JP5055574B2 - Fin for in-vivo electrophoresis apparatus, in-vivo electrophoresis apparatus, AC magnetic field generator, and medical system - Google Patents

Description

  The present invention relates to a fin of an in-vivo electrophoresis apparatus that migrates in a living body, and more particularly to a fin of a small fish robot that simulates the movement of a fish.

  In recent years, a machine with a size of several μm to several centimeters has been expected, and a micromachine equipped with a drive system that moves a machine called an actuator, a part that supplies energy, and a functional part that actually performs work is expected. Yes.

  In particular, in the medical field, for example, a micromachine as a capsule endoscope has already been put into practical use overseas. Specifically, the capsule endoscope is a tablet-type endoscope that is easy to drink for a patient, unlike an endoscope that inserts a tube that is widely used in the medical industry. Tablet-type endoscopes can be examined and treated in the body simply by swallowing the tablet-type endoscope, so there is little burden on the patient.

  Non-Patent Literature 1 and Non-Patent Literature 2 describe examples of such capsule endoscopes. The capsule endoscopes described in Non-Patent Document 1 and Non-Patent Document 2 include a capsule having a diameter of 11 mm and a length of approximately 26 mm, and a microminiature image sensor (CMOS: complementary metal oxide semiconductor) and a battery built therein. Just go through the body by peristalsis of the stomach and intestines. The capsule endoscope takes a total of 50,000 endoscopic photographs in the meantime, two per second. On the other hand, the doctor edits the captured image stored on the 8 GB hard disk worn by the patient into a belt by connecting the hard disk to a computer equipped with dedicated software, and then editing it into a video of about 1 hour. Diagnose using the video.

  In Patent Document 1, the microcapsule is rotated by a magnetic field generated by a magnetic induction device provided outside the body, and the movement in the subject is controlled by a spiral guide attached outside the microcapsule. A capsule medical device is described. Specifically, the capsule medical device constitutes a medical system that transmits and receives radio waves to and from the control device while passing through the body cavity of the patient, and that can be inspected, treated, or treated by the control of the control device. A magnet that is magnetically acted on a rotating magnetic field formed by the magnetic induction device, and a spiral portion as a thrust generating portion for converting the rotational motion by the magnet into a propulsive force are provided.

  However, in the capsule endoscope that is advanced in the body by the peristaltic movement of the stomach or intestine mentioned in the above example, problems such as oversight of a site to be examined and inability to observe precisely occur.

  In addition, in the microcapsule that travels in the body by rotational motion described in Patent Document 1, since the microcapsule always rotates during the motion, most of the photographed images are inclined from the horizontal, making diagnosis difficult. There is a problem of becoming. In addition, since the microcapsule described in Patent Document 1 travels in the body while rotating, there is a possibility that the wall surface is damaged by friction between the device and the wall surface in the body of the person under test.

  Therefore, it is preferable to use a fin-type micromachine provided with a fin and propelled by a propulsion force by the fin.

  Such a fin-type micromachine is propelled by a magnet provided inside the micromachine receiving an alternating magnetic field generated from an external alternating-current magnetic field generator and oscillating and transmitting the vibration to the fin.

  Patent Document 2 discloses an example of an AC magnetic field generator that applies a magnetic field from outside the body to a micromachine that moves inside the body.

  FIG. 16 is a perspective view showing a schematic configuration of a conventional AC magnetic field generator.

As shown in FIG. 16, the AC magnetic field generation device 100 described in Patent Document 2 is formed by bundling a plurality of iron cores around which a coil made of a conductive wire is wound, and when an AC current flows from the control device to the coil, The coil operates as an electromagnet. Then, the AC magnetic field generator 100 generates an AC magnetic field corresponding to the AC current. As shown in FIG. 16, the iron core is formed in a substantially U-shape (more specifically, a rectangular frame shape having a space between the magnetic poles). An alternating magnetic field can be applied to the micromachine in the body.
JP 2003-275170 A (published on September 30, 2003) JP 2006-62071 A (published March 9, 2006) Given Imaging PillCamTMSB Capsule Endoscopy [Search April 26, 2007], Internet <URL: HYPERLINK "http://www.givenimaging.com/Cultures/en-US/Given/English/Products/CapsuleEndoscopy/" http: //www.givenimaging.com/Cultures/en-US/Given/English/Products/CapsuleEndoscopy/> Nikkei BPnet, Tech-on [Search May 2, 2007], Internet <URL: HYPERLINK "http://techon.nikkeibp.co.jp/article/NEWS/20060808/120062/" http: // techon. nikkeibp.co.jp/article/NEWS/20060808/120062/>

  However, since the fin-type micromachine has a configuration in which a capsule having a camera or the like is further provided with a fin, the size is larger than a micromachine including only a capsule without a fin. As described above, when the size of the micromachine is increased, there arises a problem that the test subject is painful when the micromachine is drunk. Further, if the fins are downsized to solve this problem, the amount of the fins pushing out water per swing is reduced, which causes a problem that propulsion efficiency is lowered.

  In addition, since the AC magnetic field generator 100 described in Patent Document 2 is a fixed magnetic field generator, for example, if it is possible to inspect even a very large test subject, the gap between the magnetic poles can be reduced. While increasing the size, it is necessary to increase the number of iron cores and lengthen the direction in which the iron cores are bundled. That is, an increase in the size of the AC magnetic field generator 100 is unavoidable, and it becomes difficult to secure a space for installing the AC magnetic field generator 100, and the AC magnetic field generator cannot be moved due to an increase in weight.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a fin for an in vivo electrophoretic device that does not decrease propulsion efficiency even if the size is reduced, and to reduce the size of an AC magnetic field generator. It is to be realized.

In order to solve the above problems, a fin for an in vivo electrophoretic device of the present invention includes a fin portion and a joint portion that movably connects the fin portion to a main body portion of the in vivo electrophoretic device that migrates in the living body. A fin for an in-vivo electrophoresis apparatus that causes the in-vivo electrophoresis apparatus to migrate by the vibration of the fin section caused by the vibration of the joint section in a first direction , wherein the fin section is more than the joint section. The bending rigidity in the first direction is high .

According to the above arrangement, since fin portion flexural rigidity in the first direction is higher a fin vibration direction than the joint portion, as compared with the case fin portion is not low bending stiffness than the joint portion, the water pressure of the fin portion The deflection due to this is small, and the liquid can be pushed out efficiently during vibration. Further, since the displacement (maximum displacement) when the fin for the in-vivo electrophoresis apparatus is completely shaken during vibration of the fin portion increases, the amount of liquid pushed out by the fin portion per vibration increases.

  As a result, it is possible to improve the propulsion efficiency and to reduce the size of the fin for the in vivo electrophoresis apparatus.

Also, as in vivo electrophoresis apparatus for fins of the present invention, in the first direction as a bending direction most allow bending of the joint portion, the thickness of the fin portion, toward the side connected to the joint It is preferable to increase.

  According to the said structure, since the thickness of the base part of the fin part which is a connection part with a joint part and a big load at the time of a vibration is large, the intensity | strength of a connection part can be kept favorable.

  Further, by reducing the thickness of the tip of the fin part, the displacement of the fin part during vibration of the fin for the in-vivo electrophoresis apparatus is increased, and the propulsion efficiency is improved.

  In addition, in the fin for an in vivo electrophoresis apparatus of the present invention, it is preferable that the shape of the tip of the fin, which is the end opposite to the side connected to the joint in the fin, is rounded.

