WO2016157596A1 - Capsule endoscope guidance system and capsule endoscope guidance apparatus - Google Patents

Abstract

The capsule endoscope guidance system according to the present invention is provided with: a capsule endoscope having a magnetic field response unit and an imaging unit; a propulsion direction vector setting unit for setting a propulsion direction vector indicating the direction of propulsion of the capsule endoscope on the basis of positional information specified for an in-vivo image of a subject; an optical axis direction vector setting unit for setting an optical axis direction vector indicating the direction of the optical axis with respect to the propulsion direction vector; a magnetic field setting unit for setting a guidance magnetic field to be applied to the magnetic field response unit on the basis of the propulsion direction vector and the optical axis direction vector; and a magnetic field generation unit that applies a magnetic field to the magnetic field response unit to propel the capsule endoscope in the direction specified by the propulsion direction vector while maintaining the orientation of the capsule endoscope in the direction of the optical axis direction vector.

Description

Capsule type endoscope guidance system and capsule type endoscope guidance device

The present invention relates to a capsule endoscope guidance system and a capsule endoscope guidance apparatus that are introduced into a subject and move within the subject to acquire information on the subject.

Conventionally, a capsule endoscope having an imaging function and a wireless communication function inside a capsule casing that can be introduced into an organ of a subject such as a patient is known. The capsule endoscope is introduced into the organ of the subject by oral ingestion or the like, and then moves inside the digestive tract by peristalsis or the like. Such a capsule endoscope inside the subject displays an image inside the organ of the subject (hereinafter referred to as an in-vivo image) during a period from when the capsule endoscope is introduced into the subject's organ until it is discharged outside the subject. Images are sequentially taken, and the obtained in-vivo images are sequentially wirelessly transmitted to a receiving device outside the subject.

In recent years, a guidance system for guiding the capsule endoscope in the subject by magnetic force has been proposed (see Patent Document 1). For example, in a guidance system disclosed in Patent Document 1 (that is, a capsule endoscope guidance system), a capsule endoscope containing a magnet magnetized in a radial direction is introduced into a subject, and a guidance magnetic field is generated. By applying the capsule endoscope to the capsule endoscope, the capsule endoscope is guided to a desired position in the subject.

Such a guidance system generally includes a display device that displays an in-vivo image captured by a capsule endoscope inside a subject, and a joystick for operating magnetic guidance of the capsule endoscope inside the subject. And the like. When a surgeon such as a doctor or a nurse magnetically guides the capsule endoscope in the subject with such a guidance system, a schematic image showing a schematic body shape of the subject and the outline of the capsule endoscope are shown. The simulated image is displayed on the display device, and the operation device is operated with reference to the position of the simulated image of the capsule endoscope in the schematic image of the subject. In this case, the surgeon visually recognizes the relative moving direction or rotational direction of the simulated image of the capsule endoscope with respect to the schematic image of the subject displayed on the display device, so that the inside of the capsule type inside the subject is inside. Understand the magnetic guidance direction of the endoscope.

JP 2009-213613 A

Incidentally, the capsule endoscope disclosed in Patent Document 1 moves by magnetic induction with the optical axis direction of the capsule endoscope as the movement axis. Therefore, the image captured by the capsule endoscope is limited to a plane orthogonal to the moving direction, and the images that can be acquired are limited. On the other hand, for example, it may be possible to prevent the optical axis direction and the movement axis from becoming the same by attaching an image sensor to the side surface of the capsule endoscope. If the propulsion direction of the mold endoscope is changed, the optical axis direction is also changed, so that the images that can be acquired are limited. For this reason, there has been a demand for a technique that can acquire an image without limiting the optical axis direction to the propulsion direction.

The present invention has been made in view of the above, and a capsule endoscope guidance system and a capsule endoscope in which a capsule endoscope moving by magnetic guidance can acquire an image with a high degree of freedom. An object is to provide a guidance device.

In order to solve the above-described problems and achieve the object, a capsule endoscope guidance system according to the present invention has a magnetic field response unit and an imaging unit that respond to a magnetic field applied from the outside, and is introduced into a subject. And a propulsion direction vector setting unit that sets a propulsion direction vector indicating the propulsion direction of the capsule endoscope based on position information specified in the in-vivo image captured by the imaging unit. An optical axis direction vector setting unit that sets an optical axis direction vector indicating an optical axis direction with respect to the propulsion direction vector, based on at least the optical axis direction of the imaging unit and the propulsion direction vector, and the propulsion direction vector setting unit Based on the propulsion direction vector set by the optical axis direction vector setting unit and the optical axis direction vector set by the optical axis direction vector setting unit. A magnetic field setting unit that sets an induced magnetic field to be applied; and the induced magnetic field set by the magnetic field setting unit is applied to the magnetic field response unit so that the posture of the capsule endoscope is set in the direction of the optical axis direction vector. And a magnetic field generator for propelling the capsule endoscope in a direction specified by the propulsion direction vector while maintaining the same.

In the capsule endoscope guidance system according to the present invention, in the above invention, the imaging unit intermittently captures an image, and the magnetic field setting unit includes a plurality of images captured by the imaging unit. It is characterized in that an induction magnetic field for moving the capsule endoscope is set so as to include a part of each imaging region in two time-series images.

The capsule endoscope guidance system according to the present invention is characterized in that, in the above invention, the magnetic field setting unit sets the guidance magnetic field based on distance information between the imaging unit and a subject. To do.

In the capsule endoscope guidance system according to the present invention, in the above invention, the optical axis direction vector setting unit sets a plurality of optical axis direction vectors, and the magnetic field setting unit includes the capsule endoscope. The imaging unit of the mirror performs setting of the induced magnetic field such that imaging is performed using any one of the plurality of optical axis direction vectors set by the optical axis direction vector setting unit as the optical axis direction.

In the capsule endoscope guidance system according to the present invention, in the above invention, the optical axis direction vector setting unit sets two optical axis direction vectors, and the magnetic field setting unit includes the imaging unit. The induced magnetic field is set such that the optical axis direction moves between the two optical axis direction vectors set by the optical axis direction vector setting unit, and the imaging unit includes two optical axis direction vectors. The imaging process is performed at a predetermined timing between the two.

In the capsule endoscope guidance system according to the present invention as set forth in the invention described above, the magnetic field setting unit sets the guidance magnetic field such that the optical axis direction vector rotates around the propulsion direction vector. Features.

The capsule endoscope guidance system according to the present invention further includes an input unit that receives an input of angle information related to an angle of the optical axis direction vector with respect to the propulsion direction vector. The unit sets the optical axis direction vector based on the angle information received by the input unit.

