CN101010026B - Position sensor and introduction-into-subject system - Google Patents

Position sensor and introduction-into-subject system Download PDF

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Publication number
CN101010026B
CN101010026B CN200580029128XA CN200580029128A CN101010026B CN 101010026 B CN101010026 B CN 101010026B CN 200580029128X A CN200580029128X A CN 200580029128XA CN 200580029128 A CN200580029128 A CN 200580029128A CN 101010026 B CN101010026 B CN 101010026B
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China
Prior art keywords
magnetic field
unit
detected object
translational speed
detecting device
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CN200580029128XA
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CN101010026A (en
Inventor
药袋哲夫
森健
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Olympus Corp
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Olympus Corp
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Priority claimed from JP2004261666A external-priority patent/JP4388442B2/en
Priority claimed from JP2004266067A external-priority patent/JP4505292B2/en
Application filed by Olympus Corp filed Critical Olympus Corp
Priority claimed from PCT/JP2005/015787 external-priority patent/WO2006025400A1/en
Publication of CN101010026A publication Critical patent/CN101010026A/en
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  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The invention provides a position detector and sysytem to guide it into subject body. A processor (12)of the position detector comprises, as a mechanism for controlling the strength of a magnetic field for position sensing, a section (43) for recording the position sensing results in the past, a section (48) for deriving the moving speed of a capsule endoscope (2) from a variation of the position thereof, a section (49) for deriving the position range of the capsule endoscope (2) from the derived moving speed and the positions of the capsule endoscope (2) in the past, and a section (50) for controlling the strength of a magnetic field produced by a second linear magnetic field producing part (10) and a diffusion field producing part (11) according to the derived range. A position sensor capable of forming a required and sufficient magnetic field for detecting position is realized when the position of an object, e.g. a capsule endoscope, is detected using a magnetic field for detecting position having position dependence.

Description

Position detecting device and introduction system into sample under test
Technical field
The present invention relates at least first constantly and from this first constantly passed through the stipulated time second constantly, the position probing that use has a position dependence about intensity is carried out the position detecting device and the introduction system into sample under test of the position probing of detected object with magnetic field.
Background technology
In recent years, in the field of endoscope, the capsule type endoscope of the type of swallowing has been proposed.Be provided with shoot function and radio communication function in this capsule type endoscope.Capsule type endoscope for observe (inspection) and from subject the mouth swallow after to by discharged naturally during in, in body cavity, for example move along with its vermicular movement the inside of internal organs such as stomach, small intestinal, and have the function of taking successively.
During in body cavity, moving, by capsule type endoscope in vivo shot image data be sent to the outside by radio communication successively, and be stored in the memorizer of outer setting.By carrying the receiver with radio communication function and memory function, subject during discharge, can freely be taken action after swallowing capsule type endoscope.After capsule type endoscope was discharged from, doctor or nurse can diagnose the pictorial display of internal organs (for example, with reference to patent documentation 1 according to the view data of storing in the memorizer on display.)。
And then, in capsule-type endoscope system in the past, proposed to comprise the system of the mechanism of the position that is used to detect endoceliac capsule type endoscope.For example, in the magnetic field that the inner formation of the subject that imports capsule type endoscope intensity has position dependence,, can detect the position of tested intravital capsule type endoscope according to intensity by the detected magnetic field of magnetic field sensor built-in in the capsule type endoscope.In such capsule-type endoscope system, in order to form magnetic field, adopt structure at the coil of subject exterior arrangement regulation, form magnetic field by crossing predetermined electric current in subject inside at this coil midstream.Here, owing to be difficult to detect in advance the position of capsule type endoscope, therefore the magnetic field that forms need form the intensity that capsule type endoscope can detect in the Zone Full that subject inside, capsule type endoscope may exist.Specifically, in the capsule-type endoscope system in the past, in the whole digestive organs from the oral cavity to the anus, form the magnetic field that capsule type endoscope can detect.
Patent documentation 1: TOHKEMY 2003-19111 communique
Summary of the invention
But the capsule-type endoscope system in the past with position detecting mechanism has the problem that consumption electric power increases significantly.That is,, need during being trapped in tested intravital several hours～tens hours, capsule type endoscope continue to provide big electric current to coil in order in subject, to form the magnetic field that has position dependence about intensity.Special in capsule-type endoscope system in the past, as mentioned above, owing to form the magnetic field of the detectable intensity of capsule type endoscope for whole digestive organs of subject inside, so it is huge to form the required electric power in magnetic field, not very appropriate from reducing the viewpoint that consumes electric power.
In addition, the capsule-type endoscope system in the past with position detecting mechanism has the problem that the consumption electric power in the capsule type endoscope increases at least.Specifically, in capsule type endoscope in the past, there is following problem, promptly carry out position probing at a certain time interval, thus increased with capsule type endoscope 2 in built-in magnetic field sensor and the driving electric that the testing result of magnetic field sensor is carried out the transmitting mechanism of wireless transmission consumed electric power accordingly.
Particularly, there is the preferred prerequisite of miniaturization as far as possible in capsule type endoscope in order to alleviate the burden to subject.Thereby usually built-in battery etc. uses small-sized battery in the capsule type endoscope, and the electric weight of maintenance also is restricted usually.Thereby the influence that the increase of the consumption electric power in the capsule type endoscope causes is big during than the situation of common electronic equipment, and it is very important suppressing to consume being increased in the capsule-type endoscope system of electric power.
The present invention finishes in view of the above problems, its purpose is to detect the technology of carrying out the position probing of detected objects such as capsule type endoscope with magnetic field about the use location, realizes that a kind of necessity and sufficient position probing of can forming is with the position detecting device in magnetic field and the introduction system into sample under test that has used position detecting device.
In addition, other purpose of the present invention is to detect about the use location position detecting device etc. of the position probing of carrying out detected objects such as capsule type endoscope with magnetic field, and realization can suppress to consume the increase of electric power and carry out the introduction system into sample under test that reliable position detects simultaneously.
