angle lens 7 capable of taking an image over an angle of 225 degrees over the entire circumferential direction is attached to the main body 8. Each camera 4a, 4b,... Can be automatically focused on the subject. The cameras 4a, 4b,... Are located at positions corresponding to the apexes of the regular tetrahedron inscribed on the surface of the spherical capsule 2 (that is, the installation positions of the cameras 4a, 4b,. It is installed with only the lens 7 exposed to the outside (so as to form a regular tetrahedron when tied).

また、各発光体３，３・・は、光を拡散させるためのレンズでＬＥＤの前方を覆ったものであり、各カメラ４ａ，４ｂ・・と同様に、球状のカプセル２の表面であってカプセル２に内接する正四面体の各頂点に相当する位置に設置されている。そして、周囲の３つのカメラ４ａ，４ｂ・・から等間隔に離反した状態になっている。   Each of the light emitters 3, 3... Covers the front of the LED with a lens for diffusing light, and is similar to each camera 4 a, 4 b. It is installed at a position corresponding to each vertex of a regular tetrahedron inscribed in the capsule 2. And it is in the state which left | separated from the surrounding three cameras 4a, 4b, ... at equal intervals.

一方、姿勢センサ５は、金属球９と４本のバネ１０ａ，１０ｂ，１０ｃ，１０ｄとによって構成されている。各バネ１０ａ，１０ｂ・・の片方の端縁は、それぞれ、各カメラ４ａ，４ｂ・・の本体８の基端に固着されており、各バネ１０ａ，１０ｂ・・の他方の端縁は、金属球９に固着されている（正確には、金属球９の表面に、内接する正四面体の各頂点に相当する位置に固着されている）。各バネ１０ａ，１０ｂ・・は、質量およびバネ定数を同じくするものであり、同じ位置に歪みセンサ１１が設置されている。なお、歪みセンサ１１は、いわゆる歪みゲージであり、各バネ１０ａ，１０ｂ・・の線条に沿って設置されている。   On the other hand, the attitude sensor 5 includes a metal ball 9 and four springs 10a, 10b, 10c, and 10d. The one end of each spring 10a, 10b,... Is fixed to the base end of the body 8 of each camera 4a, 4b,... The other end of each spring 10a, 10b,. It is fixed to the sphere 9 (more precisely, it is fixed to the surface of the metal sphere 9 at a position corresponding to each vertex of the inscribed regular tetrahedron). The springs 10a, 10b,... Have the same mass and spring constant, and the strain sensor 11 is installed at the same position. The strain sensor 11 is a so-called strain gauge, and is installed along the line of the springs 10a, 10b,.

また、図３に示すように、カプセル２の内部には、バッテリ６、制御回路１２、送受信回路１３が、カプセル２の内面に当着された状態で設置されている。各カメラ４ａ，４ｂ・・および各発光体３，３・・は、配線１４，１４・・によってバッテリ６に接続されており、制御回路１２は、配線１５，１５によってバッテリ６および送受信回路１３に接続されている。また、各バネ１０ａ，１０ｂ・・に取り付けられた各歪みセンサ１１，１１・・は、配線１６，１６・・によって制御回路１２に接続されている。なお、配線１４，１４・・および配線１５，１５は、姿勢センサ５の各バネ１０ａ，１０ｂ・・と絡まないように、カプセル２の内面に沿って配設されている。さらに、各歪みセンサ１１，１１・・と制御回路１２とを接続した配線１６，１６・・は、バネ１０ａ，１０ｂ・・と接触した場合でもバネ１０ａ，１０ｂ・・の伸縮に影響を与えないように、バネ１０ａ，１０ｂ・・に比較して十分に細い線条によって構成されている。   As shown in FIG. 3, a battery 6, a control circuit 12, and a transmission / reception circuit 13 are installed inside the capsule 2 in a state of being attached to the inner surface of the capsule 2. The cameras 4a, 4b,... And the light emitters 3, 3,... Are connected to the battery 6 by wirings 14, 14, and the control circuit 12 is connected to the battery 6 and the transmission / reception circuit 13 by wirings 15, 15. It is connected. The strain sensors 11, 11,... Attached to the springs 10a, 10b,... Are connected to the control circuit 12 by wirings 16, 16,. The wires 14, 14... And the wires 15, 15 are arranged along the inner surface of the capsule 2 so as not to get entangled with the springs 10 a, 10 b. Further, the wirings 16, 16,... Connecting the respective strain sensors 11, 11,... And the control circuit 12 do not affect the expansion and contraction of the springs 10a, 10b,. Thus, it is comprised by the sufficiently thin filament compared with spring 10a, 10b.