In the capsule endoscope guidance system according to the present invention, the propulsion direction vector setting unit sets a plurality of propulsion direction vectors, and the magnetic field setting unit includes the propulsion direction vector and the optical axis. The guiding magnetic field for propelling the capsule endoscope is set while changing the propulsion direction vector propelled by the capsule endoscope while maintaining a relative relationship with the direction vector.

In the capsule endoscope guidance system according to the present invention as set forth in the invention described above, the propulsion direction vector setting unit sets a plurality of the propulsion direction vectors based on a plurality of designated position information. And

The capsule endoscope guidance apparatus according to the present invention has a magnetic field response unit that responds to a magnetic field applied from the outside and an imaging unit, and guides a capsule endoscope that is introduced into a subject. In the endoscope guidance device, a propulsion direction vector setting unit that sets a propulsion direction vector indicating a propulsion direction of the capsule endoscope based on position information designated in an in-vivo image captured by the imaging unit; Based on at least the optical axis direction of the imaging unit and the propulsion direction vector, an optical axis direction vector setting unit that sets an optical axis direction vector indicating an optical axis direction with respect to the propulsion direction vector, and a setting by the propulsion direction vector setting unit Based on the propulsion direction vector set and the optical axis direction vector set by the optical axis direction vector setting unit, the magnetic field response unit is marked. A magnetic field setting unit for setting an induced magnetic field to be applied; and applying the induced magnetic field set by the magnetic field setting unit to the magnetic field response unit to maintain the posture of the capsule endoscope in the direction of the optical axis direction vector However, a magnetic field generator for propelling the capsule endoscope in a direction specified by the propulsion direction vector is provided.

According to the present invention, there is an effect that a capsule endoscope moving by magnetic induction can acquire an image with a high degree of freedom.

FIG. 1 is a schematic diagram illustrating an overall configuration of a capsule endoscope guidance system according to a first embodiment of the present invention. FIG. 2 is a schematic cross-sectional view showing a configuration example of the capsule endoscope shown in FIG. FIG. 3 is a schematic diagram illustrating an example of a state where the capsule endoscope according to the first embodiment of the present invention floats in the liquid inside the subject. FIG. 4 is a flowchart for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the first embodiment of the present invention. FIG. 5 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the first embodiment of the present invention. FIG. 6 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the first embodiment of the present invention. FIG. 7 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the first embodiment of the present invention. FIG. 8 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the modification of the first embodiment of the present invention. FIG. 9 is a diagram illustrating a magnetic guidance process performed by the capsule endoscope guidance system according to the modification of the first embodiment of the present invention. FIG. 10 is a schematic diagram illustrating an overall configuration of a capsule endoscope guidance system according to the second embodiment of the present invention. FIG. 11 is a diagram illustrating magnetic guidance processing performed by the capsule endoscope guidance system according to the first modification of the second embodiment of the present invention. FIG. 12 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the first modification of the second embodiment of the present invention. FIG. 13 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the third embodiment of the present invention. FIG. 14 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system according to the third embodiment of the present invention. FIG. 15 is a schematic diagram for explaining another example of the magnetic field generator of the capsule endoscope guidance system according to the present invention.

The capsule endoscope guidance system according to the embodiment of the present invention is a capsule using a capsule endoscope that is orally introduced into a subject and drifts in a liquid stored in the stomach of the subject. A guidance system for a type endoscope will be described as an example. However, the present invention is not limited to this. For example, a capsule endoscope that moves in the lumen from the esophagus of the subject to the anus, or a capsule endoscope that is introduced from the anus together with an isotonic solution, and various capsule-type endoscopes. An endoscope can be used. Note that the present invention is not limited to the embodiments. In the description of the drawings, the same parts are denoted by the same reference numerals.

(Embodiment 1)
First, the first embodiment will be described. FIG. 1 is a schematic diagram showing an overall configuration of a capsule endoscope guidance system according to a first embodiment of the present invention. As shown in FIG. 1, the capsule endoscope guidance system 1 according to the first embodiment is introduced into a body cavity in a subject by being swallowed from the mouth of the subject and communicates with an external device. The capsule endoscope 10 that performs wireless communication between the capsule endoscope 10 that is a mirror, the magnetic field generator 2 that is provided around the subject and can generate a three-dimensional magnetic field, and the capsule endoscope 10 Receives and transmits a radio signal including an image captured, and transmits an operation signal to the capsule endoscope 10, a control unit 4 that controls each component of the capsule endoscope guidance system 1, and a capsule The display unit 5 that displays and outputs an image captured by the type endoscope 10, instruction information that instructs various operations in the capsule endoscope guidance system 1, and the capsule endoscope 10 is guided magnetically. Comprises an input unit 6 for the guiding instruction information is input, and a storage unit 7 for storing an image information captured by the capsule endoscope 10 for.

The capsule endoscope 10 is a capsule medical device that acquires an in-vivo image of a subject, and has an imaging function and a wireless communication function. The capsule endoscope 10 is introduced into the organ of the subject together with a predetermined liquid by oral ingestion or the like, moves inside the digestive tract, and is finally discharged to the outside of the subject. The capsule endoscope 10 sequentially captures in-vivo images with a subject and sequentially wirelessly transmits the obtained in-vivo images to the external transmission / reception unit 3. The capsule endoscope 10 incorporates a magnetic material such as a permanent magnet. The capsule endoscope 10 floats in a liquid introduced into the organ of the subject (for example, the stomach) and is magnetically guided by the external magnetic field generator 2.

The magnetic field generator 2 is for magnetically guiding the capsule endoscope 10 inside the subject. The magnetic field generation unit 2 is realized using, for example, a plurality of coils and the like, and generates a magnetic field for guidance using electric power supplied by a power supply unit (not shown). The magnetic field generator 2 applies the generated guidance magnetic field to the magnetic body inside the capsule endoscope 10 and magnetically captures the capsule endoscope 10 by the action of the guidance magnetic field. The magnetic field generator 2 changes the magnetic field direction of the guiding magnetic field acting on the capsule endoscope 10 inside the subject, thereby changing the three-dimensional posture and position of the capsule endoscope 10 inside the subject. Control.

The transmission / reception unit 3 includes a plurality of antennas 3a, and receives image signals including in-vivo images of the subject from the capsule endoscope 10 via the plurality of antennas 3a. The transmission / reception unit 3 sequentially receives wireless signals from the capsule endoscope 10 via the plurality of antennas 3a. The transmission / reception unit 3 selects an antenna having the highest received electric field strength from the plurality of antennas 3a, and performs a demodulation process on the radio signal from the capsule endoscope 10 received through the selected antenna. Do. As a result, the transmission / reception unit 3 extracts image data from the capsule endoscope 10, that is, in-vivo image data of the subject from the wireless signal. The transmission / reception unit 3 transmits an image signal including the extracted in-vivo image data to the control unit 4.