In order to solve above-mentioned problem and to realize purpose, the position detecting device of the invention of claim 1 at least first constantly and from this first second moment of having passed through the stipulated time constantly, the position probing that use has a position dependence about intensity is carried out the position probing of detected object with magnetic field, it is characterized in that, comprise: magnetic field forms the unit, and its position probing that forms intensity variable is used magnetic field; Position lead-out unit, its described position probing that goes out based on the position probing that exists at described detected object are derived the position of described detected object with the intensity in magnetic field; And the magnetic field intensity control unit, it is controlled described magnetic field based on described first constantly position of described detected object and forms the unit, so that described second constantly, described position probing becomes the intensity that can be detected by described detected object with magnetic field.
Invention according to this claim 1, owing to have based on first constantly the position of detected object and control the magnetic field intensity control unit that forms the intensity in the position probing usefulness magnetic field that the unit forms by magnetic field, therefore for example can pass through for second after the stipulated time constantly constantly from first, prevent to form useless position probing and use magnetic field about can clearly being predicted as the zone that does not have detected object, the position probing that forms necessity and full intensity when position probing is used magnetic field.
In addition, the position detecting device of the invention of claim 2 is characterised in that, in foregoing invention, also comprise the scope lead-out unit, this scope lead-out unit is based on the position of the described detected object in described first moment, may there be scope in derivation, as the scope that may exist at described described detected object of second moment, described magnetic field intensity control unit is controlled described magnetic field and is formed the unit, so that use magnetic field in the described position probing that forms detectable intensity in the scope that may exist that is derived by described scope lead-out unit.
In addition, the position detecting device of the invention of claim 3 is characterised in that, in foregoing invention, also comprise the translational speed lead-out unit, this translational speed lead-out unit is derived the translational speed of the described detected object in the described stipulated time, described scope lead-out unit will be the center with described first constantly the position of described detected object, have translational speed to described detected object multiply by the value after the described stipulated time radius bulbous region as described second constantly may have scope.
In addition, the position detecting device of the invention of claim 4 is characterised in that in foregoing invention, this position detecting device also comprises: the translational speed lead-out unit, and it derives the translational speed of the described detected object in the described stipulated time; And moving direction lead-out unit, it derives the moving direction of the described detected object in the described stipulated time, described scope lead-out unit will comprise as the zone of upper/lower positions as described in may have scope: with respect to as described in first constantly as described in detected object the position to as described in moving direction moved with as described in translational speed and as described in the position of the value of stipulated time after multiplying each other.
In addition, the position detecting device of the invention of claim 5 is characterised in that, in foregoing invention, described translational speed lead-out unit is derived described translational speed based on the variation of the position of the described detected object of being derived by described position lead-out unit a plurality of moment in the past.
In addition, the position detecting device of the invention of claim 6 is characterised in that, in foregoing invention, this position detecting device also comprises the translational speed data base of the corresponding relation between the translational speed of the position of the described detected object that has write down described subject inside and described detected object, described translational speed lead-out unit uses the corresponding relation that writes down among the described translational speed data base to derive the translational speed of the described detected object in the described stipulated time based on the position of the described detected object in described first moment.
In addition, the position detecting device of the invention of claim 7 is characterised in that, in foregoing invention, described moving direction lead-out unit is derived the moving direction of the described detected object in the described stipulated time based on the variation of the position of the described detected object of being derived by described position lead-out unit a plurality of moment in the past.
In addition, the position detecting device of the invention of claim 8 is characterised in that, in foregoing invention, in the zone that described detected object may exist, formation is with respect to first linear magnetic field of advancing point-blank with the direction that moves the reference coordinate axial restraint of irrespectively determining of described detected object, described position probing with magnetic field be to the different direction of described first linear magnetic field, with respect to described reference coordinate axle is second linear magnetic field that fixed direction is advanced point-blank, described moving direction lead-out unit is derived described moving direction according to the pointing direction by the described detected object of determining with respect to the relation between the direct of travel of the fixed object coordinate axes of described detected object and described first linear magnetic field and described second linear magnetic field.
In addition, the position detecting device of the invention of claim 9 is characterised in that in foregoing invention, described first linear magnetic field is formed by earth magnetism.
In addition, the position detecting device of the invention of claim 10 is characterised in that, in foregoing invention, described position lead-out unit is based on formed the unit forms near the intensity in the magnetic field that forms the unit and uses magnetic field by the detected position probing of described detected object in described magnetic field intensity by described magnetic field, derive the distance between formation unit, described magnetic field and the described detected object, and use the distance that is derived to derive the position of described detected object.
In addition, the position detecting device of the invention of claim 11, at least first constantly and from this first second moment of having passed through the stipulated time constantly, use the position probing of stipulating to carry out the position probing of detected object with magnetic field, this position detecting device is characterised in that, comprise: more than one magnetic field forms the unit, and its part in the residing zone of described detected object possibility forms the position probing that can detect and uses magnetic field; The choice of location unit, it forms described position probing based on described first constantly choice of location of described detected object and forms unitary position with the described magnetic field in magnetic field, so that can carry out magnetic field detection in the position of the described detected object in described second moment; And the position lead-out unit, it derives the position of described detected object based on the intensity in the described position probing usefulness magnetic field of the position of described detected object existence.
Invention according to this claim 11, form the formation unit, magnetic field that the position probing that can detect is used magnetic field owing to be included in the part in the residing zone of detected object possibility, and constantly suitably select magnetic field to form the choice of location unit of unitary position second, therefore can reduce magnetic field forms required driving electric etc., carries out the position probing in second moment simultaneously reliably.
In addition, the position detecting device of the invention of claim 12 is characterised in that, in foregoing invention, described choice of location unit selects in predefined a plurality of position, with respect in the described first immediate position of described detected object of deriving constantly.
In addition, the position detecting device of the invention of claim 13 is characterised in that, in foregoing invention, dispose a plurality of described magnetic fields accordingly with predefined a plurality of positions and form the unit, described position detecting device also comprises driving control unit, this driving control unit is controlled, make with described second constantly, form the unit by corresponding described magnetic field, the position of described choice of location unit selection and drive.