一方、図５は、カプセル型内視鏡１と信号の送受信を行うための送受信装置の構成を示したものであり、送受信装置１７は、カプセル型内視鏡１と信号の送受信を行う制御装置１８を、所定の信号を入力するための入力手段２０、および、画像をモニタリングするためのテレビモニタ１９に接続したものである。制御装置１８内には、制御回路２１、送受信回路２２、記憶手段２３が設けられており、制御回路２１が入力手段２０およびテレビモニタ１９と接続された状態になっている。   On the other hand, FIG. 5 shows a configuration of a transmission / reception device for transmitting / receiving signals to / from the capsule endoscope 1, and the transmission / reception device 17 is a control device for transmitting / receiving signals to / from the capsule endoscope 1. 18 is connected to an input means 20 for inputting a predetermined signal and a television monitor 19 for monitoring an image. In the control device 18, a control circuit 21, a transmission / reception circuit 22 and a storage unit 23 are provided, and the control circuit 21 is connected to the input unit 20 and the television monitor 19.

以下、胃等の部位を検査する場合におけるカプセル型内視鏡１の作動内容について説明する。カプセル型内視鏡１を使用する場合には、被検者は、通常のカプセル型の薬剤を経口するようにカプセル内視鏡１を経口する。経口されたカプセル内視鏡１は、通常の食物と同様に、生体内部を流下して検査を所望する部位（たとえば、胃等）まで到達する。なお、生体内部を流下したカプセル型内視鏡１は、消化されることなく体外に排出される。   Hereinafter, the operation content of the capsule endoscope 1 when examining a part such as the stomach will be described. When the capsule endoscope 1 is used, the subject orally administers the capsule endoscope 1 to orally administer a normal capsule type medicine. Oral capsule endoscope 1 flows down inside the living body and reaches a site (for example, stomach or the like) where the examination is desired, like normal food. The capsule endoscope 1 that has flowed down inside the living body is discharged out of the body without being digested.

カプセル内視鏡１を経口した後に、検査作業者が、送受信装置１７の入力手段２０により所定の作動開始信号を入力すると、その作動開始信号が送受信回路２２を介して電波としてカプセル型内視鏡１の送受信回路１３へ送信される。   After the capsule endoscope 1 is orally administered, when the inspection operator inputs a predetermined operation start signal by the input means 20 of the transmission / reception device 17, the operation start signal is transmitted as a radio wave via the transmission / reception circuit 22. 1 transmission / reception circuit 13.

カプセル型内視鏡１は、送受信回路１３を介して作動開始信号を受信すると、バッテリ６からの電源を各発光体３，３・・および各カメラ４ａ，４ｂ・・へと供給する。それにより、各発光体３，３・・が一斉に発光を開始すると同時に、各カメラ４ａ，４ｂ・・が、一斉に撮影を開始する。そして、各カメラ４ａ，４ｂ・・によって撮影された映像（３つの映像）は、「映像情報」として制御回路１２へと送信され、送受信回路１３を介して電波として外部へ出力される。   When the capsule endoscope 1 receives the operation start signal via the transmission / reception circuit 13, the capsule endoscope 1 supplies the power from the battery 6 to the light emitters 3, 3,... And the cameras 4a, 4b,. As a result, the light emitters 3, 3,... Start to emit light at the same time, and the cameras 4a, 4b,. Then, the images (three images) taken by each of the cameras 4a, 4b,... Are transmitted to the control circuit 12 as “image information” and output to the outside as radio waves via the transmission / reception circuit 13.