The control unit 4 controls each operation of the magnetic field generation unit 2, the transmission / reception unit 3, the display unit 5, and the storage unit 7, and controls the input / output of signals between these components. The control unit 4 controls the storage unit 7 so as to store the in-vivo image group of the subject acquired from the transmission / reception unit 3. The control unit 4 sequentially acquires the image signals sequentially received by the transmission / reception unit 3, and based on the acquired image signals, generates an in-vivo image for display, and the in-vivo image sequentially received by the transmission / reception unit 3. Are displayed on the display unit 5 in real time, and a magnetic field control unit 45 that controls the magnetic field generation unit 2 to guide the capsule endoscope 10 is provided. The magnetic field control unit 45 controls the energization amount to the magnetic field generation unit 2 and performs a guidance magnetic field (guidance required for magnetic guidance of the capsule endoscope 10 according to the magnetic guidance direction and the magnetic guidance position based on the guidance instruction information. The magnetic field generator 2 is controlled so as to generate a magnetic field.

The magnetic field control unit 45 includes a propulsion direction vector setting unit 46, an optical axis direction vector setting unit 47, and a magnetic field setting unit 48. The propulsion direction vector setting unit 46 sets a propulsion direction vector based on information regarding the moving direction (propulsion direction) of the capsule endoscope 10 input from the input unit 6 described later. The optical axis direction vector setting unit 47 sets a vector indicating the optical axis direction of the imaging unit 11 (described later) of the capsule endoscope 10 with respect to the propulsion direction vector as the optical axis direction vector. The magnetic field setting unit 48 sets an induction magnetic field obtained by synthesizing each magnetic field according to the propulsion direction vector and the optical axis direction vector. The magnetic field control unit 45 controls the magnetic field generation unit 2 so as to generate the induction magnetic field set by the magnetic field setting unit 48. The magnetic field setting unit 48 is a physical parameter of the capsule endoscope 10 and includes parameters including the volume, mass, and magnetic moment of the capsule endoscope 10, and a physical parameter of the liquid, The induction magnetic field is set in consideration of parameters including density.

The display unit 5 is realized by using various displays such as a liquid crystal display, and displays various information instructed to be displayed by the control unit 4. Specifically, the display unit 5 displays, for example, an in-vivo image group of the subject captured by the capsule endoscope 10 based on the control of the image display control unit 42 in the control unit 4. The display unit 5 displays a reduced image of the in-vivo image selected or marked by the input operation of the input unit 6 from the in-vivo image group, patient information of the subject, examination information, and the like.

The input unit 6 is realized by using an input device such as a keyboard and a mouse, a touch panel, a joystick, a button, and a switch. The input unit 6 receives various information according to an input operation by a surgeon such as a doctor, and controls the received various information. 4 Examples of various information input to the control unit 4 by the input unit 6 include instruction information for instructing the control unit 4, patient information of the subject, examination information, and the like. The patient information of the subject is specific information that identifies the subject, and includes, for example, the patient name, patient ID, date of birth, sex, age, and the like of the subject. Further, the examination information of the subject is specific information for identifying the examination in which the capsule endoscope 10 is introduced into the subject's digestive tract and the inside of the digestive tract is observed. is there.

The input unit 6 includes a propulsion direction input unit 61 that receives input of information specifying the propulsion direction in the propulsion direction vector set by the propulsion direction vector setting unit 46. For example, the propulsion direction input unit 61 receives information such as a point specified on the image displayed on the display unit 5 and inputs the received information to the control unit 4.

The storage unit 7 is realized by using a storage medium that stores information in a rewritable manner such as a flash memory or a hard disk. The storage unit 7 stores various types of information instructed to be stored by the control unit 4, and sends the information instructed to be read out by the control unit 4 from the stored various types of information to the control unit 4. As various information stored in the storage unit 7, for example, input from each image data of the in-vivo image group of the subject imaged by the capsule endoscope 10 and each in-vivo image displayed on the display unit 5. Examples include in-vivo image data selected by the input operation of the unit 6, input information by the input unit 6 such as patient information of the subject, and the like.

Next, the capsule endoscope 10 will be described. FIG. 2 is a schematic cross-sectional view showing a configuration example of the capsule endoscope shown in FIG. As shown in FIG. 2, the capsule endoscope 10 captures images of subjects in different imaging directions from a capsule-type housing 12 that is an exterior formed in a size that can be easily introduced into the organ of a subject. And an imaging unit 11. The capsule endoscope 10 includes a wireless communication unit 16 that wirelessly transmits each image captured by the imaging unit 11, a control unit 17 that controls each component of the capsule endoscope 10, and a capsule. And a power supply unit 18 that supplies power to each component of the mold endoscope 10. Furthermore, the capsule endoscope 10 includes a permanent magnet 19 (magnetic field response unit) for enabling magnetic guidance by the magnetic field generation unit 2.

The capsule-type housing 12 is an exterior case formed in a size that can be introduced into the organ of a subject, and is realized by closing both side opening ends of the cylindrical housing 12a with dome-shaped housings 12b and 12c. . The dome-shaped casings 12b and 12c are dome-shaped optical members that are transparent to light in a predetermined wavelength band such as visible light. The cylindrical housing 12a is a colored housing that is substantially opaque to visible light. As shown in FIG. 2, the capsule-type housing 12 formed by the cylindrical housing 12a and the dome-shaped housings 12b and 12c includes an imaging unit 11, a wireless communication unit 16, a control unit 17, a power supply unit 18, and a permanent unit. The magnet 19 is contained in a liquid-tight manner.

The imaging unit 11 includes an illumination unit 13 such as an LED, an optical system 14 such as a condenser lens, and an imaging element 15 such as a CMOS image sensor or a CCD. The illumination unit 13 emits illumination light such as white light to the imaging field of the imaging device 15 and illuminates the subject in the imaging field through the dome-shaped housing 12b. The optical system 14 condenses the reflected light from the imaging field of view on the imaging surface of the imaging device 15 and forms a subject image in the imaging field of view on the imaging surface of the imaging device 15. The imaging device 15 receives the reflected light from the imaging field through the imaging surface, performs photoelectric conversion processing on the received light signal, and captures a subject image in the imaging field, that is, an in-vivo image of the subject. When the capsule endoscope 10 is a single-lens capsule endoscope that images one direction of the long axis La as shown in FIG. 2, the optical axis of the imaging unit 11 is the capsule-type housing. It is substantially parallel or substantially coincident with the long axis La which is the central axis in the longitudinal direction of the body 12.