  According to the above configuration, the tip of the fin has a rounded shape and the corner is not sharp, so that the risk of damaging the body wall when the fin vibrates in vivo is reduced.

  In the fin for an in vivo electrophoresis apparatus of the present invention, it is more preferable that the fin portion has a magnet.

  According to the above configuration, since the fin portion includes the magnet, the vibration of the fin portion can be easily controlled by controlling the AC magnetic field applied from the outside. Can be easily controlled. For example, it is possible to control the number of vibrations per unit second of the fin portion by controlling the AC switching timing of the AC magnetic field generator that applies an AC magnetic field to the magnet included in the fin portion. The propulsion speed can be controlled.

  Further, according to the above configuration, the vibration of the fin for the in-vivo electrophoresis apparatus can be mainly controlled. Therefore, even if the fin for the in-vivo electrophoresis apparatus is controlled to be a high-speed vibration, the vibration of the main body is gentle. It becomes. Thereby, when an imaging device is built in a main-body part, a possibility that the image imaged with this imaging device may blur can be reduced.

  Moreover, it is preferable that the bioelectrophoresis device of the present invention is provided with the bioelectrophoresis device fin in the main body of the bioelectrophoresis device and propelled by the bioelectrophoresis device fin.

  According to the above configuration, it is possible to improve the propulsion efficiency and reduce the size of the fin for the in vivo electrophoresis apparatus. As a result, the entire in-vivo electrophoresis apparatus can be reduced in size.

  The biophoresis device of the present invention is characterized in that the fin for the bioelectrophoresis device passes through the center of gravity of the main body and extends in the propulsion direction of the bioelectrophoresis device. In the cross section cut along the first direction, it is preferable that the second direction is shifted as a direction orthogonal to the first direction.

  According to the above configuration, when the in-vivo electrophoresis apparatus is moved to float on the liquid surface, the in-vivo electrophoresis apparatus fin can be provided with being slightly shifted from the liquid surface in the liquid direction. The fin can be vibrated in water. As a result, the propulsion efficiency of the fin for the in vivo electrophoresis apparatus is improved.

  In addition, the in vivo electrophoresis apparatus of the present invention further includes a sac made of natural rubber or synthetic rubber having a Young's modulus smaller than that of plastic and having a concave portion, and the fin portion in the in vivo electrophoresis apparatus fin includes The joint portion on the unconnected side is connected to the back side of the concave portion of the sack, and the sack and the main body portion are joined so as to include a partial region of the main body portion in the concave portion of the sack. Is preferred.

  According to the said structure, the fin for in-vivo electrophoretic apparatuses can be joined to a main-body part only by joining a main-body part and a sack provided with the fin for in-vivo electrophoretic apparatuses.

  For example, in a capsule endoscope in which the main body is stored in a special case and the power is automatically turned on when the main body is removed from the case, the endoscope is immediately after the power is turned on. Since it is preferable to start a mirror examination, it is necessary to quickly provide a fin for an in vivo electrophoretic device.

  Thus, when it is necessary to provide the fin for the in vivo electrophoresis apparatus immediately on the main body, it takes time in the method of adhering the fin for the in vivo electrophoresis apparatus and the main body with an adhesive or the like.

  However, according to the above configuration, the fin for the in vivo electrophoresis apparatus can be simply tightened with a sack made of natural rubber or synthetic rubber having a Young's modulus smaller than that of the plastic previously connected to the in vivo electrophoresis apparatus fin. Since the body part can be joined to the body part, the fin for the in vivo electrophoresis apparatus can be easily attached to and detached from the body part.

  Moreover, it is preferable that the bioelectrophoresis device of the present invention further includes a float having a density lower than that of water.

  According to the above configuration, since the specific gravity of the in-vivo electrophoresis apparatus can be adjusted by floating, it is easy to control which position in the liquid in the living body such as the liquid surface or in the liquid. It is also possible to keep the in-vivo electrophoresis apparatus in a horizontal state.

  Moreover, it is preferable that the bioelectrophoresis device of the present invention further includes a heat shrinkable tube whose diameter is contracted by heat, and the float is provided between an inner wall of the heat shrinkable tube and the main body.

  According to the said structure, the said float and the said main-body part can be clamped and joined only by covering the main-body part provided with the float with the said tube, and applying heat to this tube. Therefore, it is possible to easily attach the float to the main body of the in-vivo electrophoresis apparatus.

  Moreover, it is preferable that the in-vivo electrophoresis apparatus of the present invention further includes a cover portion that covers at least a partial region of the fin portion.

  According to the above configuration, by providing the cover part, it is possible to prevent the fin part and the body wall from coming into contact with each other when drinking the in-vivo electrophoresis apparatus. It becomes possible. Further, the contact between the fin portion and the body wall can reduce the risk of the fin portion damaging the body wall.

  In addition, the cover part in the in vivo electrophoresis apparatus of the present invention has at least one opening, and the opening includes the joint part and the main body part in the cover part that covers the entire in vivo electrophoresis apparatus. It is preferable to be provided in a region facing the part to be joined, or a region closer to the advancing direction of the in vivo electrophoresis apparatus than the facing region.

  According to the above configuration, since the liquid from the outside of the cover portion flows into the vicinity of the fin portion covered with the cover portion via the opening, a liquid flow can be generated in the vicinity of the fin portion. Therefore, not only can the fear that the fin portion damages the body wall, but also the propulsive force of the fin portion can be improved.

  Moreover, it is preferable that the said cover part in the in-vivo electrophoresis apparatus of this invention is a thin film which melt | dissolves with a body fluid.

  According to the above configuration, since the fin portion is encased in a thin film that is dissolved in a body fluid such as an oblate, the fin portion of the bioelectrophoresis device is not likely to come into direct contact with the body wall when drinking. Make it easy to drink. In addition, in the body, a thin film such as oblate is dissolved by the body fluid and the fin portion is exposed, so that the in vivo electrophoresis apparatus can migrate in the body fluid by the fin portion.

  Further, the AC magnetic field generator of the present invention is the core part of the iron core composed of a core part wound with a coil and two side parts rising from both ends of the core part so as to be parallel to each other. And the two side surfaces are provided with an electromagnet in which a plurality of the iron cores are bundled so that the side surface portions are in contact with the core portion and the side surface portions of adjacent iron cores, respectively, and an alternating current is passed through the coil. A magnetic pole is formed at each end of the unit, an alternating magnetic field is generated between the magnetic poles, and the generated magnetic field is applied to the bioelectrophoresis device, wherein the electromagnet extends in the direction in which the iron core is bundled. It is preferable that the electromagnet is movable in the direction in which the side portion rises while being movable.

  For example, in the case where an AC magnetic field is applied to a test object installed between the formed magnetic poles, in an AC magnetic field generator in which an electromagnet is fixed, if the size of the test object is large, a part of the test object is There are cases where the electromagnet cannot fit in the region where the magnetic field is generated. At this time, there arises a problem that the in-vivo electrophoresis apparatus cannot be moved at a portion of the device under test that protrudes from the region.

  In addition, when an AC magnetic field generator is manufactured in accordance with a large test object, the AC magnetic field generator is increased in size.

  However, according to the above configuration, the electromagnet can be moved in the direction in which the iron core is bundled and in the direction in which the side surface rises. Therefore, when the size of the test object is large, It is possible to solve the problem that the portion cannot fit into the region where the magnetic field is generated by the electromagnet. Therefore, it is easy to move the in-vivo electrophoresis apparatus to a desired position in the body under test regardless of the size of the body under test and without increasing the size of the apparatus itself.

