JP4542326B2 - Capsule type medical device guidance system - Google Patents

Capsule type medical device guidance system Download PDF

Info

Publication number
JP4542326B2
JP4542326B2 JP2003342416A JP2003342416A JP4542326B2 JP 4542326 B2 JP4542326 B2 JP 4542326B2 JP 2003342416 A JP2003342416 A JP 2003342416A JP 2003342416 A JP2003342416 A JP 2003342416A JP 4542326 B2 JP4542326 B2 JP 4542326B2
Authority
JP
Japan
Prior art keywords
magnetic field
medical device
capsule medical
capsule
guidance system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2003342416A
Other languages
Japanese (ja)
Other versions
JP2005103091A (en
JP2005103091A5 (en
Inventor
宏尚 河野
寛伸 瀧澤
昭夫 内山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to JP2003342416A priority Critical patent/JP4542326B2/en
Publication of JP2005103091A publication Critical patent/JP2005103091A/en
Publication of JP2005103091A5 publication Critical patent/JP2005103091A5/ja
Application granted granted Critical
Publication of JP4542326B2 publication Critical patent/JP4542326B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery

Description

本発明は体腔内に挿入されたカプセル型医療装置を推進させて誘導するのに好適なカプセル型医療装置誘導システムに関する。   The present invention relates to a capsule medical device guidance system suitable for propelling and guiding a capsule medical device inserted into a body cavity.

カプセル型医療装置誘導システムとしては、回転磁場により被検体内を推進させるものがあるが、従来例として例えば特開２００２−１８７１００号公報がある。この従来例には、回転磁場を発生する磁場発生部と、この回転磁場を受けて回転して推力を得るロボット本体と、ロボット本体の位置を検出する位置検出部と、この位置検出部が検出したロボット本体の位置に基づき、ロボット本体を目的地へ到達させる方向へ向けるべく磁場発生部による回転磁場の向きを変更する磁場変更手段とを備えた移動可能なマイクロマシンの移動制御システムが開示されている。   As a capsule medical device guidance system, there is a system in which the inside of a subject is propelled by a rotating magnetic field. As a conventional example, there is, for example, Japanese Patent Application Laid-Open No. 2002-187100. In this conventional example, a magnetic field generator that generates a rotating magnetic field, a robot body that rotates by receiving the rotating magnetic field and obtains thrust, a position detector that detects the position of the robot body, and the position detector Disclosed is a movable micromachine movement control system comprising magnetic field changing means for changing the direction of a rotating magnetic field by a magnetic field generation unit to direct the robot main body in a direction to reach a destination based on the position of the robot main body. Yes.

特開２００２−１８７１００号公報では、対向させた複数のコイル、または単独のコイルを患者近傍に設置し磁場を発生することで、体内で磁力を応用した誘導、診断、治療をおこなうとの記載がある。
特開２００１−１７９７００号公報 特開２００２−１８７１００公報 Japanese Patent Laid-Open No. 2002-187100 describes that guidance, diagnosis, and treatment are performed by applying magnetic force in the body by installing a plurality of opposed coils or a single coil in the vicinity of a patient to generate a magnetic field. is there.
JP 2001-179700 A JP 2002-187100 A

特開２００２−１８７１００号公報では、対向させた複数のコイル、または単独のコイルを患者近傍に設置し磁場を発生することで、体内で磁力を応用した誘導、診断、治療をおこなうとの記載があるが、上記従来例では、回転磁場における制御空間を予め所定の磁場空間に保持する必要があり、そのためシステムが大きく、煩雑になるといった問題があると共に、実際の磁極形状や、発生する磁場に関しては何ら記載されていない。   Japanese Patent Laid-Open No. 2002-187100 describes that guidance, diagnosis, and treatment are performed by applying magnetic force in the body by installing a plurality of opposed coils or a single coil in the vicinity of a patient to generate a magnetic field. However, in the above-described conventional example, it is necessary to hold the control space in the rotating magnetic field in a predetermined magnetic field space in advance, so that there is a problem that the system is large and complicated, and the actual magnetic pole shape and the generated magnetic field are related. Is not described at all.

本発明は、上記事情に鑑みてなされたものであり、食道、胃や大腸といった管腔臓器内で、カプセル型医療装置の正確な位置が分からなくても、安価にカプセル型医療装置を安定した位置、姿勢の誘導を行うことのできるとともに、磁界発生手段により発生した磁界よりカプセル型医療装置内の被誘導部が回転しても、磁界によって撮像画像の回転することを防止することができるカプセル型医療装置誘導システムを提供することを目的としている。 The present invention has been made in view of the above circumstances, and the capsule medical device can be stably produced at low cost without knowing the exact position of the capsule medical device in a luminal organ such as the esophagus, stomach, or large intestine. Capsule that can guide the position and orientation, and can prevent the picked-up image from being rotated by the magnetic field even if the guided part in the capsule medical device is rotated by the magnetic field generated by the magnetic field generating means. It aims at providing a type medical device guidance system.

本発明のカプセル型医療装置誘導システムは、被検体内に導入され、観察、診断、処置、投薬等の医療行為を行なうカプセル型医療装置と、前記カプセル型医療装置の位置、姿勢を前記被検体の外から誘導する誘導装置からなるカプセル型医療装置誘導システムにおいて、前記カプセル型医療装置に、磁気的に誘導される被誘導部と、前記誘導装置に、前記被誘導部に作用する磁界を発生する磁界発生手段と、を設けるとともに、前記被誘導部を、回動自在に前記カプセル型医療装置内に配置し、前記磁界発生手段が前記被検体内の特定平面方向に略平行で均一な磁束を生成し、前記特定平面の垂直方向に磁気勾配を有する磁界を発生させるように構成される。 The capsule medical device guidance system of the present invention is introduced into a subject and performs a medical action such as observation, diagnosis, treatment, and medication, and the position and posture of the capsule medical device are determined by the subject. In a capsule medical device guidance system comprising a guidance device for guiding from outside, a magnetically guided guided portion is generated in the capsule medical device, and a magnetic field acting on the guided portion is generated in the guiding device magnetic field generating means and the provided Rutotomoni that, the object to be induction unit, arranged rotatably within the capsule medical device, substantially parallel to the specific plane surface direction in the subject wherein the magnetic field generating means It is configured to generate a uniform magnetic flux and generate a magnetic field having a magnetic gradient in a direction perpendicular to the specific plane.

本発明によれば、食道、胃や大腸といった管腔臓器内で、カプセル型医療装置の正確な位置が分からなくても、安価にカプセル型医療装置を安定した位置、姿勢の誘導を行うことができるとともに、磁界発生手段により発生した磁界よりカプセル型医療装置内の被誘導部が回転しても、磁界によって撮像画像の回転することを防止することができるという効果がある。 According to the present invention, the capsule medical device can be stably guided at a low cost without knowing the exact position of the capsule medical device in a luminal organ such as the esophagus, stomach, or large intestine. In addition, even if the guided part in the capsule medical device is rotated by the magnetic field generated by the magnetic field generating means, it is possible to prevent the picked-up image from being rotated by the magnetic field .

以下、図面を参照しながら本発明の実施例について述べる。   Embodiments of the present invention will be described below with reference to the drawings.