The wireless communication unit 16 includes an antenna 16a, and sequentially wirelessly transmits each image captured by the imaging unit 11 described above to the outside via the antenna 16a. Specifically, the wireless communication unit 16 acquires an image signal including the in-vivo image of the subject imaged by the imaging unit 11 from the control unit 17, performs a modulation process on the acquired image signal, and the like. A radio signal obtained by modulating an image signal is generated. The wireless communication unit 16 transmits this wireless signal to the external transmission / reception unit 3 via the antenna 16a.

The control unit 17 controls each operation of the imaging unit 11 and the wireless communication unit 16 that are components of the capsule endoscope 10, and controls input / output of signals between the components. Specifically, the control unit 17 causes the image sensor 15 to capture an image of a subject within the imaging field illuminated by the illumination unit 13. The control unit 17 has a signal processing function for generating an image signal. The control unit 17 acquires in-vivo image data from the image sensor 15 and performs predetermined signal processing on the in-vivo image data each time to generate an image signal including the in-vivo image data. The control unit 17 controls the wireless communication unit 16 so as to sequentially wirelessly transmit the image signals to the outside along the time series.

The power supply unit 18 is a power storage unit such as a button-type battery or a capacitor, and is realized using a switch unit such as a magnetic switch. When the switch unit is configured by a magnetic switch, the power source unit 18 switches the power source on / off state by a magnetic field applied from the outside. To the units (imaging unit 11, wireless communication unit 16, and control unit 17) as appropriate. Moreover, the power supply part 18 stops the electric power supply to each structure part of this capsule type endoscope 10 in an OFF state.

The permanent magnet 19 is for enabling magnetic guidance of the capsule endoscope 10 by the magnetic field generator 2. The permanent magnet 19 is fixedly disposed inside the capsule housing 12 in a state of being fixed relatively to the imaging unit 11 described above. In this case, the permanent magnet 19 is magnetized in a known direction that is relatively fixed with respect to the vertical direction of each imaging surface of the imaging element 15.

Here, the state of the capsule endoscope 10 in the liquid W introduced into the subject will be described with reference to FIG. FIG. 3 is a schematic diagram illustrating an example of a state in which the capsule endoscope floats in the liquid inside the subject, and illustrates the state of the capsule endoscope 10 in the liquid W introduced into the subject. It is a conceptual diagram for doing. However, in the example illustrated in FIG. 3, the case where the magnetic field for controlling the posture of the capsule endoscope 10 (direction in the long axis La direction) is not acting on the permanent magnet 19 is illustrated.

The capsule endoscope 10 illustrated in the first embodiment adjusts the specific gravity with respect to the liquid W, and as shown in FIG. 3, the capsule endoscope 10 passes through the liquid W in a state where a part is exposed to the outside from the liquid surface Ws. Drift. At this time, the center of gravity G of the capsule endoscope 10 is shifted from the geometric center C of the capsule endoscope 10 along the long axis La (see FIG. 2) of the capsule endoscope 10. Specifically, the center of gravity G of the capsule endoscope 10 is adjusted at a position on the long axis La by adjusting the arrangement of the components of the capsule endoscope 10 such as the power supply unit 18 and the permanent magnet 19. Thus, the position is set at a position deviating from the geometric center C of the capsule housing 12 toward the imaging unit 11. Thereby, the long axis La of the capsule endoscope 10 floating in the liquid W is parallel to the vertical direction (that is, the gravity direction Dg). In other words, the capsule endoscope 10 can be floated in the liquid W in an upright state. Here, the upright posture is a posture in which the long axis La (a straight line connecting the geometric center C and the center of gravity G) of the capsule housing 12 and the vertical direction are substantially parallel. In the upright posture, the capsule endoscope 10 directs the imaging field of the imaging unit 11 vertically downward. The long axis La of the capsule endoscope 10 is a central axis in the longitudinal direction of the capsule endoscope 10. The liquid W is a liquid that is harmless to the human body, such as water or physiological saline.

The permanent magnet 19 is fixed inside the capsule casing 12 so that the magnetization direction has an inclination with respect to the long axis La of the capsule endoscope 10. For example, the permanent magnet 19 is fixed in the capsule housing 12 so that the magnetization direction is perpendicular to the long axis La. With this configuration, in the state of floating in the liquid W, the magnetization direction of the permanent magnet 19 in the capsule endoscope 10 coincides with the radial direction of the capsule endoscope 10. When the magnetic field for controlling the posture of the capsule endoscope 10 (direction in the long axis La direction) is not acting on the permanent magnet 19, the magnetization direction of the permanent magnet 19 and the capsule casing 12 A plane including the direction (deviation direction) in which the center of gravity G of the capsule endoscope 10 deviates from the geometric center C is a vertical plane with respect to the wavefront Ws. For this reason, when a magnetic field is applied, the posture of the capsule endoscope 10 changes so that the magnetization direction is included in the vertical plane with respect to the magnetic field. The permanent magnet 19 operates following a magnetic field applied from the outside. As a result, the magnetic guidance of the capsule endoscope 10 by the magnetic field generator 2 is realized.

Further, the inclination of the long axis La of the capsule endoscope 10 with respect to the gravity direction Dg can be controlled by applying a magnetic field to the permanent magnet 19 of the capsule endoscope 10 from the outside. By causing the permanent magnet 19 to act on a magnetic field in which the direction of the lines of magnetic force is at an angle with respect to the horizontal plane, the capsule endoscope 10 is moved in the direction of gravity Dg so that the magnetization direction of the permanent magnet 19 is substantially parallel to the lines of magnetic force. Can be tilted.

In addition, the display unit 5 displays the subject of the subject by the capsule endoscope 10 in a display mode in which the vertical direction of the subject in the in-vivo image accompanying the magnetic guidance of the capsule endoscope 10 and the vertical direction of the display screen are matched. Display in-vivo images. As a result, on the display screen of the display unit 5 (display screen M to be described later), an image captured by the element in the upper region of the imaging device 15 of the capsule endoscope 10 is displayed above the image corresponding to the imaging unit 11. It is displayed as follows. Since the magnetization direction of the permanent magnet 19 is parallel to the vertical direction of the imaging surface of the imaging element 15, the direction parallel to the magnetization direction of the permanent magnet 19 matches the vertical direction of the display screen of the display unit 5. It becomes.

Subsequently, magnetic guidance of the capsule endoscope 10 performed by the capsule endoscope guidance system 1 according to the present embodiment will be described with reference to FIGS. FIG. 4 is a flowchart for explaining magnetic guidance processing performed by the capsule endoscope guidance system 1. In the following description, it is assumed that each unit operates under the control of the control unit 4.