  Moreover, according to the said structure, since the said side part can also be moved to the standup direction, the in-vivo electrophoresis apparatus in a to-be-tested body can be moved three-dimensionally.

  Further, the medical system of the present invention may be composed of the bioelectrophoresis device, the AC magnetic field generation device, the bioelectrophoresis device, and a control device that controls the AC magnetic field generation device.

  Further, the medical system of the present invention includes the above-described in-vivo electrophoresis apparatus in which a magnet is incorporated in the fin, the above-described AC magnetic field generation apparatus, the in-vivo electrophoresis apparatus, and a control device that controls the AC magnetic field generation apparatus. In the medical system, an alternating current is generated in a coil of the alternating magnetic field generator, and the frequency at which the bioelectrophoresis device is moved forward, stagnant, and reversely moved is determined by the shape and material of the fin portion and the joint portion. It is preferably determined by a combination of the shape and material and the shape and material of the main body.

  According to the above configuration, the frequency for switching forward, stagnation, and reverse movement is determined by the combination of the shape and material of the fin portion, the shape and material of the joint portion, and the shape and material of the main body portion. The bioelectrophoresis device has such a frequency that can be switched between forward movement, stagnation, and backward movement.

  When the frequency of the voltage for generating an alternating current in the coil of the AC magnetic field generator is set to a frequency higher than the frequency that each bioelectrophoresis device individually has, the bioelectrophoresis device moves forward, and each bioelectrophoresis device When the frequency is the same as the frequency that each of the bioelectrophoresis devices has, the bioelectrophoresis device stagnate, and when the frequency is lower than the frequency that each bioelectrophoresis device individually has, the bioelectrophoresis device moves backward.

  From this, by switching the frequency of the voltage for generating an alternating current in the coil of the alternating magnetic field generator to a higher frequency, a lower frequency, and the same frequency than the above-mentioned frequency determined for each biophoresis device, Since the traveling motion of the biophoresis device can be controlled, the traveling motion of the biophoresis device can be easily controlled.

As described above, the fin for the in vivo electrophoresis apparatus of the present invention is characterized in that the fin portion has higher bending rigidity in the first direction than the joint portion.

  Therefore, it is possible to provide a fin for an in vivo electrophoretic device that does not decrease the propulsion efficiency even if it is downsized.

(Embodiment 1)
An embodiment of the present invention will be described with reference to FIGS. 1 to 7 as follows.

  In this embodiment, a medical system related to in-vivo examination or treatment using a capsule endoscope will be described as an example of a micromachine including a fin for an in-vivo electrophoresis apparatus.

  FIG. 2 is a configuration diagram showing the configuration of the medical system 1 in the present embodiment.

  As shown in FIG. 2, the medical system 1 receives a magnetic field generated from the control device 2 that controls the medical system 1, an AC magnetic field generation device 3 that generates a magnetic field, and the magnetic field generated from the AC magnetic field generation device 3. It is composed of a moving capsule endoscope 4 (in-vivo electrophoresis apparatus).

  FIG. 3 is a schematic diagram showing the relationship among the control device 2, the AC magnetic field generator 3, and the capsule endoscope 4 in the present embodiment.

  The medical system 1 is for examining the digestive organs by screening the digestive organs of the test subject with the capsule endoscope 4. Specifically, first, the subject undergoes intestinal irrigation and the like, and then swallows the capsule endoscope 4 provided with a camera together with water or the like. Then, the capsule endoscope 4 that has entered the body of the test subject receives the magnetic field generated by the AC magnetic field generator 3 and moves in the digestive organs such as the stomach and intestine. Screening examination of various digestive organs is performed by photographing the inside of the organ.

  The control device 2 is a personal computer, controls the AC magnetic field generation device 3, and performs wireless communication with the capsule endoscope 4. Specifically, as shown in FIG. 3, the control device 2 creates a voltage waveform using a program, performs D / A conversion on the created voltage waveform, and converts the voltage waveform converted into an analog signal into the power amplifier 5. Output to. The control device 2 acquires in-vivo image data captured by the capsule endoscope 4 from the capsule endoscope 4 by wireless communication.

(Configuration of AC magnetic field generator)
4A is a cross-sectional view of the iron core 10a in the AC magnetic field generator 3 as seen from the direction in which the guide rail 9 extends, and FIG. 4B is a cross-sectional view of the iron core 10b as seen from the direction in which the guide rail 9 extends. (C) is a perspective view of the electromagnet 6, (d) is a diagram showing the entire configuration of the AC magnetic field generator 3, and (e) is a guide rail on the surface where the guide rail 9 is provided. It is sectional drawing of the iron core 10 seen from the direction perpendicular | vertical with respect to the direction where 9 extends.

  As shown in FIG. 4D, the AC magnetic field generator 3 includes an electromagnet 6, an inspection table 7, a lift 8, and a guide rail 9, and an AC current is supplied from the control device 2 to the electromagnet 6 through the power amplifier 5. When flowing, the electromagnet 6 is a mobile magnetic field generator that generates an alternating magnetic field corresponding to the alternating current and applies the generated alternating magnetic field to a test subject lying on the examination table 7.

  As shown in FIG. 4E, the electromagnet 6 is formed by bundling a plurality of two types of iron cores 10 having different heights around which a coil 11 made of a conductive wire is wound, and current flows through the coil 11. As a result, it operates as one electromagnet. The iron core 10 is made of a silicon steel plate and has a rectangular frame shape with a gap (between magnetic poles), that is, a U-shaped frame shape. As shown in FIGS. 4A and 4B, of the iron core 10, an iron core with a low height H is an iron core 10a, and an iron core with a high height H is an iron core 10b. Here, the height H refers to the length of the iron core in the normal direction relative to the surface on which the guide rail 9 is provided. Further, as shown in FIG. 4C, the length L of the electromagnet 6 refers to the entire length of the electromagnet 6 in the direction in which the iron core 10 is bundled, and the width W of the electromagnet 6 refers to the generated magnetic field. The distance between the magnetic poles 1 is the distance between the magnetic poles formed so as to have a gap in the U-shaped frame shape, that is, the distance of the portion without the U-shaped frame shape. Say.

  More specifically, in the AC magnetic field generator 3 according to the present embodiment, among the sides of each iron core 10, the side facing the side where the gap is formed, that is, the U-shaped frame, A coil 11 is formed by winding a conducting wire around a side facing a portion where there is no wire. Furthermore, each iron core 10 is arrange | positioned so that the height of two adjacent iron cores 10 may mutually differ by bundling the iron cores 10a and 10b alternately. Thereby, compared with the structure which arranges the iron core 10 with the same height mutually, the distance of the adjacent coil 11 can be set short, and the magnetic flux density which the alternating current magnetic field generator 3 generate | occur | produces can be improved.

  Further, since the magnetic flux density can be adjusted by adjusting the number of the iron cores 10, the length of the magnetic field generation region, that is, the length L of the electromagnet 6 can be set relatively freely.

  As shown in FIG. 4 (d), the inspection table 7 is a table that supports the person under test and is installed so as to be surrounded by a U-shaped frame of the electromagnet 6. That is, the length of the inspection table 7 in the direction of the magnetic field generated by the electromagnet 6 is longer than the length of the electromagnet 6 in the same direction.

  The lift 8 moves on the guide rail 9 and supports the electromagnet 6. When the lift 8 moves on the guide rail 9, the electromagnet 6 can move in the guide rail direction. The lift 8 includes a table portion 8a that supports the electromagnet 6, a support portion 8b that supports the table portion 8a so as to be movable in the direction of the guide rail 9, and a connecting portion 8c that connects the table portion 8a and the support portion 8b. It is composed of

  As shown in FIG. 4 (d), the table portion 8 a has a flat plate shape and supports the electromagnet 6.