In addition, the position detecting device of the invention of claim 14 is characterised in that in foregoing invention, this position detecting device also comprises: holding member, and it keeps described magnetic field to form the unit with state movably; And mobile control unit, it is controlled, and makes described magnetic field form the unit and moves to the position of selecting described second constantly, by described choice of location unit.
In addition, the position detecting device of the invention of claim 15 is characterised in that, in foregoing invention, this position detecting device also comprises the scope lead-out unit, this scope lead-out unit is based on the position of the described detected object in described first moment, may there be scope in derivation what described described detected object of second moment might exist, described choice of location unit selects the described position probing of formation to form unitary position with the described magnetic field in magnetic field, so that can carry out magnetic field detection in comprising the zone that may have scope of being derived by described scope lead-out unit.
In addition, the position detecting device of the invention of claim 16 is characterised in that in foregoing invention, this position detecting device also comprises: the translational speed lead-out unit, and it derives the translational speed of described detected object; And moving direction lead-out unit, it derives the moving direction of described detected object, and described scope lead-out unit will comprise as the zone of upper/lower positions as having scope and deriving: with respect to as described in first constantly as described in detected object the position, to as described in moving direction moved by as described in translational speed and as described in position after the long-pending displacement that obtains of stipulated time.
In addition, the introduction system into sample under test of the invention of claim 17 comprises: the subject introducing device, and it is imported in the subject; And position detecting device, its at least first constantly and from this first second moment of having passed through the stipulated time constantly, the position probing that use has a position dependence about intensity is carried out the position probing of described subject introducing device with magnetic field, this introduction system into sample under test is characterised in that, described subject introducing device comprises: magnetic field sensor, and it detects the intensity in formed magnetic field at least; And the wireless transmission unit, it sends wireless signal, and described wireless signal comprises and the relevant information of the detected magnetic field intensity of described magnetic field sensor, and described position detecting device comprises: magnetic field forms the unit, and its position probing that forms intensity variable is used magnetic field; The position lead-out unit, its based on extract the described wireless signal that receives from reception antenna via regulation, by the intensity of the detected described position probing of described magnetic field sensor with magnetic field, derive the position of described subject introducing device; And magnetic field intensity control unit, it forms the unit based on described first constantly described magnetic field of Position Control of described subject introducing device, so as described second constantly, described position probing becomes the intensity that can be detected by described magnetic field sensor with magnetic field.
In addition, the introduction system into sample under test of the invention of claim 18 comprises: the subject introducing device, and it is imported in the subject; And position detecting device, its at least first constantly and from this first second moment of having passed through the stipulated time constantly, the position probing that use has a position dependence about intensity is carried out the position probing of described subject introducing device with magnetic field, this introduction system into sample under test is characterised in that, described subject introducing device comprises: magnetic field sensor, and it detects the intensity in formed magnetic field at least; And wireless transmission unit, it sends wireless signal, described wireless signal comprises and the relevant information of the detected magnetic field intensity of described magnetic field sensor, described position detecting device comprises: the position lead-out unit, its based on extract the described wireless signal that receives from reception antenna via regulation, by the intensity of the detected described position probing of described magnetic field sensor with magnetic field, derive the position of described subject introducing device; More than one magnetic field forms the unit, and its part in the residing zone of described detected object possibility forms the position probing that can detect and uses magnetic field; And choice of location unit, it forms described position probing based on described first constantly choice of location of described detected object and forms unitary position with the described magnetic field in magnetic field, so that can carry out magnetic field detection in the position of the described subject introducing device in described second moment.
In addition, the introduction system into sample under test of the invention of claim 19 comprises: the subject introducing device, and it is imported into subject, moves in the inside of this subject; And position detecting device, it uses the position of the position probing of regulation with the described subject introducing device of the inside of the described subject of magnetic field detection, this introduction system into sample under test is characterised in that, described subject introducing device comprises: magnetic field sensor, and its described position probing that detects in this residing zone of subject introducing device is used magnetic field; The wireless transmission unit, its transmission comprises the wireless signal of the testing result of described magnetic field sensor; And timing control unit, it is based on the mobile status of this subject introducing device of described subject inside, control the driving timing of described wireless transmission unit and/or described magnetic field sensor, described position detecting device comprises: magnetic field forms the unit, and it forms described position probing and uses magnetic field; Receiving element, its reception of wireless signal that comprises the testing result of described magnetic field sensor is handled; And the position lead-out unit, it receives the described wireless signal of handling based on having been undertaken by described receiving element, derives the position of described subject introducing device of the inside of described subject.
Invention according to this claim 19, owing to have the subject introducing device of the timing control unit that comprises the driving timing that cooperates mobile status to control wireless transmission unit and/or magnetic field sensor, therefore in the case of necessary, timing outgoing position in necessity detects employed information, so can suppress the consumption electric power of subject introducing device and carry out the reliable position detection simultaneously.
In addition, the introduction system into sample under test of the invention of claim 20 is characterised in that, in foregoing invention, described subject introducing device also comprises the speed lead-out unit of deriving the translational speed of this subject introducing device as described mobile status, and described timing control unit is controlled described driving timing based on the translational speed that is derived by described speed lead-out unit.
In addition, the introduction system into sample under test of the invention of claim 21 is characterised in that, in foregoing invention, described timing control unit is the long period that under the situation of low speed the drive cycle of described wireless transmission unit and/or described magnetic field sensor is set at regulation in described translational speed, is that the cycle that under the high speed situation described drive cycle is set at than described macrocyclic weak point is the short period in described translational speed.
In addition, the introduction system into sample under test of the invention of claim 22 is characterised in that, in foregoing invention, described subject introducing device also comprises the vibration detecting unit that detects the vibrational state of this subject introducing device as described mobile status, and described timing control unit is based on controlling described driving timing by the detected vibrational state of described vibration detecting unit.