図１ないし図２６は本発明の実施例１に係わり、図１はカプセル型医療装置誘導システムの構成を示す構成図、図２は図１のカプセル型医療装置の構成を示す構成図、図３は図１の磁場発生装置の磁場発生部の構成を示す構成図、図４は図１のカプセル型医療装置誘導システムの作用を説明する第１の図、図５は図１のカプセル型医療装置誘導システムの作用を説明する第２の図、図６は図１のカプセル型医療装置誘導システムの作用を説明する第３の図、図７は図３の磁場発生装置の磁場発生部の第１の変形例の構成を示す構成図、図８は図３の磁場発生装置の磁場発生部の第２の変形例の構成を示す構成図、図９は図３の磁場発生装置の磁場発生部の第３の変形例の構成を示す構成図、図１０は図３の磁場発生装置の磁場発生部の第４の変形例の構成を示す構成図、図１１は図３の磁場発生装置の磁場発生部の第５の変形例の構成を示す構成図、図１２は図３の磁場発生装置の磁場発生部の第６の変形例の構成を示す構成図、図１３は図３の磁場発生装置の磁場発生部の第７の変形例の構成を示す構成図、図１４は図１３の磁場発生部の作用を説明する図、図１５は図１の磁場発生装置の変形例の構成を示す構成図、図１６は図１５のＡ線矢視図を示す図、図１７は図１５のＢ線矢視図を示す図、図１８は図１のカプセル型医療装置誘導システムの第１の変形例の構成を示す構成図、図１９は図１のカプセル型医療装置誘導システムの第２の変形例の構成を示す構成図、図２０は図１のカプセル型医療装置誘導システムの第３の変形例の構成を示す構成図、図２１は図２のカプセル型医療装置の第１の変形例の構成を示す構成図、図２２は図２のカプセル型医療装置の第２の変形例の構成を示す構成図、図２３は図２のカプセル型医療装置の第３の変形例の構成を示す構成図、図２４は図７の磁場発生部の稜線断面を示す図、図２５は図７の磁場発生部の稜線断面の第１の変形例を示す図、図２６は図７の磁場発生部の稜線断面の第２の変形例を示す図である。   1 to 26 relate to the first embodiment of the present invention, FIG. 1 is a configuration diagram showing the configuration of the capsule medical device guidance system, FIG. 2 is a configuration diagram showing the configuration of the capsule medical device in FIG. Is a block diagram showing the configuration of the magnetic field generator of the magnetic field generator of FIG. 1, FIG. 4 is a first diagram for explaining the operation of the capsule medical device guidance system of FIG. 1, and FIG. 5 is the capsule medical device of FIG. FIG. 6 is a third diagram illustrating the operation of the capsule medical device guidance system of FIG. 1, and FIG. 7 is a first diagram of the magnetic field generation unit of the magnetic field generation device of FIG. FIG. 8 is a block diagram showing the configuration of the second modification of the magnetic field generator of the magnetic field generator of FIG. 3, and FIG. 9 is the configuration of the magnetic field generator of the magnetic field generator of FIG. FIG. 10 is a block diagram showing the configuration of the third modification, and FIG. 10 shows a fourth example of the magnetic field generator of the magnetic field generator of FIG. FIG. 11 is a block diagram showing the configuration of a fifth modification of the magnetic field generator of the magnetic field generator of FIG. 3, and FIG. 12 is a block diagram of the magnetic field generator of the magnetic field generator of FIG. FIG. 13 is a block diagram showing the configuration of the seventh modification of the magnetic field generator of the magnetic field generator of FIG. 3, and FIG. 14 explains the operation of the magnetic field generator of FIG. FIG. 15 is a block diagram showing the configuration of a modified example of the magnetic field generator of FIG. 1, FIG. 16 is a view showing the arrow A in FIG. 15, and FIG. 17 is the arrow B in FIG. 18 is a block diagram showing the configuration of the first modification of the capsule medical device guidance system of FIG. 1, and FIG. 19 is the configuration of the second modification of the capsule medical device guidance system of FIG. FIG. 20, FIG. 20 is a block diagram showing the configuration of a third modification of the capsule medical device guiding system of FIG. 1, and FIG. 21 is the cap of FIG. FIG. 22 is a block diagram showing the configuration of the second modification of the capsule medical device of FIG. 2, and FIG. 23 is the capsule medical device of FIG. FIG. 24 is a diagram showing a ridge line cross section of the magnetic field generation unit in FIG. 7, and FIG. 25 is a diagram showing a first modification example of the ridge line cross section of the magnetic field generation unit in FIG. 26 is a diagram showing a second modification of the ridge line cross section of the magnetic field generation unit of FIG.

図１に示すように、本実施例のカプセル型医療装置誘導システム（以下、カプセル誘導システムと略記）１は、例えばベッド７に横たわる患者２の体腔内に挿入され、体腔内を検査するためのカプセル形状のカプセル型医療装置（以下、単にカプセルと略記）３と、この患者２の外部に配置され、カプセル３と電波を送受信して、このカプセル３の動作を制御したり、カプセル３から送信される情報を受信するパソコン等で構成されるカプセル制御装置（以下、単に制御装置と略記）４と、カプセル３に印加する静磁場を制御してカプセル３を進退させたい方向に誘導する磁場発生装置５とを有し、制御装置４は磁場発生装置５をベッド７に沿って進退させたり回転させたりして駆動することができるようになっている。   As shown in FIG. 1, a capsule medical device guidance system (hereinafter abbreviated as “capsule guidance system”) 1 of this embodiment is inserted into a body cavity of a patient 2 lying on a bed 7, for example, for examining the inside of the body cavity. A capsule-shaped capsule medical device (hereinafter simply abbreviated as “capsule”) 3 and the patient 2 are arranged outside the patient 2 to transmit / receive radio waves to / from the capsule 3 to control the operation of the capsule 3 or transmit from the capsule 3. Capsule control device (hereinafter simply abbreviated as control device) 4 composed of a personal computer or the like that receives the information to be transmitted, and a magnetic field generation that controls the static magnetic field applied to the capsule 3 to guide the capsule 3 in the desired direction. The control device 4 can drive the magnetic field generating device 5 by moving it forward and backward along the bed 7 or rotating it.

磁場発生装置５は、後述するように、対峙した１対の例えば四角柱形状の永久磁石からなる磁場発生部５ａで形成され、磁場発生部５ａはベッド７の長手方向に直交するベッド７の寝台面に垂直な軸回りに回転可能な第１回転支持装置８と、ベッド７の長手方向に直交するベッド７の寝台面に平行な軸回りに回転可能な第２回転支持装置９とにより支持され、第１回転支持装置８及び第２回転支持装置９はベッド７の長手方向に沿って進退可能な進退装置１０に保持され、制御装置４により磁場発生装置５を進退させたり回転させたりすることで、カプセル３の患者２の体腔での移動を制御するようにしている。   As will be described later, the magnetic field generator 5 is formed of a pair of opposed magnetic field generators 5a made of, for example, a quadrangular prism-shaped permanent magnet, and the magnetic field generator 5a is a bed of the bed 7 orthogonal to the longitudinal direction of the bed 7 It is supported by a first rotation support device 8 that can rotate around an axis perpendicular to the surface, and a second rotation support device 9 that can rotate around an axis parallel to the bed surface of the bed 7 orthogonal to the longitudinal direction of the bed 7. The first rotation support device 8 and the second rotation support device 9 are held by an advance / retreat apparatus 10 that can advance and retreat along the longitudinal direction of the bed 7, and the control device 4 causes the magnetic field generator 5 to advance and retreat. Therefore, the movement of the capsule 3 in the body cavity of the patient 2 is controlled.

患者２の周囲に磁場を発生する磁場発生装置５を配置し、磁場発生部５ａの駆動（進退・回転）を制御装置４側から制御し、患者２の体腔管路内に挿入されたカプセル３の内部に配置した磁場に応答して力が作用する（磁場応答部としての）後述するマグネット２０に対してカプセル３を推進させる方向に静磁場を印加することにより、カプセル３を円滑にかつ効率良く推進（誘導）させることができるようにしている。   The capsule 3 inserted in the body cavity duct of the patient 2 by arranging a magnetic field generator 5 that generates a magnetic field around the patient 2, controlling the drive (advance / retreat / rotation) of the magnetic field generator 5 a from the control device 4 side. By applying a static magnetic field in a direction in which the capsule 3 is propelled to a magnet 20 (to be described later) in which a force acts in response to a magnetic field disposed inside the capsule (as a magnetic field response unit), the capsule 3 is made smooth and efficient. It can be propelled (guided) well.

制御装置４は、カプセル３及び磁場発生装置５の駆動（進退・回転）を制御する機能を備えたパソコン本体１１と、このパソコン本体１１に設けられた、コマンド、データ等の入力を行うキーボード部１２と、パソコン本体１１に接続され、画像等を表示する表示手段としてのモニタ部１３と、パソコン本体１１に接続され、カプセル３を制御する制御信号の発信及びカプセル３からの信号を受信する体外アンテナ１４部とを有し、キーボード部１２により磁場発生装置５の駆動（進退・回転）量データ等を入力できるようになっている。   The control device 4 includes a personal computer main body 11 having a function of controlling driving (advancement / retraction / rotation) of the capsule 3 and the magnetic field generation device 5, and a keyboard unit provided in the personal computer main body 11 for inputting commands, data, and the like. 12, a monitor unit 13 connected to the personal computer main body 11 as a display means for displaying an image and the like, and an external body connected to the personal computer main body 11 for transmitting a control signal for controlling the capsule 3 and receiving a signal from the capsule 3 It has an antenna 14 section, and the keyboard section 12 can input drive (advance / retreat / rotation) amount data and the like of the magnetic field generator 5.

磁場発生装置５を制御する制御信号は、パソコン本体１１から接続ケーブルを介して第１回転支持装置８、第２回転支持装置９及び進退装置１０へ伝達される。そして、その制御信号に基づいて、第１回転支持装置８、第２回転支持装置９及び進退装置１０が磁場発生装置５を駆動（進退・回転）する。   A control signal for controlling the magnetic field generator 5 is transmitted from the personal computer main body 11 to the first rotation support device 8, the second rotation support device 9, and the advance / retreat device 10 via the connection cable. Then, based on the control signal, the first rotation support device 8, the second rotation support device 9, and the advance / retreat device 10 drive (advance / retract / rotate) the magnetic field generator 5.

そして、カプセル３では、磁場発生装置５の静磁場が内部のマグネット２０に対して磁気的に作用し、磁場発生装置５の磁場発生部５ａの駆動（進退・回転）に呼応してカプセル３が移動するように構成されている。   In the capsule 3, the static magnetic field of the magnetic field generator 5 acts magnetically on the internal magnet 20, and the capsule 3 moves in response to the drive (advance / retreat / rotation) of the magnetic field generator 5 a of the magnetic field generator 5. Is configured to move.