  Moreover, the connection part 8c is comprised from two pillars, and has connected the table part 8a and the support part 8b so that the table part 8a can move to a perpendicular direction with respect to the support part 8b.

  Specifically, a groove (not shown) is formed in the upper surface of the support portion 8b in the width W direction of the electromagnet 6, and the end portions of the two pillars serving as the connecting portions 8c on the support portion 8b side are formed in the groove. Is loosely fitted and fixed by a stopper (not shown) at a desired position. By moving the position of the stopper, the table portion 8a can be moved in the vertical direction. For example, when it is desired to move the table portion 8a downward, the stopper is stopped so that the distance between the two columns in the width W direction of the electromagnet 6 is increased. The column is stopped by a stopper so that the distance in the width W direction of the electromagnet 6 is reduced.

  Moreover, you may move the electromagnet 6 to a perpendicular direction not only with the said structure but with a jack, a hydraulic cylinder, and a pneumatic cylinder.

  Since the capsule endoscope 4 can be moved in the vertical direction by moving the electromagnet 6 in this way, the movement pattern of the capsule endoscope 4 is increased, and the inspection is performed more precisely. Will be able to.

  The support part 8b supports the table part 8a via the connection part 8c. Further, a protrusion (not shown) is provided on the lower surface of the support portion 8b, that is, on the surface opposite to the side connected to the connecting portion 8c so as to be fitted into the groove formed in the guide rail 9. It has been.

  Two guide rails 9 are provided in parallel with the inspection table 7 so as to sandwich the inspection table 7, and are linear rails that support the lift 8 so as to be movable on the guide rail 9. Specifically, as shown in FIG. 4D, a groove having a rectangular cross section is provided, and a protrusion provided on the support portion 8b of the lift 8 is loosely fitted in the groove.

  According to the above configuration, since the position of the electromagnet 6 can be moved by the lift 8 and the guide rail 9, the capsule can be encapsulated without increasing the size of the electromagnet 6 even when the physique of the examinee is large. The mold endoscope 4 can be easily moved to a desired position such as a site to be inspected.

  As a result, the AC magnetic field generator 3 can be reduced in size. For example, the capsule endoscope 4 can be reduced in size by shortening the length of the electromagnet 6, that is, by reducing the number of iron cores 10 to be bundled.

  Further, by reducing the size of the electromagnet 6 in the length L direction in the AC magnetic field generator 3, even if the size of the electromagnet 6 in the width W direction is increased, the possibility that the overall size is increased is reduced. Can do.

(Configuration of capsule endoscope)
The capsule endoscope 4 will be described with reference to FIGS. 1 and 5 to 14.

  FIG. 1 is a diagram showing an appearance of the capsule endoscope 4, and FIG. 5 is a diagram showing an example of a propulsion method in a small fish robot. FIG. 6 is a diagram showing a schematic configuration of the capsule endoscope 4.

  Here, the upper side means the liquid level side with respect to the capsule endoscope, and the lower side means the side opposite to the liquid level side with respect to the capsule endoscope.

  As shown in FIG. 1, the capsule endoscope 4 connects a main body 12 having a camera and a magnet therein, a fin 13 (fins for an in vivo electrophoresis apparatus), and the main body 12 and the fin 13. The pedestal 16 is configured. The capsule endoscope 4 receives the magnetic field from the AC magnetic field generator 3 and moves the magnet of the main body 12, whereby the fin 13 vibrates and moves in the body of the subject. The capsule endoscope 4 captures the inside of the body with a camera while moving inside the body, and transmits the captured image to the control device 2 by wireless communication.

  The capsule endoscope 4 is mainly propelled by using the fins 13 like a small fish robot shown in FIG.

  As shown in FIG. 1, the main body 12 has a capsule shape having a diameter of about 10 mm and a length of about 25 mm, for example.

  As shown in FIG. 6, the main body 12 includes an imaging device 20 for imaging the inside of the subject, an image processing unit 21 for processing an image captured by the imaging device 20, and the processed image data by the control device 2. The wireless communication part 22 which transmits to LED, LED23 which is an illuminating device for brightening the inside of the body, the button battery 24 as a battery, and the magnet 25 are incorporated.

  7A is a view showing the fin portion 15 of the capsule endoscope 4, FIG. 7B is a view showing a modification of the fin portion 15, and FIG. 7C is another deformation of the fin portion 15. FIG. It is a figure which shows an example.

  The fin 13 includes a joint portion 14 and a fin portion 15, and the fin portion 13 and the main body portion 12 are integrated by the joint portion 14 being connected to the main body portion 12 by a pedestal 16. Here, the fin 13 includes a joint central axis in the extending direction of the joint 14 formed of a spring member, a fin central axis extending toward the side bonded to the joint 14 in the fin 15, and the capsule endoscope 4. It adheres to the main body 12 so that the central axis coincides.

  As shown in FIG. 1, the fin portion 15 has a large thickness on the side (base side) connected to the joint portion 14, and the thickness decreases toward the side facing the root side (tip side). Here, the thickness means the length of the fin portion 15 in the direction (fin vibration direction) (first direction) in which the fin 13 vibrates with respect to the central axis of the capsule endoscope 4. Here, the central axis (center axis) of the capsule endoscope 4 refers to an axis that passes through the center of gravity of the capsule endoscope 4 and extends in the propelling direction of the capsule endoscope 4.

  According to the said structure, since the thickness of the base part of the fin part 15 which is a connection part with the joint part 14 and receives a big load at the time of a vibration is large, the intensity | strength of this connection part can be kept favorable.

  Further, by reducing the thickness of the tip portion of the fin portion 15, the displacement of the vibration of the fin portion 15 during the vibration of the fin 13 is increased, and the propulsion efficiency is improved.

Fin unit 15 is composed of a material having a high Young's modulus than the joint portion 14, or, flexural stiffness set to higher. Moreover, the plane of the fin part 15 seen from the direction in which the fin part 15 operates has a trapezoidal shape as shown in FIG.

On the other hand, the joint portion 14 is composed of a small substance having a low Young's modulus than fins 15, or bending stiffness has low Kuna' is intended for connecting the base side of the base 16 and the fins 15. For example, the joint portion 14 is made of a metal or plastic coil spring or a leaf spring. The joint portion 14 is not limited to the spring described above, and may be made of silicon.

  The pedestal 16 is connected to the main body portion 12 and the joint portion 14 by an adhesive such as an instantaneous adhesive. The pedestal 16 is made of epoxy putty or polystyrene foam.

  The connection between the pedestal 16 and the main body portion 12 is not limited to the configuration in which the pedestal 16 and the main body portion 12 are connected with each other as described above, and the pedestal 16 may be connected to the main body portion 12 with a screw. The structure connected by fitting to the main-body part 12 may be sufficient.

According to the above arrangement, since the fin portions 15 are or bending stiffness consists large material Young's modulus than the joint portion 14 becomes rather high, fin portion 15 is made of a material Young's modulus is smaller than the joint section 14 or bending stiffness in comparison with the case that low Kuna' a small deflection due pressure of fin portion 15, during vibration, it is possible to push the liquid efficiently. In addition, since the displacement (maximum displacement) when the fin 13 is shaken during vibration of the fin 13 increases, the amount of liquid that the fin portion 15 pushes out per vibration increases. As a result, the propulsion efficiency can be improved and the fin 13 can be downsized.