In addition, the introduction system into sample under test of the invention of claim 23 is characterised in that, in foregoing invention, also comprise the information relevant with described driving timing in the wireless signal that is sent by described wireless transmission unit, described position detecting device comprises that also controlling described magnetic field based on the information relevant with described driving timing that comprises in the described wireless signal forms unitary magnetic field and form periodic magnetic field control unit.
In addition, the introduction system into sample under test of the invention of claim 24 is characterised in that, in foregoing invention, described position detecting device also comprises: the translational speed lead-out unit, it derives the translational speed of described subject introducing device based on the position of the subject introducing device in a plurality of moment of being derived by described position lead-out unit; And transmitting element, the wireless signal that its transmission will be comprised as information by the translational speed that described translational speed lead-out unit is derived, described subject introducing device also comprises: radio receiving unit, and it carries out being handled by the reception of the described wireless signal of described transmitting element transmission; And translational speed leading-out portion, it derives the translational speed of this subject introducing device based on undertaken receiving the described wireless signal of handling by described radio receiving unit, and the information relevant with the translational speed that derives is exported to described timing control unit.
In addition, the introduction system into sample under test of the invention of claim 25 is characterised in that, in foregoing invention, described position detecting device also comprises the magnetic field control unit, and this magnetic field control unit is controlled described magnetic field based on the translational speed that is derived by described speed lead-out unit and formed unitary magnetic field and forms timing.
Position detecting device of the present invention and introduction system into sample under test play following effect, promptly owing to have based on first constantly the position of detected object and come controlling magnetic field to form the magnetic field intensity control unit of the formed position probing in unit with the intensity in magnetic field, therefore for example in second moment of having passed through the stipulated time from first moment, prevent to use magnetic field about the position probing that can be predicted as the zone formation waste that does not obviously have detected object, the position probing that can form necessity and full intensity when position probing is used magnetic field.
Position detecting device of the present invention and introduction system into sample under test play following effect, promptly because a part that has in the residing zone of detected object (subject introducing device) possibility forms the formation unit, magnetic field that the position probing that can detect is used magnetic field, and constantly suitably select magnetic field to form the choice of location unit of unitary position second, therefore can reduce forming the required driving electric in magnetic field etc., carry out the position probing in second moment simultaneously reliably.
Introduction system into sample under test of the present invention plays following effect, promptly owing to have the subject introducing device of the timing control unit that comprises the driving timing that cooperates mobile status to control wireless transmission unit and/or magnetic field sensor, therefore in the case of necessary, timing outgoing position in necessity detects employed information, so can suppress the consumption electric power of subject introducing device and carry out the reliable position detection simultaneously.
Description of drawings
Fig. 1 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 1.
Fig. 2 is the block diagram of signal of the structure of the expression capsule type endoscope that introduction system into sample under test had.
Fig. 3 is the sketch map of expression formed first linear magnetic field of the first linear magnetic field formation portion that position detecting device had.
Fig. 4 is the structure of expression second linear magnetic field formation portion that position detecting device had and diffusion magnetic field formation portion, represents the sketch map of the situation of second linear magnetic field that formed by the second linear magnetic field portion of formation simultaneously.
The sketch map of the situation in Fig. 5 diffusion magnetic field that to be expression formed by the diffusion magnetic field portion of formation.
Fig. 6 is the schematic block diagram of the structure of the expression blood processor that position detecting device had.
Fig. 7 is the sketch map of the relation between expression reference coordinate axle and the object coordinate axes.
The sketch map that utilizes situation of second linear magnetic field when Fig. 8 is the derivation of expression position.
The sketch map that utilizes situation in the diffusion magnetic field when Fig. 9 is the derivation of expression position.
Figure 10 is used to illustrate translational speed and the sketch map that uses the derivation situation that may have scope of translational speed.
Figure 11 is used to illustrate the sketch map that forms the zone according to the magnetic field that may have the scope decision of deriving.
Figure 12 is the flow chart that is used to illustrate the action of blood processor.
Figure 13 is the block diagram of signal of structure of the blood processor that introduction system into sample under test had of expression embodiment 2.
Figure 14 is the sketch map of an example of the content of the information that writes down among the expression translational speed data base.
Figure 15 is the block diagram of signal of structure of the blood processor that introduction system into sample under test had of expression embodiment 3.
Figure 16 is the sketch map that is used to illustrate the derivation mechanism that may have scope of embodiment 3.
Figure 17 is the sketch map of variation that is used to illustrate the introduction system into sample under test of embodiment 3.
Figure 18 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 4.
Figure 19 is the block diagram of signal of the structure of the expression blood processor that introduction system into sample under test had.
Figure 20 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 5.
Figure 21 is the sketch map of the configuration mode of the expression second linear magnetic field formation portion that position detecting device had.
Figure 22 is the structure of expression second linear magnetic field formation portion that position detecting device had and diffusion magnetic field formation portion, represents the sketch map of the situation of second linear magnetic field that formed by the second linear magnetic field portion of formation simultaneously.
The sketch map of the situation in Figure 23 diffusion magnetic field that to be expression formed by the diffusion magnetic field portion of formation.
Figure 24 is the block diagram of signal of the structure of the expression blood processor that position detecting device had.
The sketch map that utilizes situation of second linear magnetic field when Figure 25 is the derivation of expression position.
The sketch map that utilizes situation in the diffusion magnetic field when Figure 26 is the derivation of expression position.
Figure 27 is the sketch map of the contents processing of the choice of location portion that is used to illustrate that blood processor has.
Figure 28 is the sketch map of the structure of the expression holding member that introduction system into sample under test had of embodiment 6 and the second linear magnetic field formation portion.
Figure 29 is the block diagram of signal of the structure of the expression blood processor 156 that forms the position detecting device that introduction system into sample under test had.
Figure 30 is the sketch map that is used to illustrate the action of the second linear magnetic field formation portion that produces by choice of location.
Figure 31 is the block diagram of signal of structure of the blood processor that introduction system into sample under test had of expression embodiment 7.
Figure 32 is the sketch map that is used to illustrate the derivation situation that may have scope.