一方、カプセル３を制御する制御信号は、パソコン本体１１内の発振回路を経て所定の周波数の搬送波で変調され、体外アンテナ部１４から電波として発信されるようになっている。そして、カプセル３は、後述のアンテナ２７で電波を受信し、制御信号が復調され、各構成回路等へ出力するようになっている。 On the other hand, a control signal for controlling the capsule 3 is modulated by a carrier wave having a predetermined frequency via an oscillation circuit in the personal computer main body 11 and is transmitted as a radio wave from the extracorporeal antenna unit 14. The capsule 3 receives radio waves with an antenna 27 (to be described later), demodulates the control signal, and outputs it to each component circuit or the like.

また、制御装置４は、カプセル３の無線アンテナ２７から送信される映像信号等の情報（データ）信号を体外アンテナ部１４で受信して、モニタ部１３上に表示するようになっている。   In addition, the control device 4 receives an information (data) signal such as a video signal transmitted from the wireless antenna 27 of the capsule 3 by the extracorporeal antenna unit 14 and displays it on the monitor unit 13.

図２に示すようにカプセル３内には、光学像を結ぶ対物光学系２１と、その結像位置に配置される撮像素子２２を有する撮像回路２４と、対物光学系２１の周囲に配置された照明素子２３と、マグネット２０の他に、撮像素子２２で撮像された信号に対する信号処理を行うと共にメモリに生成されたデジタル映像信号を一時記憶するカプセル制御回路２５と、カプセル制御回路２５のメモリから読み出した映像信号を高周波信号で変調して無線送信する信号に変換したり、制御装置４から送信される制御信号を復調等する無線回路２６と、体外アンテナ部１４と電波の送受信を行うアンテナ２７と、カプセル制御回路２５等カプセル３内部の電気系に動作用の電源を供給する（ボタン）電池２８と、電池２８からの各回路への電力供給をオン・オフするスイッチ回路２９とが収納されている。   As shown in FIG. 2, the capsule 3 is disposed around the objective optical system 21, an objective optical system 21 for connecting optical images, an imaging circuit 24 having an imaging element 22 arranged at the imaging position, and the objective optical system 21. In addition to the illumination element 23 and the magnet 20, the capsule control circuit 25 that performs signal processing on the signal imaged by the imaging element 22 and temporarily stores the digital video signal generated in the memory, and the memory of the capsule control circuit 25 The read video signal is modulated with a high-frequency signal and converted into a signal to be transmitted wirelessly, or a radio circuit 26 that demodulates a control signal transmitted from the control device 4 and an antenna 27 that transmits and receives radio waves to and from the extracorporeal antenna unit 14 The battery 28 for supplying operation power to the electrical system inside the capsule 3 such as the capsule control circuit 25 (button), and the power supply from the battery 28 to each circuit is turned on. And the switch circuit 29 to turn off are accommodated.

カプセル３は、例えば、半球形状の透明な先端カバー３９と、この先端カバー３９が気密に接続される円筒形状の本体外装部材４０とにより気密に覆われ、内部が密閉された略円筒状のカプセル本体が形成される。   The capsule 3 is, for example, a substantially cylindrical capsule that is hermetically covered by a hemispherical transparent tip cover 39 and a cylindrical main body exterior member 40 to which the tip cover 39 is hermetically connected and hermetically sealed. A body is formed.

また、このカプセル３の長手方向の中心軸Ｃ上でその長さのほぼ中心位置にはこの中心軸Ｃと直交する方向が長手方向となるようにしてマグネット２０が配置され、図示しない接着剤等で固定されている。   Further, a magnet 20 is disposed on the central axis C in the longitudinal direction of the capsule 3 so that the direction orthogonal to the central axis C is the longitudinal direction at a substantially central position of the length, and an adhesive or the like (not shown) It is fixed with.

前記マグネット２０がカプセル本体の中心軸Ｃ上の中心位置で、中心軸Ｃに対して直角方向に磁化方向を有して配置することにより、このカプセル３は、磁場発生装置５で発生される磁場がマグネット２０に作用するようになっている。   By arranging the magnet 20 at a central position on the central axis C of the capsule body and having a magnetization direction perpendicular to the central axis C, the capsule 3 can generate a magnetic field generated by the magnetic field generator 5. Acts on the magnet 20.

磁場発生部５ａは、図３に示すように、１対の永久磁石３１ａ、３１ｂを対峙させ、常磁性体部３２を介してコの字形状に形成される。   As shown in FIG. 3, the magnetic field generator 5 a is formed in a U shape through a paramagnetic body portion 32, with a pair of permanent magnets 31 a and 31 b facing each other.

このように構成された本実施例の作用について説明する。   The operation of this embodiment configured as described above will be described.

図４に示すように、カプセル３が１対の永久磁石３１ａ、３１ｂの磁力線が磁極に向かって吸い込まれている部分に位置すると、磁力の疎密でカプセル３が誘導され、図５に示すように、カプセル３は永久磁石３１ａ、３１ｂが形成する平行磁場の中心に移動することになる。カプセル３は、１対の永久磁石３１ａ、３１ｂが形成する平行磁場とマグネット２０の磁化方向が一致するため、カプセル３の長手方向が１対の永久磁石３１ａ、３１ｂが形成する平行磁場と直交することになる。   As shown in FIG. 4, when the capsule 3 is located at a portion where the magnetic lines of force of the pair of permanent magnets 31a and 31b are sucked toward the magnetic pole, the capsule 3 is induced by the density of the magnetic force, as shown in FIG. The capsule 3 moves to the center of the parallel magnetic field formed by the permanent magnets 31a and 31b. Since the capsule 3 has the parallel magnetic field formed by the pair of permanent magnets 31a and 31b and the magnetization direction of the magnet 20, the longitudinal direction of the capsule 3 is orthogonal to the parallel magnetic field formed by the pair of permanent magnets 31a and 31b. It will be.

このときに、図６に示すように、磁場発生装置５の磁場発生部５ａを傾けると、マグネット２０の磁化方向が１対の永久磁石３１ａ、３１ｂが形成する平行磁場に一致するように作用するためにカプセル３の向きを変化させることができる。   At this time, as shown in FIG. 6, when the magnetic field generator 5a of the magnetic field generator 5 is tilted, the magnetization direction of the magnet 20 acts so as to coincide with the parallel magnetic field formed by the pair of permanent magnets 31a and 31b. Therefore, the direction of the capsule 3 can be changed.

そこで、患者２の例えば食道や十二指腸或いは小腸等の体腔管路内を観察する必要がある場合、操作者は、カプセル３を口腔から患者２に飲み込ませる。   Therefore, when it is necessary to observe the inside of a body cavity such as the esophagus, duodenum, or small intestine of the patient 2, the operator swallows the capsule 3 into the patient 2 from the oral cavity.

上述したようにカプセル３は、磁場発生装置５により形成される静磁場にマグネット２０が作用すると、このマグネット２０が受ける作用によりカプセル３が推進する。そして、カプセル３は、進退装置１０により磁場発生装置５をベッド７の長手方向に沿って移動させると、磁場発生部５ａによる静磁場の移動に伴い、マグネット２０の磁化平面と静磁場平面とが一致するようにカプセル３が進行する。   As described above, when the magnet 20 acts on the static magnetic field formed by the magnetic field generator 5, the capsule 3 is driven by the action received by the magnet 20. When the magnetic field generator 5 is moved along the longitudinal direction of the bed 7 by the advance / retreat apparatus 10, the capsule 3 moves between the magnetization plane of the magnet 20 and the static magnetic field plane along with the movement of the static magnetic field by the magnetic field generator 5 a. The capsule 3 advances so as to match.

また、第１回転支持装置８あるいは第２回転支持装置９により磁場発生装置５をベッド７に対して回転させると、マグネット２０の磁化平面と静磁場平面とが一致するようにカプセル３が回転する。   When the magnetic field generator 5 is rotated with respect to the bed 7 by the first rotation support device 8 or the second rotation support device 9, the capsule 3 rotates so that the magnetization plane of the magnet 20 and the static magnetic field plane coincide with each other. .

進退装置１０による磁場発生装置５の進退と、第１回転支持装置８あるいは第２回転支持装置９による磁場発生装置５の回転とにより、カプセル３を体腔内で移動・回転させて観察が行われる。   Observation is performed by moving and rotating the capsule 3 in the body cavity by the advance / retreat of the magnetic field generator 5 by the advance / retreat apparatus 10 and the rotation of the magnetic field generator 5 by the first rotation support apparatus 8 or the second rotation support apparatus 9. .

例えば胃内部を観察する必要がある場合には、操作者は、制御装置４の例えばキーボード部１２から観察開始のコマンドに対応するキー入力を行う。すると、このキー入力による制御信号は、制御装置４の体外アンテナ部１４を経て電波で放射されてカプセル３側に送信される。   For example, when it is necessary to observe the inside of the stomach, the operator performs key input corresponding to an observation start command from, for example, the keyboard unit 12 of the control device 4. Then, the control signal by this key input is radiated | emitted by the electromagnetic wave through the extracorporeal antenna part 14 of the control apparatus 4, and is transmitted to the capsule 3 side.