  In order to achieve better propulsion efficiency, the combination of the material of the fin portion 15 and the material of the joint portion 14 is that the material of the fin portion 15 is plastic and the material of the joint portion 14 is rubber. Is preferred. A combination in which the fin portion 15 is made of silicon or polyvinyl chloride and the joint portion 14 is made of polyethylene is also preferable. In addition, the combination of the shape of the fin portion 15 and the shape of the joint portion 14 is preferably such that the fin portion 15 is a plate-like substance, whereas the joint portion 14 has a coil spring shape. Further, the width of the cross-section of the joint part 14 formed by cutting the fin part 15 and the joint part 14 in a direction perpendicular to the direction in which the joint part 14 vibrates is made of a plate-like substance. The width of the section 15 is preferably smaller than the width of the cross section. Moreover, it is preferable that the vertical length of the joint portion 14 in the cross section is shorter than the vertical length of the fin portion 15.

  Further, in the present embodiment, the fin 13 and the main body portion 12 are connected by the pedestal 16, but the present invention is not limited thereto, and a plastic case covers a part of the main body portion 12, The fin 13 and the main body 12 may be connected, or may be connected by fixing the fin 13 to the main body 12 with a screw. Alternatively, a method may be used in which the fin 13 is engaged with the main body 12 and the fin 13 is directly fixed to the main body 12.

(Operation of capsule endoscope)
Next, how the capsule endoscope 4 operates in the body of the examinee will be described.

  First, as shown in FIG. 3, the control device 2 creates a voltage waveform in accordance with an instruction from the operator, and outputs the created waveform to the power amplifier 5. The power amplifier 5 outputs the amplified voltage waveform to the electromagnet 6, and a current flows through the coil 11 of the electromagnet 6. When an alternating current flows through the coil 11, the electromagnet 6 generates an alternating magnetic field and applies the generated alternating magnetic field to the magnet inside the capsule endoscope 4 swallowed by the subject. The magnet inside the capsule endoscope 4 vibrates in response to an alternating magnetic field, and the fin 13 vibrates when the vibration is transmitted, and the capsule endoscope 4 obtains a propulsive force. Thus, the capsule endoscope 4 migrates in the body fluid of the body of the subject by the vibration of the fin 13.

  By the way, normally, the larger the area of the fin portion 15 as viewed from the vibration direction of the fin portion 15, the more water is pushed out per swing of the fin portion 15, and the propulsive force of the capsule endoscope 4. Will increase. Conversely, if the area of the fin portion 15 is reduced, the amount of water pushed out per swing of the fin portion 15 is reduced, and the propulsive force of the capsule endoscope 4 is reduced.

Even if the area of the fin portion 15 as viewed from the direction of the fin vibration is increased, if the fin portion 15 made of a material having a lower bending rigidity or a smaller Young's modulus than the joint portion 14 is used, the fin 13 vibrates. The fin 15 is bent by water pressure. And since the water which the fin part 15 tries to push out escapes from the bent part when the fin part 15 bends, the amount of the water pushed out per one swing of the fin part 15 Less than when not bending.

However, according to the above configuration, since the fin portion 15 is made of a material having higher bending rigidity or a higher Young's modulus than the joint portion 14, the deflection of the fin portion 15 due to the water pressure is small, and the fin portion 15 per swing of the fin portion 15 is small. The amount of water to be pushed out hardly decreases as compared with the case where the fin portion 15 does not bend. On the other hand, the joint portion 14 is made of a material having a lower bending rigidity or a lower Young's modulus than the fin portion 15 such as a spring member, so that the force to return to the central axis direction is larger than that in the case where no spring member or the like is used. Big. Therefore, even if the fin 13 is downsized, the propulsive force of the fin 13 can be kept good.

That is, the fin portion 15 by using a material having a high height Kusuru or Young's modulus of flexural rigidity than the joint section 14, without decreasing the propulsion efficiency of the fins 13 can be downsized fins 13. As a result, the capsule endoscope 4 can also be reduced in size, and uncomfortable feeling when the subject under test swallows the capsule endoscope 4 can be reduced.

(Embodiment 2)
In the first embodiment, the capsule endoscope 4 having the configuration including the main body 12, the fin 13, and the pedestal 16 has been described. However, the present invention is not limited to this. In the present embodiment, a capsule endoscope having a configuration in which a capsule endoscope is floated to float on the surface of body fluid in the body of a subject will be described. Since the configuration other than the capsule endoscope is the same as that of the first embodiment, the same configuration as that of the first embodiment is denoted by the same reference numeral and description thereof is omitted.

  In addition, here, the lower side of the capsule endoscope is the side that comes into contact with the liquid surface when the capsule endoscope is floated on the liquid surface, or the liquid surface side when it is submerged in the liquid And the opposite side. The upper side of the capsule endoscope means the side that does not come into contact with the liquid surface when the capsule endoscope is floated on the liquid surface, and the liquid surface side when it is submerged in the liquid. Say.

  FIG. 8 is an external view showing the main body 30 of the capsule endoscope 37 and a cross-sectional view of the capsule endoscope 37 in the propelling direction.

  As shown in FIG. 8, the capsule endoscope 37 according to the present embodiment has a main body 30 that has the same configuration as the main body 12 in the first embodiment, and a configuration that is the same as the fin 13 in the first embodiment. And it is the structure provided with the fin 38 which consists of the fin part 32 and the joint part 34, and the float 31. FIG.

  Since the fin part 32 is the same as the fin part 15 of Embodiment 1, and the joint part 34 is also the same as the joint part 14 of Embodiment 1, description is abbreviate | omitted here.

  The float 31 is for floating the capsule endoscope 37 on the surface of the body fluid so as not to sink into the body fluid. The float 31 is made of foamed polystyrene having a specific gravity lighter than that of water, and is instantly bonded onto the surface of the main body 30. It is fixed with an adhesive such as an agent. The float 31 may be made of wood, cork material, polyethylene, polypropylene, ethylene propylene rubber, natural rubber, particle board, or the like.

The float 31 has a specific gravity of the capsule endoscope 37 as v _C , a volume of the capsule endoscope 37 as V _C , a specific gravity of the float 31 as v _f , and a volume of the float 31 as V _f (v _C V _C + v _f V _f ) / (V _C + V _f ) ≦ 1 must be satisfied. That is, the thickness of the float 31 and the length in the propulsion direction are set so as to satisfy the condition of the above formula.

  The shape of the float 31 is thin as shown in FIG. 8, but may be configured to cover most of the surface of the main body 30, or the thickness of the float 31 as shown in FIG. 9 or 10. However, the capsule endoscope 37 may be configured such that the upper and lower surfaces of the capsule endoscope 37 are not provided with a float, and the float is provided only on the side surface.

  Thus, the specific gravity of the capsule endoscope 37 can be adjusted by providing the main body 30 with the float 31. Thus, it becomes easy to control whether the capsule endoscope 37 migrates on the surface of the body fluid or how deep the body surface moves from the surface of the body fluid. Further, as shown in FIG. 9, by providing the floats 31 on both side surfaces of the capsule endoscope 37, the capsule endoscope 37 can be kept in a horizontal state.

  FIG. 9 is a perspective view showing an appearance of a capsule endoscope 37 provided with the heat shrinkable tube 33.

  Although the structure which fixes the float 31 on the surface of the main-body part 30 with the adhesive agent was demonstrated above, this invention is not restricted to this, The structure which fixes the float 31 with the heat contraction tube 33 as shown in FIG. It may be. For the heat shrinkable tube 33, ethylene propylene rubber, cross-linked polyethylene or the like is used.