Figure 33 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 8.
Figure 34 is the block diagram of the structure of the blood processor schematically representing introduction system into sample under test and had.
Figure 35 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 9.
Figure 36 is the block diagram of signal of the structure of the expression capsule type endoscope that introduction system into sample under test had.
Figure 37 is the structure of expression second linear magnetic field formation portion that position detecting device had and diffusion magnetic field formation portion, represents the sketch map of the situation of second linear magnetic field that formed by the second linear magnetic field portion of formation simultaneously.
The sketch map of the situation in Figure 38 diffusion magnetic field that to be expression formed by the diffusion magnetic field portion of formation.
Figure 39 is the block diagram of signal of the structure of the expression blood processor that position detecting device had.
The sketch map that utilizes situation of second linear magnetic field when Figure 40 is the derivation of expression position.
The sketch map that utilizes situation in the diffusion magnetic field when Figure 41 is the derivation of expression position.
Figure 42 is the flow chart of the processing of the timing control part that is used for illustrating that capsule type endoscope has.
Figure 43 is the block diagram of signal of structure of capsule type endoscope of the variation of expression embodiment 9.
Figure 44 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 10.
Figure 45 is the block diagram of signal of the structure of the expression capsule type endoscope that introduction system into sample under test had.
Figure 46 is the block diagram of signal of the structure of the expression blood processor that introduction system into sample under test had.
Figure 47 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 11.
Figure 48 is the block diagram of signal of the structure of the expression blood processor that introduction system into sample under test had.
Symbol description
1 subject
2,254,257 capsule type endoscopes
3,103,203,258,273 position detecting devices
4 display devices
5 portable type recording mediums
7a～7d, 28,106a～106d, 207a～207d, 262 reception antennas
8a～8d, 27,107a～107d, 259a～259d transmitting antenna
9,108,209 first linear magnetic field formation portions
10,110,110a～110d, 210 second linear magnetic field formation portions
11,111,211 diffusion magnetic field formation portions
12,112,212,260 blood processor
14 in-subject information obtaining sections
15 signal processing parts
16 magnetic field sensors
17 enlarging sections
The 18A/D converter section
19,270 wireless transmission parts
20 switching parts
21,256 timing control parts
22LED
The 23LED drive circuit
24CCD
The 25CCD drive circuit
26,268 transtation mission circuits
29 electric power regenerative circuits
30 booster circuits
31 electric storage means
32,34,133,135,233,234 coils
33,35 current sources
37,137,237 reception antenna selection portions
38,138,238,263 receiving circuits
39,139,239,264 signal processing parts
40,140,240 orientation leading-out portions
41,141,241 position leading-out portions
42,142,242 magnetic line of force bearing data storehouses
43,143,243 record portions
44,144 agitators
45,267 translational speed leading-out portions
46,146 amplifying circuits
47,147,269 transmitting antenna selection portions
48 select control part
49 scope leading-out portions
50 magnetic field intensity control parts
51,251 power feeding section
52 curved surfaces
53 bulbous region
54 magnetic fields form the zone
55,156,159 blood processor
56 translational speed data bases
57,160 translational speed leading-out portions
59 first velocity bands
60 second speed zones
61 third speed zones
63 blood processor
64,161 moving direction leading-out portions
65,162 scope leading-out portions
66,164 may exist scope
67,132a～132d magnetic field forms the zone
68,168 position detecting devices
69,169,273 geomagnetic sensors
70,170,274 blood processor
71,171,275 magnetic azimuth leading-out portions
109,154 holding members
149 choice of location portions
150 drive control parts
154a～154d halt
155 movable agencies
157 mobile control divisions
228 speed leading-out portions
248 select control part
249 magnetic field control parts
255 vibration detecting parts
261 wireless receiving portions
The specific embodiment
Below, the position detecting device and the introduction system into sample under test that are used for as implementing optimal way of the present invention (below, simply be called ' embodiment ') are described.In addition, accompanying drawing is a sketch map, it should be noted that the ratio etc. of thickness of relation, various piece of the thickness of each several part and width is different with situation in the reality, at accompanying drawing each other, also comprises the relation or the different part of ratio of mutual size certainly.In addition, in the following description, mechanism as position probing, describe as example with the technology of using first linear magnetic field, second linear magnetic field and diffusion magnetic field, the position probing of using position probing with position dependence to carry out detected object with magnetic field in a plurality of moment makes an explanation but certainly should not be defined in such structure as described later like that, so long as just can be used the present invention.In addition, in embodiment shown below, is that example describe with magnetic field with second linear magnetic field as the position probing in the scope of claim, the second linear magnetic field formation portion that forms second linear magnetic field is formed the unit as the magnetic field in the claim scope to be described, but as described later, magnetic field and the magnetic field formation portion for other also can use the present invention certainly.
Embodiment 1
The introduction system into sample under test of embodiment 1 at first, is described.In present embodiment 1, describe about position probing mechanism when describing about the overall structure of introduction system into sample under test and each element, carry out then with the employed position probing of position probing with the relevant relevant explanation of control mechanism of the intensity in magnetic field.
Fig. 1 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 1.As shown in Figure 1, the introduction system into sample under test of present embodiment 1 comprises: capsule type endoscope 2, and it is imported into the inside of subject 1 and along passing through path movement; Position detecting device 3, its and capsule type endoscope 2 between carry out radio communication, detect on the capsule type endoscope 2 fixed object coordinate axes simultaneously and concern with respect to the position between the subject 1 fixed reference coordinate axle; Display device 4, it shows the content of wireless signal 3 that receive by position detecting device, that send from capsule type endoscope 2; And portable type recording medium 5, it is used to carry out the exchange of the information between position detecting device 3 and the display device 4.In addition, as shown in Figure 1, in present embodiment 1, being set with what formed by X-axis, Y-axis and Z axle is the object coordinate axes with respect to capsule type endoscope 2 fixed coordinate axess, and unallied by being decided to be of forming of x axle, y axle, z axle with the motion of capsule type endoscope 2, be the reference coordinate axle with respect to subject 1 fixed coordinate axes specifically, use the mechanism of following explanation to come the position relation of detected object coordinate axes with respect to the reference coordinate axle.