カプセル３は、アンテナ２７で受信した信号により、動作開始の信号を検出し、照明素子２３、撮像素子２２、カプセル制御回路２５等が駆動状態となる。   The capsule 3 detects an operation start signal based on a signal received by the antenna 27, and the illumination element 23, the imaging element 22, the capsule control circuit 25, and the like are in a driving state.

照明素子２３は、対物レンズ２１の視野方向に照明光を出射し、照明された部分の視野範囲の光学像が対物レンズ２１の結像位置に配置された撮像素子２２に結像されて光電変換され、カプセル制御回路２５によりＡ／Ｄ変換されてデジタル信号処理された後、圧縮処理がされメモリに格納された後、無線回路２６で変調され、アンテナ２７から電波で放射される。  The illumination element 23 emits illumination light in the visual field direction of the objective lens 21, and an optical image of the illuminated portion in the visual field range is imaged on the image sensor 22 arranged at the imaging position of the objective lens 21 and subjected to photoelectric conversion. Then, after A / D conversion and digital signal processing are performed by the capsule control circuit 25, compression processing is performed and the data is stored in the memory, then modulated by the radio circuit 26, and radiated by radio waves from the antenna 27.

この電波は、制御装置４の体外アンテナ部１４で受信され、パソコン本体１１で復調され、さらにＡ／Ｄ変換されてデジタルの映像信号に変換され、パソコン本体１１内の図示しないメモリやハードディスクに格納されると共に、所定の速度で読み出されモニタ部１３に撮像素子２２で撮像された光学画像がカラー表示される。  This radio wave is received by the external antenna unit 14 of the control device 4, demodulated by the personal computer main body 11, further A / D converted and converted into a digital video signal, and stored in a memory or hard disk (not shown) in the personal computer main body 11. At the same time, the optical image read out at a predetermined speed and captured by the image sensor 22 is displayed in color on the monitor unit 13.

操作者は、この画像を観察することにより、患者２の胃内部等を観察することができる。この観察画像を見ながら、制御装置４のキーボード部１２を用いて、第１回転支持装置８あるいは第２回転支持装置９による磁場発生装置５の回転により、胃内全域の観察が行えるように外部磁力のかけ方を容易にコントロールできる。   The operator can observe the inside of the stomach of the patient 2 by observing this image. While observing this observation image, by using the keyboard unit 12 of the control device 4, the entire region in the stomach can be observed by the rotation of the magnetic field generator 5 by the first rotation support device 8 or the second rotation support device 9. You can easily control how the magnetic force is applied.

さらに胃内の観察が終了した後、制御装置４のキーボード部１２を用いて、進退装置１０により磁場発生装置５を移動させ、カプセル３に対して磁場発生装置５で発生される磁場を制御することにより、磁気的に誘導して胃から十二指腸側に移動させることができる。そして、十二指腸においてもその管腔の向きに進行させるように磁場を制御することにより円滑にカプセル３を推進させることができる。  Further, after the observation in the stomach is completed, the magnetic field generator 5 is moved by the advance / retreat apparatus 10 using the keyboard unit 12 of the controller 4 to control the magnetic field generated by the magnetic field generator 5 with respect to the capsule 3. Thus, it can be magnetically guided and moved from the stomach to the duodenum side. In addition, the capsule 3 can be smoothly promoted by controlling the magnetic field so as to advance in the direction of the lumen in the duodenum.

それ以降（小腸）は、患者を磁場発生装置から離れさせ、自然なぜん動でカプセル３を推進させてもよいし、継続して磁気的に誘導させてもよい。   After that (small intestine), the patient may be moved away from the magnetic field generator and the capsule 3 may be propelled by natural movement, or may be continuously guided magnetically.

本実施例では、特定平面近傍の磁場勾配を用いてカプセル型医療装置を誘導する。被検体内で、特定平面内に比較的均一な磁場が発生するため、食道、大腸等の比較的直線的な臓器においては、カプセル型医療装置の正確な位置がわからなくても、安定した誘導が可能である。また、磁性体で連結することで磁束の漏れが少なくなる。   In this embodiment, the capsule medical device is guided using a magnetic field gradient near a specific plane. In a subject, a relatively uniform magnetic field is generated in a specific plane. For relatively straight organs such as the esophagus and large intestine, stable guidance is possible even if the exact position of the capsule medical device is unknown. Is possible. Moreover, the leakage of magnetic flux decreases by connecting with a magnetic body.

このように本実施例によれば、制御空間を特別な磁場空間とする必要がなく、静磁場を用いて、安価に、食道、胃や大腸といった管腔臓器内で、カプセル型医療装置の正確な位置が分からなくても、カプセル型医療装置を安定した位置、姿勢の誘導を行うことができる。    As described above, according to the present embodiment, it is not necessary to make the control space a special magnetic field space, and using the static magnetic field, the capsule medical device can be accurately used in a luminal organ such as the esophagus, stomach, and large intestine at low cost. Even if the correct position is unknown, the capsule medical device can be guided in a stable position and posture.

なお、本実施例では、対峙した１対の永久磁石３１ａ、３１ｂを例えば四角柱形状としたが、これに限らず、磁場発生装置５の磁場発生部５ａの第１の変形例として、図７に示すように、１対の四角柱形状の永久磁石３１ａ、３１ｂの対峙したそれぞれの面に三角柱形状の純鉄または珪素鋼または鉄ニッケル合金等からなる強磁性体５１ａ，５１ｂを設けてもよく、この場合平行磁場となる領域が強磁性体５１ａ，５１ｂの稜線を含む面となり、磁極の対向側端部の稜線において磁束が集中するため、磁界を形成する平面内でより強い磁界が発生し、平面の垂直方向に大きな磁場勾配を生成できる。   In the present embodiment, the pair of permanent magnets 31a and 31b facing each other is formed in, for example, a quadrangular prism shape. However, the present invention is not limited to this, and a first modification of the magnetic field generator 5a of the magnetic field generator 5 is shown in FIG. As shown in FIG. 5, ferromagnetic materials 51a and 51b made of triangular prism-shaped pure iron, silicon steel, iron-nickel alloy, or the like may be provided on the opposed surfaces of a pair of quadrangular prism-shaped permanent magnets 31a and 31b. In this case, the region where the parallel magnetic field is formed is a surface including the ridge lines of the ferromagnetic bodies 51a and 51b, and the magnetic flux is concentrated on the ridge lines at the opposite end portions of the magnetic poles. A large magnetic field gradient can be generated in the vertical direction of the plane.

また、磁場発生装置５の磁場発生部５ａの第２の変形例として、図８に示すように、対峙したそれぞれの面に三角柱形状を成した１対の純鉄または珪素鋼または鉄ニッケル合金等からなる強磁性体５２ａ，５２ｂを永久磁石５３を介してコの字形状に形成してもよい。さらに、磁場発生装置５の磁場発生部５ａの第３の変形例として、図９に示すように、１対の純鉄または珪素鋼または鉄ニッケル合金等からなる強磁性体５２ａ，５２ｂを１対の永久磁石５３ａ，５３ｂを介してロの字形状に形成してもよい。   Further, as a second modification of the magnetic field generator 5a of the magnetic field generator 5, as shown in FIG. 8, a pair of pure iron, silicon steel, iron-nickel alloy or the like having a triangular prism shape on each facing surface, etc. The ferromagnetic bodies 52 a and 52 b made of may be formed in a U shape through the permanent magnet 53. Further, as a third modification of the magnetic field generator 5a of the magnetic field generator 5, as shown in FIG. 9, a pair of ferromagnetic materials 52a and 52b made of pure iron, silicon steel, iron-nickel alloy, or the like is used. You may form in a square shape via the permanent magnets 53a and 53b.

また、本実施例の磁場発生部５ａ及びその第１ないし第３の変形例では、永久磁石を用いて静磁場を形成するとしたが、これに限らず、図１０ないし図１３に示すように、コイル６０を純鉄または珪素鋼または鉄ニッケル合金等からなる強磁性体６１に巻き、電磁石を用いて静磁場を形成するように、磁場発生部５ａを構成してもよい。なお、図１３のように磁場発生部５ａをロの字形状に形成した際には、図１４に示すように、１対の電磁石のうちの一方の強磁性体６１を開閉可能に形成することで、磁場発生装置５内への患者２の配置を容易にさせることができる。   Further, in the magnetic field generator 5a of the present embodiment and the first to third modifications thereof, a static magnetic field is formed using a permanent magnet, but not limited thereto, as shown in FIGS. The magnetic field generator 5a may be configured such that the coil 60 is wound around a ferromagnetic body 61 made of pure iron, silicon steel, iron-nickel alloy, or the like, and a static magnetic field is formed using an electromagnet. When the magnetic field generator 5a is formed in a square shape as shown in FIG. 13, one of the pair of electromagnets 61 is formed to be openable and closable as shown in FIG. Thus, the patient 2 can be easily placed in the magnetic field generator 5.