  A specific method of fixing the float 31 using the heat shrinkable tube 33 is as follows. First, a transparent film (not shown) is attached to the float 31, and it is placed on the main body 30. By applying heat to the heat shrinkable tube 33 from outside, the film is melted so that the float 31 and the main body 30 are bonded. At this time, it is preferable that heat is rapidly applied to the heat-shrinkable tube 33 in a short time, and the heat-shrinkable tube 33 is rapidly cooled when the float 31 and the main body 30 come into contact with each other. Moreover, it is preferable to provide a thin heat insulating sheet between the heat shrinkable tube 33 and the float 31. According to this, it is possible to prevent the float 31 from being melted by the heat applied to the heat shrinkable tube 33.

  FIG. 10 is a perspective view showing how the outer shell 35 is attached to the capsule endoscope 37.

  FIG. 11 is an explanatory view showing a state in which water flows into the outer shell 35.

  FIG. 12 is a view showing a state in which an opening is provided in the outer shell 35.

  Also, as a method of fixing the float 31 to the main body 30, as shown in FIG. 10, the entire capsule endoscope 37, specifically, the float 31, the main body 30, the pedestal 16, and the fin 38 are all attached. There is a method of covering with an outer shell 35 made of a hollow cylindrical plastic resin.

  Specifically, the main body 30 and the outer shell 35 to which the fins 38 are connected by the pedestal 16 are fitted into the main body 30 with the outer shell 35 divided into two parts and bonded, as shown in FIG. It is united by joining with an agent.

  Alternatively, the main body 30 may be integrated by tightening and fitting to a cylindrical outer shell 35 having an inner diameter slightly smaller than the outer diameter of the main body 30 provided with the fins 38. When the main body 30 is provided with the float 31, it is preferable to use the outer shell 35 having a larger inner diameter by the thickness of the float.

  In addition, a cylindrical outer shell 35 having an inner diameter that is the same as or slightly larger than the outer diameter of the main body 30 may be joined to the main body 30 provided with the fin 38 with an adhesive.

  According to the configuration including these outer shells 35, the float 31 is fixed to the main body portion 30, and the fin 38 is covered with the outer shell 35 so as to be able to vibrate. Can be prevented.

  Further, as shown in FIGS. 10, 11, and 12 (d), the outer shell 35 is a part of the outer shell 35 that faces the joint portion 34 in a state where the outer shell 35 is joined to the main body portion 30 including the fins 38. It is preferable to provide an opening 40 in the region. As shown in FIG. 12A, the outer shell 35 of the capsule endoscope 37 shown in FIG. 10 is positioned in the direction in which the fin 38 vibrates with respect to the central axis in the region facing the joint portion 34. One opening 40 is provided in each region.

  According to the above configuration, since the opening 40 is provided in the outer shell 35, water enters the outer shell 35 through the opening 40 as shown in FIG. 11. Accordingly, it is possible to prevent the body wall and the like from being damaged by the vibration of the fins 38 and to solve the problem that the propulsion efficiency is reduced without water flowing into the fins 38 by covering the fins 38 with the outer shell 35.

  Further, the present invention is not limited to the configuration in which two openings 40 are provided in the outer shell 35 as shown in FIG. 12A, but one opening 41 is provided as shown in FIG. The structure provided may be sufficient, and the structure provided with three openings 42-44 may be sufficient as shown in FIG.12 (c). In addition, as shown in FIG. 10, the opening 41 at this time does not need to be provided in a region located in the direction in which the fin 38 vibrates with respect to the central axis in the region facing the joint portion 34. As shown to 12 (b), you may provide in the area | region located in the downward direction with respect to the fin 38 among the area | regions facing the joint part 34. FIG. In addition, as shown in FIG. 12C, one opening 42 is provided in a region located in the lower direction with respect to the fin 38 in the region facing the joint portion 34, and is equiangularly spaced from the opening 42. Thus, the opening 43 and the opening 44 may be provided. Specifically, another opening 43 is formed in a region located obliquely upward with respect to the fin 38, and another opening 43 is disposed in a region located obliquely upward from the opening at an equal angular interval. The structure which provides the one opening part 44 may be sufficient.

  According to the above configuration, by providing three openings in the outer shell 35, the amount of liquid flowing into the periphery of the fin 38 in the outer shell 35 increases, so that the propulsive force by the fin 38 increases.

  Further, the outer shell 35 is configured to cover all of the float 31, the main body 30, the pedestal 16, and the fin 38, but the present invention is not limited to this, and is configured to cover only the fin 38 with the outer shell 35. There may be.

  In the above description, the outer shell 35 made of plastic resin has been described. However, the present invention is not limited to this. The material of the outer shell 35 may be a metal material such as aluminum or stainless steel, hard rubber, wood, or the like. Further, the shape of the outer shell 35 is not limited to the cylindrical shape described above, and may be a hollow spherical shape or the like.

  The area where the opening is provided is not limited to the area facing the joint 34 in the outer shell 35, and may be provided in a part of the area facing the fin 32.

  The length of the outer shell 35 in the propulsion direction is preferably about 26 mm or less, and the diameter is preferably about 11 mm or less. According to the above configuration, when the person under test drinks the capsule endoscope 37, the person can easily drink it without feeling uncomfortable.

  By the way, FIG. 15 is a photograph showing an example of a small fish-shaped robot composed of a main body portion and a fin portion and migrating in water by the fin portion. The capsule endoscope 4 according to the first embodiment is composed of a main body portion and a fin, like a small fish robot on the uppermost side of the photograph of FIG. In addition, the capsule endoscope 37 according to the second embodiment is composed of a main body portion and a fin, and further floats on the main body portion, as in the photograph of FIG. 15, a small fish robot in the middle toward the paper surface. It is the structure provided with.

  In the medical system 1 according to the first embodiment, the control device 2 is configured to acquire image data obtained by imaging the inside of the body from the capsule endoscope 4 through wireless communication. However, the present invention is not limited to this, and imaging is performed. The stored image data is stored in the capsule endoscope 4, and the capsule endoscope 4 is recovered when the capsule endoscope 4 goes out of the body to the outside, and the stored image data is acquired. It may be.

  Further, in the alternating-current magnetic field generator 3 according to the first embodiment, the electromagnet 6 is moved in the direction in which the iron core 10 is bundled, or with respect to a plane formed by the direction in which the iron core 10 is bundled and the direction of the generated magnetic field. The lift 8 and the guide rail 9 are used to move the electromagnet 6 in the normal direction. However, the present invention is not limited to this, and the electromagnet 6 may be moved using a chain, jack, pneumatic cylinder, hydraulic cylinder, pulley, rope, or the like.

  FIG. 13 is a perspective view showing a modification of the capsule endoscopes 4 and 37 according to the first or second embodiment.

  In the first and second embodiments, the fins 13 and 38 are connected to the main body 30 by the base 16, but the present invention is not limited to this. As shown in FIG. 13, instead of connecting the fins 13 and 38 to the main body portions 12 and 30 by the pedestal 16, rubber made of natural rubber or synthetic rubber having a Young's modulus smaller than that of the plastic having the fins 13 and 38 is used. The finger sac 36 (sack) may be connected for connection. The finger sack 36 is preferably made of latex.