The tested in-vivo images that display device 4 is used to show is 3 that receive by position detecting device, taken by capsule type endoscope 2 etc. have such structures such as work station of carrying out pictorial display based on the data that obtained by portable type recording medium 5.Specifically, display device 4 can be by the direct structure of display image etc. such as CRT monitor, liquid crystal display, also can be to the structure of other medium output image etc. as printer etc.
Portable type recording medium 5 can load and unload with respect to blood processor 12 described later and display device 4, has when installing for the two to carry out the output of information and the structure of record.Specifically, portable type recording medium 5 capsule type endoscope 2 in the body cavity of subject 1, move during be installed on the blood processor 12, store tested in-vivo image and object coordinate axes position relation with respect to the reference coordinate axle.And, have at capsule type endoscope 2 by after subject 1 is discharged, take out and be installed in the display device 4 structure that recorded data is read by display device 4 from blood processor 12.Carry out exchanges data between blood processor 12 and the display device 4 by portable type recording medium 5 by CompactFlash (registered trade mark) memorizer etc., different with the situation of having passed through wired connection between blood processor 12 and the display device 4, even capsule type endoscope 2 just subject 1 inner moving, also can freely take action by subject 1.
Then, capsule type endoscope 2 is described.Capsule type endoscope 2 plays a role as an example of the detected object in the scope of claim.Specifically, capsule type endoscope 2 is imported into the inside of subject 1, has in subject 1 to move and obtain in-subject information, and the wireless signal that will comprise obtained in-subject information sends to outside function.In addition, capsule type endoscope 2 has the structure of supplying with driving electric from the outside when having the magnetic field detection function that is used for detection position relation described later, specifically, have the wireless signal that reception sends from the outside, and with the wireless signal that receives as driving electric and regenerated function.
Fig. 2 is the block diagram of the structure of expression capsule type endoscope 2.As shown in Figure 2, capsule type endoscope 2 comprises: as the mechanism that obtains in-subject information, obtain the in-subject information obtaining section 14 of in-subject information, and the signal processing part 15 that obtained in-subject information is carried out predetermined process.In addition, capsule type endoscope 2 comprises: magnetic field sensor 16, and it detects magnetic field as magnetic field detection mechanism, and the output and the corresponding signal of telecommunication in detection magnetic field; Enlarging section 17, it is used for the signal of telecommunication of output is amplified; And A/D converter section 18, it will 17 electrical signal conversion of exporting be a digital signal from the enlarging section.
In-subject information obtaining section 14 is used to obtain in-subject information, in present embodiment 1, is used to obtain the tested in-vivo image as tested intravital view data.Specifically, in-subject information obtaining section 14 comprise the driving of the LED 22 that works as Lighting Division, control LED 22 led drive circuit 23, take CCD drive circuit 25 by the driving condition of the CCD 24, the control CCD 24 that work as image pickup part of at least a portion in the zone of LED 22 illuminations.In addition,, needn't use LED, CCD, for example also can use CMOS etc. as image pickup part as the concrete structure of Lighting Division and image pickup part.
Magnetic field sensor 16 is used for detecting the orientation and the intensity in the magnetic field that the existence zone of capsule type endoscope 2 forms.Specifically, magnetic field sensor 16 for example uses MI (MagnetoImpedance, magnetoimpedance) pick off to form.The MI pick off has for example with the structure of FeCoSiB class amorphous wire (amorphouswire) as the magnetic strength medium, when the magnetic strength medium is fed high frequency electric, utilize the MI effect that the magnetoimpedance of magnetic strength medium is altered a great deal owing to the external magnetic field to carry out the detection of magnetic field intensity.In addition, magnetic field sensor 16 also can use for example formation such as MRE (magnetoresistance) element, GMR (giant magnetoresistance effect) Magnetic Sensor except the MI pick off.
As shown in Figure 1, in present embodiment 1,, supposed object coordinate axes by X-axis, Y-axis and Z axis convention as the coordinate axes of the capsule type endoscope 2 of detected object.Corresponding to such object coordinate axes, magnetic field sensor 16 has following function: for the magnetic field intensity of the magnetic field detection directions X component, Y durection component and the Z durection component that form in the capsule type endoscope 2 residing zones, and the output signal of telecommunication corresponding with the magnetic field intensity of all directions.Be sent to position detecting device 3 by the magnetic field strength component in the magnetic field sensor 16 detected object coordinate axess by wireless transmission part 19 described later, position detecting device 3 is based on the value by magnetic field sensor 16 detected magnetic-field components, and the position of derived object coordinate axes and reference coordinate axle concerns.
And then capsule type endoscope 2 comprises: wireless transmission part 19, and it has transtation mission circuit 26 and transmitting antenna 27, is used for simultaneously wireless transmission is carried out in the outside; And switching part 20, it is about the signal to wireless transmission part 19 output, from the signal of signal processing part 15 outputs with suitably switch between the signal of A/D converter section 18 outputs.In addition, capsule type endoscope 2 has the synchronous timing control part 21 of driving timing that is used to make in-subject information obtaining section 14, signal processing part 15 and switching part 20.
In addition, capsule type endoscope 2 has as the mechanism that is used to receive from the wireless signal that is used to power of outside: reception antenna 28, according to the electric power regenerative circuit 29 of the wireless signal regenerated electric power that receives by reception antenna 28, make the booster circuit 30 that raises from the voltage of the electric power signal of electric power regenerative circuit 29 outputs, accumulate by booster circuit 30 and be changed to the electric power signal of voltage of regulation and the electric storage means of supplying with as above-mentioned other the driving electric of element 31.
Reception antenna 28 for example uses coil antenna to form.Such coil antenna is fixed on the position of the regulation in the capsule type endoscope 2, and so specifically coil antenna is configured to have the position and the pointing direction of the regulation in the fixed object coordinate axes on the capsule type endoscope 2.