First, the image display control unit 42 performs control to display the in-vivo image generated by the image generation unit 41 on the display unit 5 (step S101). Thereby, the in-vivo image is displayed on the display unit 5. FIG. 5 is a diagram illustrating a magnetic guidance process performed by the capsule endoscope guidance system 1 and is a diagram illustrating an example of the display screen M of the display unit 5. For example, the in-vivo image is displayed on the display unit 5 on the display screen M shown in FIG.

Thereafter, the control unit 4 determines whether or not information for specifying the propulsion direction has been input to the in-vivo image displayed on the display screen M (step S102). If information specifying the propulsion direction is not input (step S102: No), the control unit 4 repeatedly performs input confirmation of information. On the other hand, when it is judged that the information (position information) specifying the propulsion direction has been input (step S102: Yes), the control unit 4 proceeds to step S103. Here, “information for designating the propulsion direction” is a point designated on the in-vivo image (for example, designated point Q ₁ shown in FIG. 5). In the first embodiment, the capsule endoscope 10 is propelled on a straight line connecting the set point of the capsule endoscope 10 and the designated point Q ₁ . Note that the input of the designated point Q ₁ is information received by the propulsion direction input unit 61, and is information that designates a point whose coordinates are designated by a mouse, a touch panel or the like as the designated point Q ₁ . When the operation is input using the mouse, the coordinates of the position indicated by the pointer on the display screen M are input as the designated points. When the operation is input using the touch panel, the coordinates are specified by the operator's finger or the operation member. The coordinates of the specified position are input as designated points.

In step S103, the propulsion direction vector setting unit 46 sets the propulsion direction vector based on information specifying the propulsion direction. FIG. 6 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system 1 and for explaining setting of the propulsion direction vector performed by the propulsion direction vector setting unit 46. Specifically, the propulsion direction vector setting unit 46 directs the direction of the line segment (axis) connecting the propulsion axis setting point Q _c set in advance in the capsule endoscope 10 and the input designated point Q _1. It generates a propulsion direction vector V ₁ showing the set as a propulsion direction vector indicating the propulsion direction. The propulsion axis setting point Q _c is set at a position that serves as a reference for the propulsion operation of the capsule endoscope 10, such as a position corresponding to the center of the permanent magnet 19.

Thereafter, in step S104, the optical axis direction vector setting unit 47 sets the optical axis direction vector V ₂ based on the propulsion direction vector V ₁ set in step S103. Optical axis direction vector V ₂ is an imaging axis vector indicating the direction of the optical axis of the imaging unit 11 for propulsion direction vector V _1, a predetermined angle optical axis direction relative to the propulsion direction vector V ₁ (hereinafter, displacement angle It is a vector that makes up. Specifically, the optical axis direction vector setting unit 47 sets the optical axis direction of the capsule endoscope 10 (corresponding to the long axis La in the first embodiment) in the in-vivo image displayed on the display screen M. After obtaining the angle (displacement angle) formed by the line segment connecting the designated point Q ₁ and the propulsion axis setting point Q _c (that is, the propulsion direction vector V ₁ ), the angle is inclined at the displacement angle with respect to the propulsion direction vector V ₁ . The optical axis direction vector V ₂ is generated and set as an optical axis direction vector indicating a displacement angle to be maintained when moving in the propulsion direction.

When the propulsion direction vector setting unit 46 sets the propulsion direction vector V ₁ and the optical axis direction vector setting unit 47 sets the optical axis direction vector V ₂ , the magnetic field setting unit 48 uses the propulsion direction vector V ₁ and the light An induced magnetic field is set by synthesizing the magnetic fields according to the axial vector V ₂ (step S105). Here, the magnetic field corresponding to the propulsion direction vector V ₁ is a gradient magnetic field for propelling the capsule endoscope 10.

After setting the induction magnetic field, the magnetic field control unit 45 applies the set induction magnetic field (step S106). The induction magnetic field may be applied promptly after setting, or may be performed in response to an operation input from the input unit 6. FIG. 7 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system 1 and for explaining the movement of the capsule endoscope 10 by the guidance magnetic field applied by the magnetic field control unit 45. . When the induction magnetic field set in step S105 is applied under the control of the magnetic field control unit 45, a three-dimensional induction magnetic field is generated around the subject (capsule endoscope 10). As a result, as shown in FIG. 7, the capsule endoscope 10 moves in the direction of the propulsion direction vector V ₁ while maintaining the optical axis direction in the direction of the optical axis direction vector V ₂ . Accordingly, the capsule endoscope is maintained while maintaining a state in which a direction different from the moving direction of the capsule endoscope 10 is captured (the relative direction between the propulsion direction vector V ₁ and the optical axis direction vector V ₂ ). 10 can be moved in the specified direction.

At this time, the magnetic field setting unit 48 moves the capsule endoscope 10 so that two imaging regions (imaging region R shown in FIG. 7) that are successively imaged include a part of the region. Set the induction magnetic field. In other words, among the plurality of images obtained by the capsule endoscope 10, the images of two frames that are continuous in time series include a part of the imaging regions of each other (overlapping images). The magnetic field setting unit 48 calculates the moving speed of the capsule endoscope 10 based on distance information between the imaging unit 11 and the subject based on, for example, brightness information and focusing information in the image. As another example, the magnetic field setting unit 48 may calculate the moving speed of the capsule endoscope 10 based on the imaging frame rate and the field of view (view angle) of the imaging unit 11. Good.

Thereafter, the magnetic field control unit 45 determines whether or not to end the magnetic induction (step S107). For example, the magnetic field control unit 45 estimates whether or not the capsule endoscope 10 has moved a predetermined distance from the applied induced magnetic field (time or amount), or determines based on an operation input of the input unit 6. . Here, for example, when it is determined that the capsule endoscope 10 has moved a predetermined distance, the magnetic field control unit 45 determines that the guidance is to be ended (step S107: Yes), and stops the application of the guidance magnetic field. (Step S108). On the other hand, when it is determined that the capsule endoscope 10 has not moved the predetermined distance (step S107: No), the magnetic field control unit 45 continues to apply the induction magnetic field.

When a new designated point is input during the propulsion of the capsule endoscope 10, the current propulsion operation is terminated, and the propulsion direction vector and the optical axis direction vector corresponding to the new designated point are set. The capsule endoscope 10 may be propelled according to the newly set propulsion direction vector and optical axis direction vector.