また、経口されたカプセル内視鏡１は、生体内部を転動しながら流下するが、その際に、姿勢センサ５によって、自身の姿勢を認識し、「姿勢情報」として外部に出力する。すなわち、金属球９に重力が作用すると、各バネ１０ａ，１０ｂ・・に伸長応力および収縮応力が作用するが、そのときに各歪みセンサ１１，１１・・は、その伸長応力あるいは収縮応力を検知して、制御回路１２へと送信する。一方、制御回路１２には、図示しない記憶手段が設けられており、その記憶手段には、予め、各バネ１０ａ，１０ｂ・・に加わる応力とカプセル内視鏡１の姿勢（すなわち、バネ１０ａに沿った主軸と鉛直軸とのなす角度および主軸と基準水平軸とのなす角度）とが対応付けられて「姿勢基準データ」として記憶されている。そして、制御回路１２は、各バネ１０ａ，１０ｂ・・の歪みセンサ１１，１１・・から伸長応力や収縮応力が送信されると、その「姿勢基準データ」に基づいて、撮影時における姿勢（すなわち、主軸と鉛直軸とのなす角度および主軸と基準水平軸とのなす角度）を認識する。そして、その認識された姿勢を「姿勢情報」として、各カメラ４ａ，４ｂ・・の「映像情報」とともに、送受信回路１３を介して外部へ出力する。   The capsule endoscope 1 that has been orally flowed down while rolling inside the living body. At that time, the posture sensor 5 recognizes its posture and outputs it as “posture information” to the outside. That is, when gravity acts on the metal ball 9, extension stress and contraction stress act on the springs 10a, 10b,..., And at that time, the strain sensors 11, 11,. Then, the data is transmitted to the control circuit 12. On the other hand, the control circuit 12 is provided with a storage means (not shown), in which the stress applied to each spring 10a, 10b,... And the posture of the capsule endoscope 1 (that is, the spring 10a) The angle formed between the main axis and the vertical axis along the same axis and the angle formed between the main axis and the reference horizontal axis are associated with each other and stored as “posture reference data”. When the elongation stress or the contraction stress is transmitted from the strain sensors 11, 11,... Of the springs 10a, 10b,. The angle between the main axis and the vertical axis and the angle between the main axis and the reference horizontal axis). Then, the recognized posture is outputted as “posture information” together with the “video information” of each camera 4a, 4b,.

一方、送受信装置１７は、送受信回路２２によって各カメラ４ａ，４ｂ・・の「映像情報」および「姿勢情報」を受信すると、制御回路２１により、受信した各「映像情報」を映像信号に変換して、別々にテレビモニタ１９に出力する。検査作業者は、テレビモニタ１９に出力された各映像を見ることによって、胃等の検査部位の状態を把握することができる。また、検査部位に異常が見られた場合には、その異常が検知された「映像情報」と対応した「姿勢情報」から、当該異常箇所の検査部位における位置を把握することができる（たとえば、被験者が仰向けの状態で胃の検査をした場合であって、「姿勢情報」である主軸と鉛直軸とのなす角度および主軸と基準水平軸とのなす角度がともに０度である場合には、カメラ４ａの映像が胃の上部を撮影したものであることを把握することができる）。   On the other hand, when the transmission / reception device 17 receives “video information” and “posture information” of each camera 4a, 4b,... By the transmission / reception circuit 22, the control circuit 21 converts each received “video information” into a video signal. Are output separately to the television monitor 19. The inspection operator can grasp the state of the inspection site such as the stomach by watching each image output to the television monitor 19. In addition, when an abnormality is observed in the examination part, the position of the abnormality part in the examination part can be grasped from “posture information” corresponding to “video information” in which the abnormality is detected (for example, When the subject has examined the stomach in the supine state, and the angle between the main axis and the vertical axis that is “posture information” and the angle between the main axis and the reference horizontal axis are both 0 degrees, It is possible to grasp that the image of the camera 4a is an image of the upper part of the stomach).

カプセル型内視鏡１は、上記の如く、カプセル２が球状に形成されているので、生体内部（たとえば、食道や消化器の内部）をスムーズに流下させることができる。また、カプセル２内に４つのカメラ４ａ，４ｂ・・が設置されており、同一の姿勢で同時に全方位の「映像情報」を入手することができるので、撮影において死角を生じさせず、所望する部位をくまなく検査することができる。   Since the capsule endoscope 1 is formed in a spherical shape as described above, the capsule endoscope 1 can smoothly flow down inside the living body (for example, inside the esophagus or digestive organ). In addition, since four cameras 4a, 4b,... Are installed in the capsule 2 and "image information" in all directions can be obtained at the same time in the same posture, it is desirable to cause no blind spots in photographing. The entire region can be examined.