Then, the detail bit detection device 3.As shown in Figure 1, position detecting device 3 comprises: reception antenna 7a～7d, and it is used to receive the wireless signal that sends from capsule type endoscope 2; Transmitting antenna 8a～8d, it is used for capsule type endoscope 2 is sent the wireless signal that is used to power; The first linear magnetic field formation portion 9, it forms first linear magnetic field; The second linear magnetic field formation portion 10, it forms second linear magnetic field; Diffusion magnetic field formation portion 11, it forms diffusion magnetic field; And blood processor 12, it carries out predetermined process for the wireless signal that receives by reception antenna 7a～7d etc.
Reception antenna 7a～7d is used for receiving the wireless signal that sends from the wireless transmission part 19 that capsule type endoscope 2 has.Specifically, reception antenna 7a～7d is formed by coil antenna etc., has the function of blood processor 12 being transmitted the wireless signal that receives.
Transmitting antenna 8a～8d is used for capsule type endoscope 2 is sent the wireless signal that is generated by blood processor 12.Specifically, transmitting antenna 8a～8d is made of coil antenna that is electrically connected with blood processor 12 etc.
In addition, the concrete structure that it is noted that first linear magnetic field formation portion 9 as reception antenna 7a～7d, transmitting antenna 8a～8d and following narration etc. is not limited to structure shown in Figure 1.That is, Fig. 1 is the figure that schematically illustrates for these elements eventually, and the number of reception antenna 7a～7d etc. is not limited to number shown in Figure 1, also is not limited to situation shown in Figure 1 about the position of configuration, concrete shape etc., can adopt structure arbitrarily.
The first linear magnetic field formation portion 9 is used for forming the linear magnetic field of prescribed direction in subject 1.Here, ' linear magnetic field ' be meant at least the area of space of regulation, may residing area of space in present embodiment 1 for the capsule type endoscope 2 of subject 1 inside in, the magnetic field that constitutes by the magnetic-field component of a direction in fact only.Specifically, as shown in Figure 1, the first linear magnetic field formation portion 9 comprises the coil that forms in the body mode partly that covers subject 1, and the current source (omitting diagram) of such coil being supplied with predetermined electric current, have by crossing predetermined electric current, in subject 1 volume inside zone, form the function of linear magnetic field at such coil midstream.Here, can select direction arbitrarily, but in present embodiment 1, first linear magnetic field is the linear magnetic field of advancing on respect to the z direction of principal axis in the subject 1 fixed reference coordinate axle as the direct of travel of first linear magnetic field.
Fig. 3 is expression is formed portion's 9 formed first linear magnetic fields by first linear magnetic field a sketch map.As shown in Figure 3, form the body portion that the coil of the first linear magnetic field formation portion 9 forms subject 1 and be contained in inside, have the structure of extending on the z direction of principal axis in the reference coordinate axle simultaneously.Thereby, as shown in Figure 3, at the magnetic line of force of on inner first linear magnetic field that forms of subject 1 has formed z direction of principal axis in the reference coordinate axle, having advanced by the first linear magnetic field formation portion 9.
Then, the second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 are described.The second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 form a unitary example as the magnetic field in the claim scope respectively and work, and work as the example of the position probing in the claim scope with magnetic field in second linear magnetic field of formation and diffusion magnetic field.In addition, in the following description, especially in regard to concrete example, the second linear magnetic field formation portion 10 is formed unitary example as magnetic field describe, but can understand from explanation, even set up too certainly using diffusion magnetic field formation portion 11 to form as magnetic field under the situation of unitary example.
The second linear magnetic field formation portion 10 is used to form the linear magnetic field of advancing on the direction different with first linear magnetic field be second linear magnetic field.In addition, diffusion magnetic field formation portion 11 and the first linear magnetic field formation portion 9, the second linear magnetic field formation portion 10 are different, be used to form magnetic direction and have the diffusion magnetic field of position dependence, in present embodiment 1 for along with away from spreading the magnetic field that magnetic field formation portion 11 spreads.
Fig. 4 is the structure of expression second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11, represents to be formed by second linear magnetic field sketch map of the situation of second linear magnetic field that portion 10 forms simultaneously.As shown in Figure 4, the second linear magnetic field formation portion 10 be included in extend on the y direction of principal axis in the reference coordinate axle, coil section and the parallel plane coil 32 of xz, and the current source 33 that is used for coil 32 is carried out electric current supply.Therefore, as shown in Figure 4, second linear magnetic field that is formed by coil 32 has at least at the subject 1 inner linear magnetic field that forms, the while along with from coil 32 away from and characteristic that intensity decays lentamente promptly has position dependence about intensity.
In addition, spread the current source 35 that magnetic field formation portion 11 has coil 34 and is used for coil 34 is carried out electric current supply.Here, coil 32 is configured to be formed on the magnetic field that has direct of travel on the predetermined direction, under the situation of present embodiment 1, is configured to make the direct of travel of the linear magnetic field that is formed by coil 32 to become y direction of principal axis in the reference coordinate axle.This exterior loop 34 is fixed on the position that forms the diffusion magnetic field identical with the magnetic direction of storage in the magnetic line of force bearing data described later storehouse 42.
In addition, in present embodiment 1, the second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 have the function of adjusting the intensity in formed magnetic field according to the control of magnetic field intensity control part 50 described later.Specifically, the second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 have following function: at the control of magnetic field intensity control part 50, carry out the adjustment of magnetic field intensity by adjusting the current value of being supplied with by current source 33,35.
Fig. 5 is expression is formed the situation in the diffusion magnetic field that portion 11 forms by diffusion magnetic field a sketch map.As shown in Figure 5, the coil 34 that diffusion magnetic field formation portion 11 is had forms following state: as shown in Figure 5, on the surface of subject 1, form vortex shape and form the diffusion magnetic field that portion 11 forms by diffusion magnetic field, in the magnetic field that is formed by coil 34 (among Fig. 5 omit diagram), the magnetic line of force is diffused as earlier injects coil 34 after radial once more.