また、例えば図１１のような電磁石を用いる際には、コイル６０の形成を容易にするため、図１５に示すように、電磁石を形成する強磁性体６１の長手方向の長さを短くしてもよい。図１６に図１５にＡ線矢視図を、図１７に図１５にＢ線矢視図を示す。   For example, when an electromagnet as shown in FIG. 11 is used, the longitudinal length of the ferromagnetic body 61 forming the electromagnet is shortened as shown in FIG. Also good. FIG. 16 shows a view taken along the line A in FIG. 15, and FIG. 17 shows a view taken along the line B in FIG.

また、本実施例では、観察画像をモニタ部１３で観察する構成としたが、これに限らず、図１８に示すように、モニタ部１３を省略し画像データをメモリあるいはハードディスクに順次蓄積し、蓄積した画像データをカプセル３による撮像が終了した際に、可搬な媒体（ＤＶＤ、ＭＯ等）あるいはネットワークを用いて、例えば外部のパソコンで観察するようにしてもよい。   In this embodiment, the observation image is observed on the monitor unit 13, but the present invention is not limited to this. As shown in FIG. 18, the monitor unit 13 is omitted, and image data is sequentially stored in a memory or a hard disk. When the image data stored by the capsule 3 is completed, the stored image data may be observed with a portable medium (DVD, MO, etc.) or a network, for example, on an external personal computer.

また、図１９に示すように、磁場発生装置５にカプセル３の位置を検出する位置検出部２００を設け、この位置情報に基づいてカプセル３を制御するようにしてもよい。詳細には磁場発生装置５にカプセル３の位置検出のため位置検出部２００を設け、制御装置４が、ケーブルを介して位置検出部２００から検出した位置信号を受信し、前記位置信号受信手段で取得した情報とキーボード部１２の入力量をもとに、磁場発生装置５の角度、位置を決定するように構成してもよい。   Moreover, as shown in FIG. 19, the magnetic field generator 5 may be provided with a position detection unit 200 that detects the position of the capsule 3, and the capsule 3 may be controlled based on this position information. Specifically, the magnetic field generator 5 is provided with a position detector 200 for detecting the position of the capsule 3, and the controller 4 receives a position signal detected from the position detector 200 via a cable, and the position signal receiving means You may comprise so that the angle and position of the magnetic field generator 5 may be determined based on the acquired information and the input amount of the keyboard part 12. FIG.

さらに、本実施例では、ベッド７に横たわる患者２を対象に磁場発生装置５を移動させる構成としたが、これに限らず、図２０に示すように、立位した患者２に対して磁場発生装置５を移動させるように構成してもよい。   Furthermore, in this embodiment, the magnetic field generator 5 is moved with respect to the patient 2 lying on the bed 7, but the present invention is not limited to this, and as shown in FIG. You may comprise so that the apparatus 5 may be moved.

また、本実施例ではカプセル３にマグネット２０を設けて、このマグネット２０に外部静磁場を作用させてカプセル３の移動を制御するとしたが、これに限らず、カプセル３の第１の変形例として、図２１に示すように、マグネット２０の代わりに内部に強磁性体１００を配置してカプセル３を構成してもよい。   In this embodiment, the magnet 3 is provided in the capsule 3 and the movement of the capsule 3 is controlled by applying an external static magnetic field to the magnet 20. However, the present invention is not limited to this. As shown in FIG. 21, the capsule 3 may be configured by arranging a ferromagnetic body 100 inside instead of the magnet 20.

強磁性体１００に磁場を印加すると内部に反磁場が形成されるが、この反磁場は強磁性体１００の形状に依存する。反磁場の大きさは反磁場係数により表され、反磁場係数が小さい方向に強磁性体１００が磁化される。図２１においては反磁場係数が小さい底面の直径に対して高さが小さい円柱形状に強磁性体１００を形成しているため、底面の直径方向の反磁場係数が小さく、底面の直径方向をカプセル３の中心軸Ｃと直交する方向とし配置することで、マグネット２０を用いたカプセル３と同様な作用を持たせることができる。   When a magnetic field is applied to the ferromagnet 100, a demagnetizing field is formed therein, and this demagnetizing field depends on the shape of the ferromagnet 100. The magnitude of the demagnetizing field is represented by the demagnetizing factor, and the ferromagnetic body 100 is magnetized in the direction in which the demagnetizing factor is small. In FIG. 21, since the ferromagnetic body 100 is formed in a cylindrical shape having a small height with respect to the diameter of the bottom surface having a small demagnetizing factor, the demagnetizing factor in the diameter direction of the bottom surface is small, and the diameter direction of the bottom surface is encapsulated. 3 is arranged in a direction orthogonal to the central axis C, the same action as the capsule 3 using the magnet 20 can be provided.

また、カプセル３の第２の変形例として、図２２に示すように、マグネット２０の代わりに内部に積層した積層強磁性体１０１を配置してカプセル３を構成しても、図２１と同様な作用を持たせることができる。さらに、図２３に示すように、電池２８を積層強磁性体の代わりとすることも可能で、カプセル３を小型化できる。   As a second modification of the capsule 3, as shown in FIG. 22, the capsule 3 is configured by arranging the laminated ferromagnetic material 101 laminated inside instead of the magnet 20. It can have an effect. Furthermore, as shown in FIG. 23, the battery 28 can be used instead of the laminated ferromagnetic material, and the capsule 3 can be downsized.

また、本実施例ではカプセル３にマグネット２０を固定して設けるとしたが、これに限らず、図示はしないが、マグネット２０を回動自在にカプセル３内に配置してもよく、マグネット２０を回動自在に固定することで、外部静磁場の移動に基づきカプセル３を駆動することができると共に、マグネット２０の回転とカプセル３の回転とを分離できるので、外部静磁場よりマグネット２０が回転しても、カプセル３が回転しないので、外部静磁場によって突然撮像画像の回転することを防止できる。 In the present embodiment, the magnet 20 is fixed to the capsule 3. However, the present invention is not limited to this, and although not shown, the magnet 20 may be rotatably disposed in the capsule 3. Since the capsule 3 can be driven based on the movement of the external static magnetic field by being fixed so as to be rotatable, the rotation of the magnet 20 and the rotation of the capsule 3 can be separated, so that the magnet 20 rotates from the external static magnetic field. However, since the capsule 3 does not rotate, it is possible to prevent the captured image from rotating suddenly by the external static magnetic field.

図７に示した三角柱形状の純鉄または珪素鋼または鉄ニッケル合金等からなる強磁性体５１ａ，５１ｂの稜線断面は図２４に示すような形状であるが、これに限らず、例えば図２５や図２６に示すように、稜線断面が前記対向する磁極が対向側の端部方向に徐々に細くなる形状であればよい。   The ridge line cross sections of the ferromagnetic bodies 51a and 51b made of triangular prism-shaped pure iron, silicon steel, iron-nickel alloy or the like shown in FIG. 7 have a shape as shown in FIG. As shown in FIG. 26, the cross-section of the ridge line only needs to have a shape in which the opposing magnetic poles gradually become narrower in the direction of the opposite end.

なお、本実施例では、撮像手段を有するカプセル型内視鏡をカプセル型医療装置３として説明したが、これに限らず、カプセル内に薬剤を貯蔵させて患部等に対して薬剤投与による治療の処置を行うカプセル型医療装置３でもよく、また、カプセル内に圧力センサ、ｐＨセンサ、温度センサ、血液センサ等の各種センサを備えたカプセル型医療装置３でもよく、さらには体内の物質の吸引採取するカプセル型医療装置３でもよい。   In the present embodiment, the capsule endoscope having the imaging means has been described as the capsule medical device 3. However, the present invention is not limited to this, and the medicine is stored in the capsule to treat the diseased part or the like by the drug administration. The capsule medical device 3 that performs treatment may be used, and the capsule medical device 3 that includes various sensors such as a pressure sensor, a pH sensor, a temperature sensor, and a blood sensor in the capsule may be used. The capsule medical device 3 may be used.

［付記］
（付記項１）前記磁界発生部が前記磁極と一致する
ことを特徴とする請求項２に記載のカプセル型医療装置誘導システム。 [Appendix]
(Appendix 1) The capsule medical device guidance system according to claim 2, wherein the magnetic field generation unit coincides with the magnetic pole.

（付記項２）前記対向する磁極が純鉄または珪素鋼または鉄ニッケル合金などの強磁性体である
ことを特徴とする請求項２または３に記載のカプセル型医療装置誘導システム。 (Additional Item 2) The capsule medical device guidance system according to claim 2 or 3, wherein the opposing magnetic poles are ferromagnetic materials such as pure iron, silicon steel, or iron-nickel alloy.

（付記項３）前記対向する磁極が対向側の端部方向に徐々に細くなる形状である
ことを特徴とする請求項２または３、付記項１または２のいずれかに記載のカプセル型医療装置誘導システム。 (Additional Item 3) The capsule-type medical device according to any one of Claims 2 and 3, and Additional Item 1 or 2, wherein the opposing magnetic poles are gradually narrowed in the direction of the opposite end. Guidance system.

（付記項４）前記磁界発生部が電磁石または永久磁石または超伝導磁石である
ことを特徴とする請求項２または３、付記項１ないし３のいずれかに記載のカプセル型医療装置誘導システム。 (Additional Item 4) The magnetic field generation unit is an electromagnet, a permanent magnet, or a superconducting magnet. The capsule medical device guidance system according to any one of Claims 2 and 3, and Additional Items 1 to 3.