また、カプセル型内視鏡１は、姿勢センサ５が内蔵されており、その姿勢センサ５が検出した自己の姿勢に関する「姿勢情報」を外部に出力することができるため、胃等の検査部位に異常が見られた場合には、その異常が検知された「映像情報」と対応した「姿勢情報」に基づいて、当該異常箇所の検査部位における位置を非常に容易に把握することができる。   Further, the capsule endoscope 1 has a built-in posture sensor 5 and can output “posture information” regarding the posture detected by the posture sensor 5 to the outside. When an abnormality is observed, the position of the abnormal part in the examination site can be very easily grasped based on the “posture information” corresponding to the “video information” in which the abnormality is detected.

さらに、カプセル型内視鏡１は、各カメラ４ａ，４ｂ・・がカプセル２に内接する正四面体の各頂点に相当する位置に設置されているため、カメラの数が比較的に少ないシンプルな構成であるにも拘わらず、撮影時に死角を生じさせることなく、所望する部位を効率的に検査することができる。加えて、各カメラ４ａ，４ｂ・・に極端に広角なレンズを用いる必要がないので、製造コストも安価である。   Further, since the capsule endoscope 1 is installed at a position corresponding to each vertex of a regular tetrahedron inscribed in the capsule 2 with each camera 4a, 4b,..., The number of cameras is relatively small. In spite of the configuration, a desired part can be efficiently inspected without causing a blind spot during imaging. In addition, since it is not necessary to use extremely wide-angle lenses for the cameras 4a, 4b,..., The manufacturing cost is low.

なお、本発明のカプセル型内視鏡の構成は、上記実施形態の態様に何ら限定されるものではなく、カメラ、発光体、姿勢センサ等の構成を、本発明の趣旨を逸脱しない範囲で適宜変更することができる。   Note that the configuration of the capsule endoscope of the present invention is not limited to the aspect of the embodiment described above, and the configuration of the camera, the light emitter, the posture sensor, and the like is appropriately set within the scope of the present invention. Can be changed.

たとえば、カプセル型内視鏡は、上記実施形態の如く、４個のカメラを内蔵したものに限定されず、２個あるいは３個のカメラを設けたものや、５個以上のカメラを設けたものに変更することも可能である。なお、上記実施形態の如く４個のカメラを内蔵させた場合には、カプセルをさほど大きなものとすることなく全方位の同時撮影が可能なものとすることができる。   For example, the capsule endoscope is not limited to the one having four cameras as in the above embodiment, and has two or three cameras, or has five or more cameras. It is also possible to change to. When four cameras are built in as in the above embodiment, simultaneous shooting in all directions can be performed without making the capsule so large.

また、カプセル型内視鏡は、外部からの指令によってバッテリからカメラ等への電源供給をＯＮ・ＯＦＦするものに限定されず、付設されたスイッチの操作によって電源供給をＯＮ・ＯＦＦするものに変更することも可能である。   The capsule endoscope is not limited to the one that turns on / off the power supply from the battery to the camera or the like by an external command, but is changed to one that turns on / off the power supply by operating an attached switch. It is also possible to do.

さらに、カプセル型内視鏡は、被検者の周囲に配置される位置センサによって存在位置を詳細に確認できるものに変更することも可能である。かかる構成を採用すれば、検査部位に異常が見られた場合に、位置センサによって得られる位置情報と姿勢情報とから異常箇所の検査部位における位置をより正確に把握することが可能となる。   Furthermore, the capsule endoscope can be changed to one in which the presence position can be confirmed in detail by a position sensor arranged around the subject. By adopting such a configuration, when an abnormality is found in the examination part, it is possible to more accurately grasp the position of the abnormal part in the examination part from the position information and posture information obtained by the position sensor.