According to the first embodiment described above, the propulsion direction vector setting unit 46 uses the capsule axis type based on the point designated on the in-vivo image and the preset propulsion axis setting point Q _c . A propulsion direction vector V ₁ indicating the moving direction of the endoscope 10 is set, and the optical axis direction vector setting unit 47 maintains the optical axis with respect to the propulsion direction based on the propulsion direction vector V ₁ and the optical axis direction. An optical axis direction vector V ₂ indicating the direction is set, and the magnetic field setting unit 48 sets an induced magnetic field corresponding to the propulsion direction vector V ₁ and the optical axis direction vector V ₂ , and the magnetic field control unit 45 sets the inside of the capsule type. Since the endoscope 10 is magnetically guided, the optical axis direction (the optical axis direction vector V ₂ ) can be changed depending on the designated point, and the optical axis direction and the propulsion direction are the same. Compared to conventional magnetic induction, magnetic induction Can the capsule endoscope moves to acquire images with a high degree of freedom.

In addition, when the optical axis direction and the propulsion direction are the same as in the prior art, the center position of the visual field area is hardly changed, and the visual field area between frames is almost the same even if captured multiple times. In the first embodiment described above, since the propulsion direction and the optical axis direction are different, the visual field center changes and the visual field region between frames also changes when propelled. For this reason, according to the first embodiment, it is possible to perform a wider range of imaging processing by propelling the capsule endoscope 10.

(Modification of Embodiment 1)
Then, the modification of Embodiment 1 of this invention is demonstrated. 8 and 9 are diagrams for explaining magnetic guidance processing performed by the capsule endoscope guidance system 1, and are diagrams illustrating an example of an image displayed on the display unit 5 when setting a propulsion direction vector. In the first embodiment described above, the propulsion direction is designated on the in-vivo image displayed on the display screen M. However, in this modification, the display unit 5 is a three-dimensional image that models the inside of the subject. Is displayed, and the surgeon designates the propulsion direction on the three-dimensional model.

8 and 9, the display unit 5 displays a three-dimensional space image S including the position of the capsule endoscope 10. The three-dimensional spatial image S is, for example, an image obtained by modeling an organ into which the capsule endoscope 10 is introduced, and corresponds to a three-dimensional model of the stomach in the first embodiment. The three-dimensional space image S may be stored in advance in the storage unit 7 as a model of each organ, or may be generated for each subject.

8 and 9, the model image 100 of the capsule endoscope 10 is displayed in the three-dimensional space image S. The model image 100 can be arranged in the three-dimensional space image S by detecting the position of the capsule endoscope 10 in the subject and reflecting the detected result in the three-dimensional space image S.

Here, the position of the capsule endoscope 10 includes a plurality of antennas (for example, the antenna 3a), and the position of the capsule endoscope 10 is estimated from the reception intensity of each antenna in a jacket worn by the subject. A technique for detecting the position detection magnetic field generated by the capsule endoscope 10 by an external position detection device having a plurality of sense coils and estimating the position of the capsule endoscope 10, etc. It can be detected by a known technique.

The surgeon instructs the propelling direction of the capsule endoscope 10 while confirming the three-dimensional space image S and the model image 100 displayed on the display unit 5. For example, when the surgeon designates the designated point Q ₂ shown in FIGS. 8 and 9 by a point instruction by a mouse operation or an instruction by a touch panel, the propulsion direction vector setting unit 46 performs the propulsion set in advance in the model image 100. A propulsion direction vector V ₁ is generated based on a line segment connecting the axis setting point Q _c and the designated point Q ₂ . Thereafter, similarly to the first embodiment described above, the optical axis direction vector V ₂ is set and magnetic induction is performed.

According to this modification, since the position of the capsule endoscope 10 in the three-dimensional space in the subject is grasped and the propulsion direction of the capsule endoscope 10 is set, the first embodiment described above. Compared with, it is possible to specify the propulsion direction more intuitively.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. FIG. 10 is a schematic diagram illustrating an overall configuration of a capsule endoscope guidance system according to the second embodiment of the present invention. In the first embodiment described above, the optical axis direction is determined from the in-vivo image and the optical axis direction vector V ₂ is set. In the second embodiment, the displacement angle with respect to the propulsion direction vector V ₁ is input. Input by the unit 6a.

The capsule endoscope guidance system 1a according to the second embodiment can input a displacement angle in addition to the propulsion direction input unit 61 instead of the input unit 6 of the capsule endoscope guidance system 1 described above. An input unit 6 a further including a displacement angle input unit 62 is provided.

The displacement angle input unit 62 accepts input of information related to the angle formed by the optical axis direction vector V ₂ with respect to the propulsion direction vector V ₁ . For example, the displacement angle input unit 62 accepts an input of the angle between the propulsion direction vector V ₁ in the plane passing through the long axis La of the propulsion direction vector V ₁ and the capsule endoscope 10 as a displacement angle.

According to the second embodiment described above, the angle (displacement angle) of the optical axis direction vector V ₂ with respect to the propulsion direction vector V ₁ is arbitrarily input by an input operation to the displacement angle input unit 62. Since the optical axis direction vector V ₂ can be set regardless of the axial direction, gravity, buoyancy, etc., the imaging process in the subject is performed with a higher degree of freedom than in the first embodiment. be able to.

(Modification 1 of Embodiment 2)
Subsequently, a first modification of the second embodiment of the present invention will be described. FIG. 11 is a diagram for explaining a magnetic guidance process performed by the capsule endoscope guidance system 1a according to the first modification of the second embodiment, in which the setting of the optical axis direction vector by the displacement angle input unit 62 is explained. It is a figure to do. In the above-described second embodiment, it has been described that one optical axis direction vector is generated according to the input displacement angle. However, in the first modification, according to the optical axis direction and the input displacement angle, A plurality of optical axis direction vectors are generated.

In the first modification, as described above, the displacement angle input unit 62 receives input of information regarding the angle formed by the optical axis direction vector V ₂ with respect to the propulsion direction vector V ₁ . Here, the optical axis direction vector setting unit 47 sets an optical axis direction vector V ₂ corresponding to the optical axis direction and an optical axis direction vector V ₃ corresponding to the input displacement angle.

When the setting of the two optical axis direction vectors is input, the magnetic field setting unit 48 guides the optical axis direction of the capsule endoscope 10 to take the directions of the two optical axis direction vectors at a predetermined time interval. The magnetic field is set so as to generate a magnetic field. In this case, the capsule endoscope 10 performs a swing operation in which the optical axis direction moves between the two optical axis direction vectors while moving in the direction of the propulsion direction vector V ₁ . Here, the predetermined time interval is, for example, a time interval according to the imaging timing.