（付記項５）前記対向する磁極同士が対向しない側端部で連結部材によって連結され、前記連結部材が磁性体である
ことを特徴とする請求項２または３、付記項１ないし４のいずれかに記載のカプセル型医療装置誘導システム。 (Additional Item 5) The opposing magnetic poles are connected by a connecting member at a side end portion where the opposing magnetic poles do not oppose each other, and the connecting member is a magnetic body. Any one of Additional Items 1 to 4 2. A capsule medical device guidance system according to 1.

（付記項６）前記連結部材が純鉄または珪素鋼または鉄ニッケル合金などの強磁性体である
ことを特徴とする付記項５に記載のカプセル型医療装置誘導システム。 (Additional Item 6) The capsule medical device guidance system according to Additional Item 5, wherein the connecting member is a ferromagnetic such as pure iron, silicon steel, or iron-nickel alloy.

（付記項７）前記対向する磁極が磁性体で、互いが磁界発生部によって連結されている
ことを特徴とする請求項２または３、付記項２ないし６のいずれかに記載のカプセル型医療装置誘導システム。 (Appendix 7) The capsule medical device according to any one of claims 2 and 3, and 2 to 6, wherein the opposing magnetic poles are magnetic bodies and are connected to each other by a magnetic field generator. Guidance system.

（付記項８）前記対向する磁極が磁性体で、両端が２つの磁界発生部で連結されている
ことを特徴とする請求項２または３、付記項２ないし６のいずれかに記載のカプセル型医療装置誘導システム。 (Appendix 8) The capsule type according to any one of claims 2 and 3, and 2 to 6, wherein the opposing magnetic poles are magnetic bodies and both ends are connected by two magnetic field generators. Medical device guidance system.

（付記項９）前記磁界発生部または前記対向する磁極の少なくとも一カ所において、前記磁界発生手段を開閉可能にした
ことを特徴とする付記項８に記載のカプセル型医療装置誘導システム。 (Additional Item 9) The capsule medical device guidance system according to Additional Item 8, wherein the magnetic field generating means can be opened and closed at at least one of the magnetic field generation unit or the opposing magnetic poles.

（付記項１０）前記対向する磁極の位置、角度を変更するための移動手段を設けた
ことを特徴とする請求項１ないし３、付記項１ないし９のいずれかに記載のカプセル型医療装置誘導システム。 (Appendix 10) A capsule medical device guide according to any one of claims 1 to 3 and appendix 1 to 9, characterized in that a moving means for changing the position and angle of the opposing magnetic poles is provided. system.

（付記項１１）前記磁性体が純鉄または珪素鋼または鉄ニッケル合金である
ことを特徴とする請求項４に記載のカプセル型医療装置誘導システム。 (Additional Item 11) The capsule medical device guidance system according to claim 4, wherein the magnetic body is pure iron, silicon steel, or iron-nickel alloy.

（付記項１２）前記カプセル型医療装置が略回転対称体で、前記カプセル型医療装置の反磁界係数が、対称軸方向より径方向に大きくなる様に内部の前記磁性体を配置した
ことを特徴とする請求項４または付記項１１に記載のカプセル型医療装置誘導システム。 (Additional Item 12) The capsule medical device is a substantially rotationally symmetric body, and the inner magnetic body is arranged so that a demagnetizing coefficient of the capsule medical device is larger in the radial direction than the axis of symmetry. The capsule medical device guidance system according to claim 4 or claim 11.

（付記項１３）前記磁性体の円盤を積層させた構造体にした
ことを特徴とする付記項１２に記載のカプセル型医療装置誘導システム。 (Additional Item 13) The capsule medical device guidance system according to Additional Item 12, wherein the magnetic material disk is laminated.

（付記項１４）前記磁性体をボタン電池とした
ことを特徴とする付記項１３に記載のカプセル型医療装置誘導システム。 (Additional Item 14) The capsule medical device guidance system according to Additional Item 13, wherein the magnetic material is a button battery.

（付記項１５）前記カプセル型医療装置が略回転対称体で、前記永久磁石の磁極方向が前記カプセル型医療装置の対称軸に垂直な方向で、前記カプセル型医療装置内で回転できる様に設けられた
ことを特徴とする請求項４に記載のカプセル型医療装置誘導システム。 (Supplementary Item 15) The capsule medical device is substantially rotationally symmetric, and is provided so that the magnetic pole direction of the permanent magnet can rotate within the capsule medical device in a direction perpendicular to the symmetry axis of the capsule medical device. The capsule medical device guidance system according to claim 4, wherein the capsule medical device guidance system is provided.

（付記項１６）前記カプセル型医療装置が略回転対称体で、前記カプセル型医療装置が少なくとも対称軸方向を撮影可能な撮影手段と、前記撮像手段で得られた画像データを体外に送信する画像送信手段と、
体外に置いて前記画像送信手段で送信されたデータを受信する画像受信手段と、前記受信手段で受信された画像データを表示する表示手段とを有し、
前記表示手段で表示される画像の上下または左右と、前記永久磁石の磁極方向が略一致するように、前記撮影手段と前記永久磁石を固定した
ことを特徴とする請求項４に記載のカプセル型医療装置誘導システム。 (Additional Item 16) The capsule medical device is a substantially rotationally symmetric body, the imaging device capable of photographing at least the symmetry axis direction, and an image for transmitting image data obtained by the imaging means to the outside of the body. A transmission means;
Image receiving means for receiving the data transmitted by the image transmitting means placed outside the body, and display means for displaying the image data received by the receiving means,
The capsule type according to claim 4, wherein the imaging unit and the permanent magnet are fixed so that an image displayed on the display unit is vertically or horizontally aligned with a magnetic pole direction of the permanent magnet. Medical device guidance system.

（付記項１７）前記誘導装置において、前記対向する磁極が前記特定平面に垂直な方向に移動する前記移動手段を設けた
ことを特徴とする付記項１０に記載のカプセル型医療装置誘導システム。 (Additional Item 17) The capsule medical device guidance system according to Additional Item 10, wherein in the guide device, the moving unit is provided in which the opposing magnetic poles move in a direction perpendicular to the specific plane.

（付記項１８）前記誘導装置において前記対向する磁極の傾きを変える前記移動手段を設けた
ことを特徴とする付記項１０に記載のカプセル型医療装置誘導システム。 (Additional Item 18) The capsule medical device guidance system according to Additional Item 10, wherein the guiding device includes the moving unit that changes an inclination of the opposing magnetic pole.

（付記項１９）前記誘導装置において、移動量を入力する操作手段を設けた
ことを特徴とする付記項１０に記載のカプセル型医療装置誘導システム。 (Additional Item 19) The capsule medical device guidance system according to Additional Item 10, wherein an operation means for inputting a movement amount is provided in the guidance device.

（付記項２０）前記カプセル型医療装置に位置検出のための位置信号発生手段を設け、前記誘導装置に前記位置信号発生手段から発生した信号を受信する位置信号受信手段と、前記位置信号受信手段で取得した情報と前記操作手段の入力量をもとに、前記磁界発生手段の角度、位置を決定する制御手段を設けた
ことを特徴とする付記項１９に記載のカプセル型医療装置誘導システム。 (Additional Item 20) Position signal generating means for position detection is provided in the capsule medical device, and the position signal receiving means for receiving a signal generated from the position signal generating means in the guidance device, and the position signal receiving means The capsule medical device guidance system according to item 19, further comprising a control unit that determines an angle and a position of the magnetic field generation unit based on the information acquired in step 1 and an input amount of the operation unit.

本発明は、上述した実施例に限定されるものではなく、本発明の要旨を変えない範囲において、種々の変更、改変等が可能である。   The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the scope of the present invention.