  According to the above configuration, the fins 13 and 38 can be joined to the main body parts 12 and 30 simply by attaching the finger sack 36 to the main body parts 12 and 30. Therefore, the fins 13 and 38 can be joined to the main body 12 more quickly and easily than the base 16 provided with the fins 13 and 38 is joined to the main body 12 and 30 using an adhesive. it can. Therefore, since the power supply is turned on by taking it out from a special case, it is very effective for a capsule endoscope that needs to be quickly provided with a fin portion in the main body portion.

  FIG. 14 is a perspective view showing another modification of the capsule endoscope according to the first or second embodiment.

  In the second embodiment, the plastic outer shell 35 is provided so as to cover all the capsule endoscope 37 provided with the float 31. However, the present invention is not limited to this, and as shown in FIG. Alternatively, the capsule endoscope 37 in which the fin 38 is folded may be wrapped with the thin film 39 that is dissolved by the body fluid. The thin film 39 is preferably made of wafer, gelatin, or hydroxypropyl cellulose. Further, the capsule endoscope 4 according to the first embodiment that does not include the float 31 may be configured such that the fin 13 is folded and covered with the thin film 39.

  According to the above configuration, since the capsule endoscope 37 is wrapped with the thin film 39 in the state in which the fin 38 is folded, the fin 38 is exposed when the examinee swallows the capsule endoscope 37. Without it, it becomes easy to drink the capsule endoscope 37 of the subject. In addition, it is possible to prevent the fin 38 from damaging the body wall of the digestive organ while the capsule endoscope 37 is moved to a desired position to be examined after drinking. Further, when the desired position is reached, the thin film 39 such as the wafer melts, and the folded fin 38 is exposed and vibrates, so that the capsule endoscope 37 is driven by the vibration of the fin 38. In addition, it is more preferable to select the thin film 39 so that the dissolution time of the thin film 39 such as the oblate corresponds to the time required to reach the desired inspection position after the capsule endoscope 37 is drunk.

  The shape of the fin portions 15 and 32 viewed from the vibration direction of the fin portions 15 and 32 in the first and second embodiments is a trapezoidal shape as shown in FIG. 7A, but the present invention is not limited to this. As shown in FIG.7 (b), the shape where the corner | angular part of the front-end | tip part (fin tip part) in the trapezoid shape of Fig.7 (a) rounded may be sufficient. Moreover, as shown in FIG.7 (c), the rounded shape may be sufficient as a whole.

  According to the above configuration, since the corners of the tip portions of the fin portions 15 and 32 are not sharp but rounded, the fin portions 15 and 32 may damage the body wall when vibrating. Can be reduced.

  The capsule endoscopes 4 and 37 in the first and second embodiments are configured to have magnets in the main body portions 12 and 30, but the present invention is not limited to this, and the fin portions 15 and 32 in the fins 13 and 38 are not limited thereto. The structure which has a magnet inside may be sufficient.

  The operation of the capsule endoscope 4 in the first embodiment in this case will be briefly described as follows with reference to FIG.

  As shown in FIG. 3, the control device 2 creates a voltage waveform in accordance with an instruction from the operator, and outputs the created waveform to the power amplifier 5. The power amplifier 5 outputs the amplified voltage waveform to the electromagnet 6, and a current flows through the coil 11 of the electromagnet 6. When an alternating current flows through the coil 11, the electromagnet 6 generates an alternating magnetic field, and the generated magnetic field is applied to a magnet built in the fin portion 15 of the capsule endoscope 4 swallowed by the subject. When the magnet inside the fin portion 15 receives an alternating magnetic field, the fin 13 vibrates, and the capsule endoscope 4 obtains a propulsive force. Thus, the capsule endoscope 4 migrates in the body fluid of the body of the subject by the vibration of the fin 13.

  According to the said structure, the vibration of fin 13 * 38 can be easily controlled by controlling the alternating current magnetic field given from the outside.

  In addition, when the main body unit 12/30 including the imaging device 20 has a magnet inside, the vibration of the main body unit 12/30 is controlled by the external AC magnetic field generator, but the main body unit 12/30 is vibrated at high speed. If it is controlled so as to become, it will be blurred when the imaging device 20 images the inside of the body, which is not preferable. However, according to the above configuration, the vibrations of the fin portions 15 and 38 can be mainly controlled. Therefore, even if the fins 13 and 38 are controlled to be high-speed vibration, the vibration of the main body portions 12 and 30 is gentle. Therefore, it is possible to reduce camera shake.

  That is, since the capsule endoscopes 4 and 37 can be propelled only by controlling the vibrations of the fins 13 and 38, compared with the case where the main body units 12 and 30 of the first and second embodiments have magnets. Thus, the vibrations of the main body parts 12 and 30 during the traveling can be reduced. As described above, when the vibration of the main body portions 12 and 30 having the imaging device 20 is reduced, it is possible to reduce blurring that is harmful when the imaging device 20 captures an image of the inside of the body.

  In addition, when the capsule endoscopes 4 and 37 according to the present invention have magnets inside the fin portions 15 and 32 of the fins 13 and 38, a voltage for generating an alternating current in the coil 11 of the alternating magnetic field generator 3 is used. The frequency of the waveform and the frequency (limit frequency) for switching the forward movement, the stagnation, and the backward movement of the capsule endoscopes 4 and 37 are the shape and material of the fin portion 15, the shape and material of the joint portion 14, and the main body. It is preferably determined by a combination of the shape and material of the portion 12.

  Specifically, the limit frequency is the vibration amplitude in the liquid under the condition of the shape / material of the fins 15/32 with respect to the frequency of the voltage waveform applied under the condition of the shape / material of the joints 14/34. The frequency at which the vibration amplitude in the same liquid under the condition of the shape and weight of the main body parts 12 and 30 and the float 31 is substantially equal.

  For example, a stainless steel-made cylindrical coil spring-shaped joint part 34, a trapezoidal silicon fin part 32, a total length of about 26 mm, a diameter of about 11 mm, and a total weight of about 4 g including the float 31 The above limit frequency in water when combined with 30 is about 10 to 11 Hz when the float 31 is provided as shown in FIG. 8 and about 13 to 14 Hz when it is provided as shown in FIG. 9.

  According to the above configuration, a limit frequency for switching between forward movement, stagnation, and reverse movement is determined by a combination of the shape and material of the fin portion, the shape and material of the joint portion, and the shape and material of the main body portion. That is, each capsule endoscope has a limit frequency for individually switching between forward movement, stagnation, and reverse movement.

  Accordingly, the traveling motion of the capsule endoscopes 4 and 37 is switched by switching the voltage waveform of the voltage applied to the AC magnetic field generator 3 to a frequency higher, lower, or the same frequency as the above limit frequency. Therefore, the movement of the capsule endoscopes 4 and 37 can be easily controlled.

  Further, in the fin portions 15 and 32 in the first and second embodiments, the fins 13 and 38 are the joint central axis of the joint portions 14 and 34, the fin central axis of the fin portions 15 and 32, and the capsule endoscope. Although fin 13 * 38 is connected with main-body part 12 * 30 so that the center axis | shaft of 4. * 37 may correspond, this invention is not limited to this. For example, the capsule endoscopes 4 and 37 of the capsule endoscopes 4 and 37 are arranged in the direction of the bottom of the liquid (second direction) by the angle between the joint center axis and the fin center axis within the range of 0 ° to 90 °. You may provide by shifting with respect to a central axis.

  According to the above configuration, since gravity is applied to the direction shifted from the central axis by the amount shifted from the central axis of the capsule endoscope 4 or 37, the central axis of the capsule endoscope 4 or 37 is increased. Since the direction shifted with respect to the bottom is the bottom direction opposite to the liquid level, the fins 13 and 38 can always be present in the liquid. As a result, the possibility that the propulsive force of the capsule endoscope is reduced due to the exposure of the fins 13.38 to the outside of the liquid is reduced.