FIG. 12 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system 1a according to the first modification of the second embodiment, and is a diagram for explaining the propulsion of the capsule endoscope 10. . As shown in FIG. 12, the capsule endoscope 10 is in-vivo images in two imaging directions (optical axis directions) at each propulsion position while propelling at a predetermined interval under the control of the magnetic field control unit 45. Can be obtained. The in-vivo images may be sequentially taken while changing the optical axis direction while propelling.

According to the first modification, by changing the optical axis direction (optical axis direction vector) in accordance with the imaging timing, it is possible to efficiently acquire in-vivo images in different directions while propelling the capsule endoscope 10. Can do. Thereby, in the observation range in the subject, it is possible to obtain an effect of reducing the non-imaging area and suppressing oversight.

In the first modification described above, the optical axis direction (optical axis direction vector) is changed according to the imaging timing. However, the optical axis direction (optical axis direction vector) is changed according to an operation input by the operator. It may be changed.

In the first modification, when the displacement angle input unit 62 receives only one piece of information about the angle formed by the optical axis direction vector V ₂ with respect to the propulsion direction vector V ₁ , the optical axis direction vector setting unit 47 After setting the optical axis direction vector V ₂ , an optical axis direction vector (for example, optical axis direction vector V ₂ ′) symmetrical to the optical axis direction vector V ₂ is set with respect to the propulsion direction vector V ₁ . Alternatively, an optical axis direction vector V ₂ ′ that forms a predetermined angle (for example, 90 °) with respect to the optical axis direction vector V ₂ set by input may be set.

Also, a plurality of optical axis direction vectors are set in advance, and an efficient imaging pattern corresponding to the plurality of optical axis direction vectors (the capsule endoscope 10 has few overlapping imaging areas between frames so that there is no imaging omission). May be stored in the storage unit 7, and rotated and imaged with the set pattern using an input button or the like. Thereby, the amount of calculation is small, the leakage of the imaging region is suppressed, and the imaging process can be performed efficiently and with the power of the capsule endoscope 10 being suppressed.

The imaging timing may be when the optical axis direction coincides with either the optical axis direction vector V ₂ or the optical axis direction vector V ₃ (optical axis direction vector V ₂ ′). The timing at which the image is taken may also be the timing at which the optical axis direction coincides with the propulsion direction vector V ₁ . Capturing timing as described above need not match one of the optical axis direction vector V ₂ or the optical axis direction vector V _3, the optical axis is moved between the optical axis direction vector V ₂ or the optical axis direction vector V ₃ The timing may be a predetermined timing, and it is preferable to perform imaging at equal intermittent timing with respect to the timing when the capsule endoscope 10 swings.

(Modification 2 of Embodiment 2)
Then, the modification 2 of Embodiment 2 of this invention is demonstrated. In the second embodiment described above, it has been described that one optical axis direction vector is generated according to the input displacement angle. However, in the second modification, the displacement angle input unit 62 includes the displacement angle, By accepting an input of a rotation operation instruction around the propulsion axis, the capsule endoscope 10 is guided three-dimensionally to acquire an in-vivo image.

For example, the displacement angle input unit 62, together with the displacement angle, when there is an input of the rotational operation instruction, the magnetic field setting unit 48, the optical axis direction vector V _2, as well as promoting along the propulsion direction vector V _1, propulsion direction Magnetic field setting is performed so as to rotate around the vector V ₁ . Thereby, the capsule endoscope 10 is propelled along the propulsion direction vector V ₁ while rotating around the center of the permanent magnet, for example. For this reason, the locus | trajectory which the some imaging center according to an imaging timing makes makes spiral shape. According to the second modification, compared with the first modification of the second embodiment described above, it is possible to further reduce the non-imaging area and suppress oversight.

(Embodiment 3)
Subsequently, Embodiment 3 of the present invention will be described. FIG. 13 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system 1 according to the third embodiment, and is a diagram for explaining setting of the propulsion direction vector by the propulsion direction input unit 61. In the first embodiment described above, the propulsion direction vector V ₁ is set according to one designated point input on the in-vivo image. However, in the third embodiment, two propulsion direction vectors are set. The capsule endoscope 10 alternately moves between the two propulsion direction vectors.

For example, when two designated points are input in FIG. 5, the propulsion direction vector setting unit 46 sets two propulsion direction vectors V ₁₁ and V ₁₂ corresponding to the designated points as shown in FIG. . In the magnetic field setting process, the magnetic field setting unit 48 sets a magnetic field that moves between the propulsion direction vectors for each predetermined propulsion distance (or time).

FIG. 14 is a diagram for explaining magnetic guidance processing performed by the capsule endoscope guidance system 1 according to the third embodiment. The capsule endoscope is propelled by the guidance magnetic field set by the magnetic field setting unit 48. It is a figure explaining 10 locus | trajectories. The locus of the capsule endoscope 10 that is propelled by the induced magnetic field set by the magnetic field setting unit 48 is, for example, a locus L shown in FIG. In the third embodiment, the locus through which the center of the permanent magnet 19 of the capsule endoscope 10 passes is defined as a locus L. Note that the capsule endoscope 10 may perform the imaging process by the imaging unit 11 at the timing of propelling on the respective propulsion direction vectors V ₁₁ and V ₁₂ , or may perform the imaging process at a predetermined time interval. Good.

According to the third embodiment, two propulsion direction vectors are set, and the capsule endoscope 10 is propelled so as to move to the other propulsion direction vector at every predetermined propulsion distance. Can be scanned. Therefore, a wider range of imaging processing can be performed as compared with the first and second embodiments and the modifications described above.

The embodiments for carrying out the present invention have been described so far. However, the present invention should not be limited only to the above-described first to third embodiments, and each of the first to third embodiments and the modified examples. You may combine suitably. For example, the third embodiment and the second embodiment may be combined to perform scan shooting at an arbitrary angle, or the third embodiment and the first modification of the second embodiment may be combined and swung. It may be one that scans.

In the first to third embodiments described above, the capsule endoscope 10 has been described as being introduced into the stomach of the subject. However, in addition to the stomach, the capsule endoscope 10 can be used in an organ or a body cavity that can contain a liquid. It can be used as long as it is inside the organ to be guided. Moreover, although this Embodiment mentioned above demonstrated as what provided one imaging part, you may provide two or more imaging parts. The number of imaging units can be arbitrarily designed depending on the organ to be observed.

In the first to third embodiments described above, the magnetic field generation unit 2 according to the capsule endoscope guidance systems 1 and 1a has been described as being realized by using a plurality of coils. It may be realized using a permanent magnet. FIG. 15 is a schematic diagram for explaining another example of the magnetic field generator of the capsule endoscope guidance system according to the present invention. As a modified example, the magnetic field generation unit is configured as a permanent magnet 2a which is configured by, for example, a bar magnet having a rectangular parallelepiped shape as illustrated in FIG. The permanent magnet 2a adjusts the position and inclination angle (posture) of the permanent magnet 2a by, for example, moving the stage holding the permanent magnet 2a in the XY plane, or moving or rotating along the Z axis. To do.