本発明の実施例１に係るカプセル型医療装置誘導システムの構成を示す構成図The block diagram which shows the structure of the capsule type medical device guidance system which concerns on Example 1 of this invention. 図１のカプセル型医療装置の構成を示す構成図The block diagram which shows the structure of the capsule type medical device of FIG. 図１の磁場発生装置の磁場発生部の構成を示す構成図The block diagram which shows the structure of the magnetic field generation part of the magnetic field generator of FIG. 図１のカプセル型医療装置誘導システムの作用を説明する第１の図1st figure explaining an effect | action of the capsule type medical device guidance system of FIG. 図１のカプセル型医療装置誘導システムの作用を説明する第２の図2nd figure explaining the effect | action of the capsule type medical device guidance system of FIG. 図１のカプセル型医療装置誘導システムの作用を説明する第３の図The 3rd figure explaining the effect | action of the capsule type medical device guidance system of FIG. 図３の磁場発生装置の磁場発生部の第１の変形例の構成を示す構成図The block diagram which shows the structure of the 1st modification of the magnetic field generation part of the magnetic field generator of FIG. 図３の磁場発生装置の磁場発生部の第２の変形例の構成を示す構成図The block diagram which shows the structure of the 2nd modification of the magnetic field generation part of the magnetic field generator of FIG. 図３の磁場発生装置の磁場発生部の第３の変形例の構成を示す構成図The block diagram which shows the structure of the 3rd modification of the magnetic field generation part of the magnetic field generator of FIG. 図３の磁場発生装置の磁場発生部の第４の変形例の構成を示す構成図The block diagram which shows the structure of the 4th modification of the magnetic field generation part of the magnetic field generator of FIG. 図３の磁場発生装置の磁場発生部の第５の変形例の構成を示す構成図The block diagram which shows the structure of the 5th modification of the magnetic field generation part of the magnetic field generator of FIG. 図３の磁場発生装置の磁場発生部の第６の変形例の構成を示す構成図The block diagram which shows the structure of the 6th modification of the magnetic field generation part of the magnetic field generator of FIG. 図３の磁場発生装置の磁場発生部の第７の変形例の構成を示す構成図The block diagram which shows the structure of the 7th modification of the magnetic field generation part of the magnetic field generator of FIG. 図１３の磁場発生部の作用を説明する図The figure explaining the effect | action of the magnetic field generation part of FIG. 図１の磁場発生装置の変形例の構成を示す構成図The block diagram which shows the structure of the modification of the magnetic field generator of FIG. 図１５のＡ線矢視図を示す図The figure which shows the A line arrow directional view of FIG. 図１５のＢ線矢視図を示す図The figure which shows the B line arrow figure of FIG. 図１のカプセル型医療装置誘導システムの第１の変形例の構成を示す構成図The block diagram which shows the structure of the 1st modification of the capsule type medical device guidance system of FIG. 図１のカプセル型医療装置誘導システムの第２の変形例の構成を示す構成図The block diagram which shows the structure of the 2nd modification of the capsule type medical device guidance system of FIG. 図１のカプセル型医療装置誘導システムの第３の変形例の構成を示す構成図The block diagram which shows the structure of the 3rd modification of the capsule type medical device guidance system of FIG. 図２のカプセル型医療装置の第１の変形例の構成を示す構成図The block diagram which shows the structure of the 1st modification of the capsule type medical device of FIG. 図２のカプセル型医療装置の第２の変形例の構成を示す構成図The block diagram which shows the structure of the 2nd modification of the capsule type medical device of FIG. 図２のカプセル型医療装置の第３の変形例の構成を示す構成図The block diagram which shows the structure of the 3rd modification of the capsule type medical device of FIG. 図７の磁場発生部の稜線断面を示す図The figure which shows the ridgeline cross section of the magnetic field generation part of FIG. 図７の磁場発生部の稜線断面の第１の変形例を示す図The figure which shows the 1st modification of the ridgeline cross section of the magnetic field generation part of FIG. 図７の磁場発生部の稜線断面の第２の変形例を示す図The figure which shows the 2nd modification of the ridgeline cross section of the magnetic field generation part of FIG.

符号の説明Explanation of symbols

１…カプセル型医療装置誘導システム（カプセル誘導システム）
２…患者
３…カプセル型医療装置（カプセル）
４…カプセル制御装置（制御装置）
５…磁場発生装置
５ａ…磁場発生部
７…ベッド
８…第１回転支持装置
９…第２回転支持装置
１０…進退装置
１１…パソコン本体
１２…キーボード部
１３…モニタ部
１４…体外アンテナ部
２０…マグネット
２１…対物レンズ系
２２…撮像素子
２３…照明素子
２４…撮像回路
２５…カプセル制御回路
２６…無線回路
２７…アンテナ
２８…電池
２９…スイッチ回路
３１ａ、３１ｂ…永久磁石
３２…常磁性体部
３９…先端カバー
４０…本体外装部材
代理人 弁理士 伊藤 進 1 ... Capsule type medical device guidance system (capsule guidance system)
2 ... Patient 3 ... Capsule type medical device (capsule)
4. Capsule control device (control device)
DESCRIPTION OF SYMBOLS 5 ... Magnetic field generator 5a ... Magnetic field generator 7 ... Bed 8 ... 1st rotation support apparatus 9 ... 2nd rotation support apparatus 10 ... Advance / retreat apparatus 11 ... PC main body 12 ... Keyboard part 13 ... Monitor part 14 ... Extracorporeal antenna part 20 ... Magnet 21 ... Objective lens system 22 ... Imaging element 23 ... Illumination element 24 ... Imaging circuit 25 ... Capsule control circuit 26 ... Radio circuit 27 ... Antenna 28 ... Battery 29 ... Switch circuit 31a, 31b ... Permanent magnet 32 ... Paramagnetic part 39 ... Tip cover 40 ... Main body exterior member Agent Patent attorney Susumu Ito

Claims (6)

被検体内に導入され、観察、診断、処置、投薬等の医療行為を行なうカプセル型医療装置と、
前記カプセル型医療装置の位置、姿勢を前記被検体の外から誘導する誘導装置からなるカプセル型医療装置誘導システムにおいて、
前記カプセル型医療装置に、磁気的に誘導される被誘導部と、
前記誘導装置に、前記被誘導部に作用する磁界を発生する磁界発生手段と、
を設けるとともに、前記被誘導部を、回動自在に前記カプセル型医療装置内に配置し、
前記磁界発生手段が前記被検体内の特定平面方向に略平行で均一な磁束を生成し、前記特定平面の垂直方向に磁気勾配を有する磁界を発生させることを特徴とするカプセル型医療装置誘導システム。 A capsule medical device that is introduced into a subject and performs medical actions such as observation, diagnosis, treatment, and medication;
In a capsule medical device guidance system comprising a guidance device that guides the position and posture of the capsule medical device from outside the subject,
A guided portion magnetically guided to the capsule medical device;
Magnetic field generating means for generating a magnetic field that acts on the guided portion in the guidance device;
The provided Rutotomoni, said the guided portion, and disposed rotatably within the capsule medical device,
The capsule medical apparatus, characterized in that said magnetic field generating means said generating substantially parallel and uniform magnetic flux in a specific planar surface Direction within the object, to generate a magnetic field having a magnetic gradient in the vertical direction of the specific plane Guidance system. 前記磁界発生手段が発生する前記磁界が前記特定平面から垂直方向に離れるにつれて徐々に磁束密度が減少する磁界であることを特徴とする請求項１に記載のカプセル型医療装置誘導システム。   The capsule medical device guidance system according to claim 1, wherein the magnetic field generated by the magnetic field generation unit is a magnetic field in which a magnetic flux density gradually decreases as the magnetic field generation unit moves away from the specific plane in a vertical direction. 前記カプセル型医療装置誘導システムが、前記被検体が横たわるベッドを備え、
前記磁界発生手段を、前記ベッドの長手軸方向に対して進退させる進退手段を設けたことを特徴とする請求項１又は２に記載のカプセル型医療装置誘導システム。 The capsule medical device guidance system includes a bed on which the subject lies,
The capsule medical device guidance system according to claim 1 or 2, further comprising an advance / retreat means for moving the magnetic field generation means forward and backward with respect to the longitudinal axis direction of the bed. 前記カプセル型医療装置誘導システムが、前記被検体が横たわるベッドを備え、
前記磁界発生手段を、前記ベッドに対して回転させる回転手段を設けたことを特徴とする請求項１〜３のいずれか一つに記載のカプセル型医療装置誘導システム。 The capsule medical device guidance system includes a bed on which the subject lies,
The capsule medical device guidance system according to any one of claims 1 to 3, further comprising a rotating unit that rotates the magnetic field generating unit with respect to the bed. 前記カプセル型医療装置誘導システムが、
前記カプセル型医療装置の位置を検出する位置検出手段と、
前記磁界発生部の前記ベッドに対する移動を制御する制御手段とを備え、
前記制御手段が、前記位置検出手段で検出された位置を基に前記磁界発生手段の前記ベッドに対する位置を制御することを特徴とする請求項３又は４に記載のカプセル型医療装置誘導システム。 The capsule medical device guidance system comprises:
Position detecting means for detecting the position of the capsule medical device;
Control means for controlling the movement of the magnetic field generator with respect to the bed,
The capsule medical device guidance system according to claim 3 or 4, wherein the control unit controls the position of the magnetic field generation unit with respect to the bed based on the position detected by the position detection unit. 前記カプセル型医療装置誘導システムが、
前記カプセル型医療装置の位置を検出する位置検出手段と、
前記磁界発生部の前記ベッドに対する移動を制御する制御手段と、
前記磁界発生部の前記ベッドに対する移動量が操作者によって入力される入力手段とを備え、
前記制御手段が、前記入力される移動量を基に前記磁界発生手段の前記ベッドに対する位置を制御することを特徴とする請求項３〜５のいずれか一つに記載のカプセル型医療装置誘導システム。 The capsule medical device guidance system comprises:
Position detecting means for detecting the position of the capsule medical device;
Control means for controlling the movement of the magnetic field generator relative to the bed;
Input means by which an amount of movement of the magnetic field generation unit relative to the bed is input by an operator;
6. The capsule medical device guidance system according to claim 3, wherein the control unit controls a position of the magnetic field generation unit with respect to the bed based on the input movement amount. .
JP2003342416A 2003-09-30 2003-09-30 Capsule type medical device guidance system Expired - Fee Related JP4542326B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2003342416A JP4542326B2 (en) 2003-09-30 2003-09-30 Capsule type medical device guidance system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2003342416A JP4542326B2 (en) 2003-09-30 2003-09-30 Capsule type medical device guidance system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2007099895A Division JP4542560B2 (en) 2007-04-05 2007-04-05 Capsule type medical device guidance system