また、カプセル型内視鏡は、上記実施形態の如く、姿勢センサを内蔵したものに限定されず、所定の部位から被検者の周囲に配置される目標物までの距離を測定することによって外部から姿勢を把握するものや、送信された画像を解析することによって外部から姿勢を把握するもの等に変更することも可能である。   Further, the capsule endoscope is not limited to the one having the built-in posture sensor as in the above-described embodiment, and the capsule endoscope is externally measured by measuring the distance from a predetermined part to a target placed around the subject. It is also possible to change to a device that grasps the posture from the above, or a device that grasps the posture from the outside by analyzing the transmitted image.

加えて、姿勢センサも、上記実施形態の如く、金属球とバネとを用いた姿勢センサに限定されず、球状に形成した電極（正極あるいは負極）内に他極として機能する金属球等を封入した姿勢センサ等に変更することも可能である。なお、上記実施形態の如く、金属球とバネとからなる姿勢センサを用いた場合には、カプセル内で大きなスペースを必要とすることなく設置できる上、非常に感度良く姿勢を検知することができる、というメリットがある。   In addition, the posture sensor is not limited to a posture sensor using a metal ball and a spring as in the above embodiment, and a metal ball or the like that functions as another electrode is enclosed in a spherical electrode (positive electrode or negative electrode). It is also possible to change to a posture sensor or the like. In addition, when an attitude sensor composed of a metal ball and a spring is used as in the above embodiment, it can be installed without requiring a large space in the capsule, and the attitude can be detected with high sensitivity. There is a merit that.

本発明のカプセル型内視鏡は、上記の如く優れた機能を有するものであるから、経口して生体の内部を撮影するための装置として好適に用いることができる。   Since the capsule endoscope of the present invention has an excellent function as described above, it can be suitably used as an apparatus for photographing the inside of a living body orally.

カプセル型内視鏡の外観図である。It is an external view of a capsule endoscope. カプセル型内視鏡の内部を透視した状態を示す説明図（内部構造の一部を省略して示したもの）である。It is explanatory drawing which shows the state which saw through the inside of the capsule type | mold endoscope (a part of internal structure was abbreviate | omitted and shown). カプセル型内視鏡の内部構造を一部省略して示す説明図である。It is explanatory drawing which abbreviate | omits and shows a part of internal structure of a capsule endoscope. カプセル型内視鏡の制御機構を示すブロック図である。It is a block diagram which shows the control mechanism of a capsule type | mold endoscope. 送受信装置を示す説明図である。It is explanatory drawing which shows a transmission / reception apparatus.

符号の説明Explanation of symbols

１・・カプセル型内視鏡、２・・カプセル、４ａ〜４ｄ・・カメラ、５・・姿勢センサ、９・・金属体、１０ａ〜１０ｄ・・バネ。   DESCRIPTION OF SYMBOLS 1 ... Capsule type endoscope, 2 ... Capsule, 4a-4d ... Camera, 5 ... Attitude sensor, 9 ... Metal body, 10a-10d ... Spring.

Claims (3)

生体内部に留置させた状態で生体内部の画像情報を得るためのカプセル型内視鏡であって、
球状に形成されたカプセルの内部に、少なくとも２つ以上のカメラが内蔵されており、同一の姿勢で同時に全方位の画像情報を得ることが可能なカプセル型内視鏡。 A capsule endoscope for obtaining image information inside a living body in a state of being placed inside the living body,
A capsule endoscope in which at least two or more cameras are incorporated inside a spherically formed capsule, and image information in all directions can be obtained simultaneously in the same posture. カプセルの姿勢に関する姿勢情報を得るための姿勢センサが内蔵されており、その姿勢センサによって検出された姿勢情報を外部に出力することが可能な請求項１に記載のカプセル型内視鏡。   The capsule endoscope according to claim 1, wherein a posture sensor for obtaining posture information related to the posture of the capsule is incorporated, and posture information detected by the posture sensor can be output to the outside. 各カメラが、カプセルの表面であってカプセルに内接する正四面体の各頂点に相当する位置に設置されていることを特徴とする請求項１、または請求項２に記載のカプセル型内視鏡。
The capsule endoscope according to claim 1 or 2, wherein each camera is installed at a position corresponding to each vertex of a regular tetrahedron inscribed in the capsule on the surface of the capsule. .
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