When magnetically guiding, the capsule endoscope 10 is guided by causing the magnetic field generated by the permanent magnet 2 a to act on the permanent magnet 19 in the capsule endoscope 10. The position and posture of the capsule endoscope 10 are controlled by changing the position and posture of the permanent magnet 2a in a state where the permanent magnet 19 is attracted and restrained to a specific position of the magnetic field generated by the permanent magnet 2a. be able to. Specifically, the capsule endoscope 10 can be translated in the horizontal plane by moving the permanent magnet 2a in the horizontal plane. Further, the capsule endoscope 10 can be translated in the vertical direction by moving the permanent magnet 2a in the vertical direction and changing the distance from the capsule endoscope 10. In addition, by rotating the permanent magnet 2a around the Yc axis that passes through the geometric center of the permanent magnet 2a, is orthogonal to the magnetization direction, and is parallel to the horizontal plane, the inclination angle of the capsule endoscope 10 with respect to the vertical axis is increased. Can be changed. In addition, the capsule endoscope 10 can be turned by rotating the permanent magnet 2a around the vertical axis passing through the geometric center of the permanent magnet 2a.

As described above, the capsule endoscope guidance system and the capsule endoscope guidance device according to the present invention are useful for acquiring an image with a high degree of freedom by the capsule endoscope moving by guidance.

DESCRIPTION OF SYMBOLS 1,1a Capsule-type endoscope guidance system 2 Magnetic field generation part 3 Transmission / reception part 4 Control part 5 Display part 6 Input part 7 Memory | storage part 10 Capsule-type endoscope 11 Imaging part 12 Capsule-type housing 13 Illumination part 14 Optical system 15 Image sensor 16 Wireless communication unit 16a Antenna 17 Control unit 18 Power supply unit 19 Permanent magnet 41 Image generation unit 42 Image display control unit 45 Magnetic field control unit 46 Propulsion direction vector setting unit 47 Optical axis direction vector setting unit 48 Magnetic field setting unit 61 Propulsion direction Input unit 62 Displacement angle input unit

Claims (10)

1. A capsule endoscope that has a magnetic field response unit that responds to a magnetic field applied from the outside and an imaging unit, and is introduced into the subject;
   A propulsion direction vector setting unit that sets a propulsion direction vector indicating the propulsion direction of the capsule endoscope based on position information specified in the in-vivo image captured by the imaging unit;
   An optical axis direction vector setting unit that sets an optical axis direction vector indicating an optical axis direction with respect to the propulsion direction vector based on at least the optical axis direction of the imaging unit and the propulsion direction vector;
   Based on the propulsion direction vector set by the propulsion direction vector setting unit and the optical axis direction vector set by the optical axis direction vector setting unit, an induction magnetic field to be applied to the magnetic field response unit is set. A magnetic field setting unit;
   Applying the induction magnetic field set by the magnetic field setting unit to the magnetic field response unit, maintaining the posture of the capsule endoscope in the direction of the optical axis direction vector, the capsule endoscope A magnetic field generator for propelling in the direction specified by the propulsion direction vector;
   A capsule endoscope guidance system comprising:
2. The imaging unit intermittently captures images,
   The magnetic field setting unit is an induced magnetic field that moves the capsule endoscope so as to include a part of each imaging region in two consecutive images in time series among a plurality of images captured by the imaging unit. The capsule endoscope guidance system according to claim 1, wherein the setting is performed.
3. The capsule endoscope guidance system according to claim 2, wherein the magnetic field setting unit sets the guidance magnetic field based on distance information between the imaging unit and a subject.
4. The optical axis direction vector setting unit sets a plurality of the optical axis direction vectors,
   The magnetic field setting unit is configured such that the imaging unit of the capsule endoscope captures one of the plurality of optical axis direction vectors set by the optical axis direction vector setting unit as an optical axis direction. The capsule endoscope guidance system according to claim 1, wherein a magnetic field is set.
5. The optical axis direction vector setting unit sets two optical axis direction vectors,
   The magnetic field setting unit performs setting of the induced magnetic field such that the optical axis direction of the imaging unit moves between the two optical axis direction vectors set by the optical axis direction vector setting unit,
   The capsule endoscope guidance system according to claim 1, wherein the imaging unit performs an imaging process at a predetermined timing between the two optical axis direction vectors.
6. The capsule endoscope guidance system according to claim 1, wherein the magnetic field setting unit sets a guidance magnetic field such that the optical axis direction vector rotates around the propulsion direction vector.
7. An input unit that receives input of angle information related to an angle of the optical axis direction vector with respect to the propulsion direction vector;
   The capsule endoscope guidance system according to claim 1, wherein the optical axis direction vector setting unit sets the optical axis direction vector based on the angle information received by the input unit.
8. The propulsion direction vector setting unit sets a plurality of propulsion direction vectors,
   The magnetic field setting unit changes the propulsion direction vector propelled by the capsule endoscope while maintaining the relative relationship between the propulsion direction vector and the optical axis direction vector. The capsule endoscope guidance system according to claim 1, wherein the guidance magnetic field to be propelled is set.
9. 9. The capsule endoscope guidance system according to claim 8, wherein the propulsion direction vector setting unit sets a plurality of the propulsion direction vectors based on a plurality of designated position information.
10. In a capsule endoscope guidance apparatus for guiding a capsule endoscope that has a magnetic field response unit and an imaging unit that respond to a magnetic field applied from outside and is introduced into a subject.
    A propulsion direction vector setting unit that sets a propulsion direction vector indicating the propulsion direction of the capsule endoscope based on position information specified in the in-vivo image captured by the imaging unit;
    An optical axis direction vector setting unit that sets an optical axis direction vector indicating an optical axis direction with respect to the propulsion direction vector based on at least the optical axis direction of the imaging unit and the propulsion direction vector;
    Based on the propulsion direction vector set by the propulsion direction vector setting unit and the optical axis direction vector set by the optical axis direction vector setting unit, an induction magnetic field to be applied to the magnetic field response unit is set. A magnetic field setting unit;
    Applying the induction magnetic field set by the magnetic field setting unit to the magnetic field response unit, maintaining the posture of the capsule endoscope in the direction of the optical axis direction vector, the capsule endoscope A magnetic field generator for propelling in the direction specified by the propulsion direction vector;
    A capsule endoscope guidance device comprising:

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