Publications (3)

Publication Number Publication Date
JP2005103091A JP2005103091A (en) 2005-04-21
JP2005103091A5 JP2005103091A5 (en) 2006-09-28
JP4542326B2 true JP4542326B2 (en) 2010-09-15

Family

ID=34536693

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2003342416A Expired - Fee Related JP4542326B2 (en) 2003-09-30 2003-09-30 Capsule type medical device guidance system

Country Status (1)

Country Link
JP (1) JP4542326B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3981319A4 (en) * 2019-06-04 2023-07-26 Beijing Institute Of Technology Active magnetically controlled capsule robot detection system and detection method

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4880264B2 (en) * 2005-08-24 2012-02-22 オリンパス株式会社 POSITION DETECTION DEVICE AND MEDICAL DEVICE POSITION DETECTION SYSTEM
EP1929943B1 (en) * 2005-09-30 2013-04-17 Hitachi Metals, Ltd. Magnetic field control method and magnetic field generation device
EP1967127A4 (en) * 2005-12-27 2013-01-23 Olympus Medical Systems Corp Storage device for medical device, disposal device and method of using medical device
JPWO2007077922A1 (en) * 2005-12-28 2009-06-11 オリンパスメディカルシステムズ株式会社 Intra-subject introduction system and intra-subject observation method
US8373528B2 (en) 2006-07-13 2013-02-12 Hitachi Metals, Ltd. Magnetic field control method and magnetic field generator
EP2062522A4 (en) 2006-09-12 2013-03-27 Olympus Medical Systems Corp Capsule endoscope system, in-vivo information acquisition device, and capsule endoscope
JP5484651B2 (en) 2006-11-13 2014-05-07 オリンパスメディカルシステムズ株式会社 Medical device position detection system and medical device guidance system
JP4542560B2 (en) * 2007-04-05 2010-09-15 オリンパス株式会社 Capsule type medical device guidance system
JP5627067B2 (en) * 2008-12-01 2014-11-19 オリンパス株式会社 Living body observation system and driving method of the living body observation system
JP5458225B1 (en) * 2012-05-07 2014-04-02 オリンパスメディカルシステムズ株式会社 Guidance device
EP2848184A4 (en) * 2012-05-07 2015-07-22 Olympus Medical Systems Corp Magnetic field generation device, and capsule-type medical device guide system
CN103156568A (en) * 2012-08-22 2013-06-19 武汉安康通光电技术有限公司 Filament tube capsule oesophagoscope capable of being released and magnetically controlled
CN103405211A (en) * 2013-08-14 2013-11-27 深圳市资福技术有限公司 System and method for controlling running state of capsule endoscope in body
JP6667176B2 (en) * 2016-02-29 2020-03-18 国立大学法人信州大学 Guidance device for capsule endoscope
CN105919542B (en) * 2016-04-22 2018-09-18 重庆金山科技（集团）有限公司 A kind of capsule endoscope controller and its magnet Universal rotary device
JP7015256B2 (en) 2016-07-14 2022-02-15 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Auxiliary device control in computer-aided remote control system
CN206576844U (en) * 2016-11-15 2017-10-24 深圳市资福技术有限公司 A kind of capsule gastroscope magnetic control system
CN106880333A (en) * 2017-03-28 2017-06-23 重庆金山医疗器械有限公司 A kind of capsule endoscope control device
CN107307838B (en) * 2017-07-05 2023-06-27 楠青医疗技术(上海)有限公司 External navigation device of capsule type endoscope
US20210052190A1 (en) * 2018-05-03 2021-02-25 Bionaut Labs Ltd. Hybrid electromagnetic device for remote control of micro-nano scale robots, medical tools and implantable devices
CN114222651A (en) * 2019-07-26 2022-03-22 汉阳大学校产学协力团 Magnetic driving system and micro-robot control method using the same
CN111541309A (en) * 2019-08-26 2020-08-14 上海交通大学 Wireless energy transmitting device for gastrointestinal tract micro-robot
CN110605179A (en) * 2019-10-16 2019-12-24 中南大学 High-gradient magnetic separation experimental device
KR102501457B1 (en) * 2020-03-24 2023-02-21 (주)바이오트코리아 Device for Irradiating Magnetic Field
KR102389251B1 (en) * 2020-04-03 2022-04-22 전남대학교산학협력단 Movable Apparatus For Controlling Micro/Nano Robot
KR102652537B1 (en) * 2021-09-16 2024-03-28 한양대학교 산학협력단 Magnetic field generating module

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5519124A (en) * 1978-07-27 1980-02-09 Olympus Optical Co Camera system for medical treatment
JPH048343A (en) * 1990-04-25 1992-01-13 Olympus Optical Co Ltd Inserting device into testee body
JPH0422325A (en) * 1990-05-17 1992-01-27 Olympus Optical Co Ltd Endoscope device
JPH06142081A (en) * 1992-11-05 1994-05-24 Olympus Optical Co Ltd Capsule apparatus for intracavitary diagnosis
JP2001179700A (en) * 1999-12-28 2001-07-03 Tohoku Techno Arch Co Ltd Movable micromachine and its movement control system
JP2002000556A (en) * 2000-06-26 2002-01-08 Nonomura Tomosuke Endoscope
JP2003116781A (en) * 2001-10-16 2003-04-22 Olympus Optical Co Ltd Capsule type medical instrument
JP2004298560A (en) * 2003-04-01 2004-10-28 Olympus Corp Capsule endoscope system
JP2007236962A (en) * 2007-04-05 2007-09-20 Olympus Corp Guiding system for capsule type medical apparatus

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5519124A (en) * 1978-07-27 1980-02-09 Olympus Optical Co Camera system for medical treatment
JPH048343A (en) * 1990-04-25 1992-01-13 Olympus Optical Co Ltd Inserting device into testee body
JPH0422325A (en) * 1990-05-17 1992-01-27 Olympus Optical Co Ltd Endoscope device
JPH06142081A (en) * 1992-11-05 1994-05-24 Olympus Optical Co Ltd Capsule apparatus for intracavitary diagnosis
JP2001179700A (en) * 1999-12-28 2001-07-03 Tohoku Techno Arch Co Ltd Movable micromachine and its movement control system
JP2002000556A (en) * 2000-06-26 2002-01-08 Nonomura Tomosuke Endoscope
JP2003116781A (en) * 2001-10-16 2003-04-22 Olympus Optical Co Ltd Capsule type medical instrument
JP2004298560A (en) * 2003-04-01 2004-10-28 Olympus Corp Capsule endoscope system
JP2007236962A (en) * 2007-04-05 2007-09-20 Olympus Corp Guiding system for capsule type medical apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3981319A4 (en) * 2019-06-04 2023-07-26 Beijing Institute Of Technology Active magnetically controlled capsule robot detection system and detection method

Also Published As

Publication number Publication date
JP2005103091A (en) 2005-04-21

Similar Documents

Publication Publication Date Title
JP4542326B2 (en) Capsule type medical device guidance system
JP4542560B2 (en) Capsule type medical device guidance system
US8740774B2 (en) Capsule-type medical apparatus, guidance system and guidance method therefor, and intrasubject insertion apparatus
US8010183B2 (en) Detecting system of position and posture of capsule medical device
US6776165B2 (en) Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles
JP3917885B2 (en) Capsule endoscope system
Sendoh et al. Fabrication of magnetic actuator for use in a capsule endoscope
KR100889160B1 (en) Magnetic Guiding Medical Device
KR100870327B1 (en) Medical device-guiding system
JP4137740B2 (en) Capsule type medical device and capsule type medical device guidance system
JP5226538B2 (en) Operating device, monitoring device, and capsule guiding system
JP2004298560A (en) Capsule endoscope system
WO2008029460A1 (en) Medical device control system
JP4914847B2 (en) Medical device guidance system and method for controlling medical device guidance system
CN114027772A (en) Method for controlling movement of capsule endoscope and magnetic control device
JP4823665B2 (en) Capsule type medical device and its guidance system
JP4472410B2 (en) Capsule type medical device position / posture detection system
JP4504394B2 (en) Medical device guidance system
JP4246171B2 (en) Capsule endoscope system and magnetic field generator
Davila Implementation of a Planar Magnetic Manipulator with Rotatable Permanent Magnets
JP2008080149A (en) Medical device guide system
JP2008178743A (en) Capsule type medical device and capsule type medical device guiding system

Legal Events

Date Code Title Description
A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20060810

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20060810

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20090916

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20091006

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20091207

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A132

Effective date: 20100330

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20100622

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20100625

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130702

Year of fee payment: 3

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

LAPS Cancellation because of no payment of annual fees