  In addition, the joint portions 14 and 34 in the first and second embodiments are made of a metal or plastic coil spring, but the joint portion in the present invention is not limited to this and may be simply a hinge.

  According to the above configuration, the length of the joint portion with respect to the traveling direction of the capsule endoscopes 4 and 37 can be reduced as compared with the case where coil springs are used. Can be miniaturized.

  The fin for an in vivo electrophoretic device according to the present invention can be applied to a drinking capsule type medical device used in medical examinations and treatments in the medical field, in particular, in-body examinations and body fluid collection.

It is an external view which shows one Embodiment of the bioelectrophoresis apparatus in this invention. It is a block diagram which shows the outline of the medical system using the said in-vivo electrophoresis apparatus. It is a block diagram which shows the outline | summary of the alternating current magnetic field generator in the said medical system. (A) is sectional drawing of the iron core in the said alternating magnetic field generator seen from the direction where a guide rail extends, (b) is sectional drawing of the other iron core seen from the direction where a guide rail extends, (c) (D) is a figure which shows the whole structure of an alternating current magnetic field generator, (e) is the surface where a guide rail is provided with respect to the direction where this guard rail is extended. It is sectional drawing of the iron core seen from the perpendicular direction. It is the figure which showed an example of the propulsion method in a small fish type robot. It is a block diagram which shows the outline of the said in-vivo electrophoresis apparatus. (A) is a figure which shows the fin part of the fin for in-vivo electrophoresis apparatuses in this invention, (b) is a figure which shows the modification of the fin part of (a), (c) is a fin of (a). It is a figure which shows the other modification of a part. It is the external view which shows other embodiment of the said bioelectrophoresis apparatus, and the side view in the propulsion direction of this bioelectrophoresis apparatus. It is an external view which shows other embodiment of the said in-vivo electrophoresis apparatus. It is a perspective view which shows a mode that an outer shell is further provided in the said in-vivo electrophoresis apparatus. It is explanatory drawing which shows a mode that water flows in in the said outer shell. (A) is a figure which shows the opening part provided in the said outer shell, (b) is a figure which shows the modification of the opening part of (a), (c) is a further part of the opening part of (a). It is a figure which shows a modification, (d) is a longitudinal cross-section of the said in-vivo electrophoresis apparatus provided with the said outer shell. It is a perspective view which shows other embodiment of the said in-vivo electrophoresis apparatus. It is a perspective view which shows other embodiment of the said in-vivo electrophoresis apparatus. It is a photograph which shows an example of a small fish type robot. It is a perspective view which shows schematic structure of the conventional alternating current magnetic field generator.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Medical system 2 Control apparatus 3 AC magnetic field generator 4,37 Capsule type endoscope (in vivo electrophoresis apparatus)
DESCRIPTION OF SYMBOLS 5 Power amplifier 6 Electromagnet 7 Inspection stand 8 Lift 9 Guide rail 10 Iron core 11 Coil 12,30 Main body part 13,38 Fin (fin for in-vivo electrophoresis apparatus)
14, 34 Joint (joint)
15, 32 fin part (fin part)
16 Pedestal 31 Floating 33 Heat shrinkable tube 35 Outer shell (cover)
36 finger sack
39 Oblate

Claims (15)

The fin section,
A main body part in an in vivo electrophoresis apparatus for migrating in a living body is provided with a joint part movably connecting the fin part,
A fin for an in vivo electrophoresis device that causes the in vivo electrophoresis device to migrate by vibration of the fin portion caused by vibration of the joint portion in a first direction ,
The fin for an in vivo electrophoresis apparatus, wherein the fin portion has higher bending rigidity in the first direction than the joint portion. In the first direction as a bending direction most allow bending of the joint portion, the thickness of the fin portions, according to claim 1, wherein the larger it toward the side connected to the joint Fin for in vivo electrophoresis equipment.   3. The bioelectrophoresis device according to claim 1, wherein a shape of a fin tip portion, which is an end portion of the fin portion opposite to a side connected to the joint portion, is rounded. Fin.   The fin for an in vivo electrophoretic device according to claim 1, wherein the fin portion includes a magnet.   An in vivo electrophoretic device that is provided with the fin for an in vivo electrophoretic device according to any one of claims 1 to 4 in a main body portion of the in vivo electrophoretic device, and that is driven by the fin for the in vivo electrophoretic device. The fin for the in vivo electrophoresis apparatus is:
With respect to a central axis that passes through the center of gravity of the main body and extends in the propelling direction of the bioelectrophoresis device,
6. The biophoresis according to claim 5, wherein a cross section cut along the first direction of the fin portion is displaced in a second direction as a direction orthogonal to the first direction. apparatus. It is composed of natural rubber or synthetic rubber having a lower Young's modulus than plastic, and further includes a sack having a recess,
In the fin for the in vivo electrophoresis apparatus, the joint portion on the side to which the fin portion is not connected is connected to the back side of the recess of the sac, and the recess includes a partial region of the main body. 7. The bioelectrophoresis device according to claim 5, wherein the sac and the main body are joined to each other.   The bioelectrophoresis device according to any one of claims 5 to 7, further comprising a float having a density lower than that of the body fluid. It further includes a heat-shrinkable tube whose diameter is shrunk by heat,
The in vivo electrophoresis apparatus according to claim 8, wherein the float is provided between an inner wall of the heat shrinkable tube and the main body.   The bioelectrophoresis device according to any one of claims 5 to 9, further comprising a cover portion that covers at least a partial region of the fin portion. The cover portion has at least one opening,
The opening is a region facing the portion where the joint and the main body are joined in the cover that covers the whole of the biophoresis device, or the advancing direction of the biophoresis device relative to the facing region. The in-vivo electrophoresis apparatus according to claim 10, wherein the in-vivo electrophoresis apparatus is provided in a region on the side.   The in vivo electrophoresis apparatus according to claim 10, wherein the cover part is a thin film that dissolves in a body fluid. The core part and the side part of an iron core composed of a core part around which a coil is wound and two side parts rising so as to be parallel to each other from both ends of the core part, An electromagnet in which a plurality of the iron cores are bundled so as to contact the core portion and the side surface portion,
The in-vivo according to any one of claims 5 to 12, wherein an alternating current is passed through the coil to form a magnetic pole at each end of the two side surfaces, and an alternating magnetic field is generated between the magnetic poles. An AC magnetic field generator for applying the generated magnetic field to an electrophoresis apparatus,
The electromagnet is movable in a direction in which the iron core is bundled,
An AC magnetic field generator, wherein the electromagnet is movable in a direction in which the side portion rises. A biophoresis device according to any one of claims 6 to 12 , an AC magnetic field generation device according to claim 13, and a control device that controls the bioelectrophoresis device and the AC magnetic field generation device. Medical system. An in vivo electrophoresis device in which a fin for an in vivo electrophoresis device according to claim 4 is connected to a main body, an alternating current magnetic field generating device according to claim 13, and the in vivo electrophoresis device and the alternating current magnetic field generating device are controlled. A medical system comprising a control device,
An alternating current is generated in the coil of the AC magnetic field generator, and the frequency of the voltage for switching between the forward movement, the stagnation, and the backward movement of the bioelectrophoresis device is:
A medical system characterized by being defined by a combination of the shape and material of the fin, the shape and material of the joint, and the shape and material of the main body.