In addition, in present embodiment 1, the first linear magnetic field formation portion 9, the second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 form magnetic field in the different moment respectively.Promptly, in present embodiment 1, adopting the first linear magnetic field formation portion, 9 grades is not to form magnetic field simultaneously but according to the rules order forms the structure in magnetic field, and the magnetic field sensor 16 that capsule type endoscope 2 is had detects first linear magnetic field, second linear magnetic field and diffusion magnetic field respectively independently.
The structure of blood processor 12 then, is described.Fig. 6 is a block diagram of schematically representing the concrete structure of blood processor 12.At first, blood processor 12 has the function that the reception of carrying out the wireless signal that sent by capsule type endoscope 2 is handled, and the function corresponding to such has: reception antenna selection portion 37, any among its selective reception antenna 7a～7d; Receiving circuit 38, it carries out demodulation process etc. for the wireless signal that receives by selected reception antenna, thereby extracts the original signal that comprises in the wireless signal; And signal processing part 39, it reconstructs picture signal etc. by the original signal that processing extracts.
Specifically, signal processing part 39 has based on the original signal that extracts and reconstructs field signal S 1～S 3And picture signal S 4, and the function of exporting at suitable element respectively.Here, field signal S 1～S 3Be respectively with by the corresponding field signal of magnetic field sensor 16 detected first linear magnetic fields, second linear magnetic field and diffusion magnetic field.In addition, picture signal S 4Corresponding to the tested in-vivo image of obtaining by in-subject information obtaining section 14.In addition, as field signal S 1～S 3Concrete form be by with respect to the performance of the pairing direction vector of the detection magnetic field intensity in the capsule type endoscope 2 fixed object coordinate axess, to comprise the magnetic field direct of travel in the object coordinate axes and the relevant information of magnetic field intensity.In addition, to the 43 output image signal S of record portion 4Record portion 43 is used for the data that 5 outputs are transfused to the portable type recording medium, has except picture signal S 4In addition, the result for position probing described later waits the function that also is recorded in the portable type recording medium 5.
In addition, blood processor 12 has based on waiting the function of the position of the capsule type endoscope 2 that detects subject 1 inside by capsule type endoscope 2 detected magnetic field intensities, and detects with respect to the function of capsule type endoscope 2 fixed object coordinate axess with respect to the orientation that subject 1 fixed reference coordinate axle is become.Specifically, comprising: orientation leading-out portion 40, its based on sending in the signal by signal processing part 39 outputs by capsule type endoscope 2, the field signal S corresponding with the detected intensity of first linear magnetic field and second linear magnetic field 1, S 2, the orientation that the derived object coordinate axes is become with respect to the reference coordinate axle; Position leading-out portion 41, it uses the corresponding field signal S of detected intensity with diffusion magnetic field 3And magnetic field S 2With the derivation result of orientation leading-out portion 40, derive the position of capsule type endoscope 2; And magnetic line of force bearing data storehouse 42, it has write down when position leading-out portion 41 is derived the position, constitutes the direct of travel of the magnetic line of force that spreads magnetic field and the corresponding relation of position.Orientation about these elements derives and position derivation detailed description in the back.
And then, blood processor 12 has the function to capsule type endoscope 2 wireless transmission driving electric, comprising: the agitator 44 of the frequency of the wireless signal that regulation will send, the amplifying circuit 46 that will amplify from the intensity of the wireless signal of agitator 44 output and the transmitting antenna selection portion 47 of selecting the employed transmitting antenna of transmission of wireless signal.Such wireless signal is received by the reception antenna 28 that capsule type endoscope 2 is had, and works as the driving electric of capsule type endoscope 2.
In addition, blood processor 12 has the selection control part 48 of the antenna selection mode of control reception antenna selection portion 37 and transmitting antenna selection portion 47.Select control part 48 to have orientation and position based on the capsule type endoscope 2 of being derived respectively by scope leading-out portion 40 and position leading-out portion 41, selection is suitable for the transmitting antenna 8 that capsule type endoscope 2 is received and dispatched and the function of reception antenna 7 most.
In addition, blood processor 12 has control and forms the function that portion 10 and diffusion magnetic field form the intensity in the magnetic field that portion 11 forms by second linear magnetic field.Specifically, blood processor 12 comprises: translational speed leading-out portion 45, and it derives the translational speed of capsule type endoscope 2 based on the history of the position of the capsule type endoscope 2 of record in the record portion 43; Scope leading-out portion 49, it derives capsule type endoscope 2 residing scopes based on the position in the past of translational speed that derives and capsule type endoscope 2; And magnetic field intensity control part 50, it is based on the scope that derives, and the second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 is formed the control of magnetic field intensity.Function about translational speed leading-out portion 45 and magnetic field intensity control part 50 describes in detail in the back.In addition, blood processor 12 has the power feeding section 51 that is used for these elements are supplied with driving electric.
The action of the introduction system into sample under test of present embodiment 1 then, is described.Below, after the position probing mechanism that has illustrated as the capsule type endoscope 2 of detected object, describe explanation action as a whole at last for the strength control mechanism in employed second linear magnetic field such as position derivation and diffusion magnetic field.
The position probing mechanism of capsule type endoscope 2 at first, is described.The introduction system into sample under test of present embodiment 1 has is deriving the structure that the position concerns with respect to subject 1 fixed reference coordinate axle with between with respect to capsule type endoscope 2 fixed object coordinate axess, specifically, after the orientation of derived object coordinate axes with respect to the reference coordinate axle, utilize the position of the initial point of the object coordinate axes on the orientation derivation reference coordinate axle of being derived, i.e. the position of the capsule type endoscope 2 of subject 1 inside.Thereby, below illustrated that at first the orientation derives after the mechanism, the position derivation mechanism of using the orientation that is derived be described, but application of the present invention is not limited to have the system of such position probing mechanism certainly.
Explanation is derived mechanism by the orientation that orientation leading-out portion 40 carries out.Fig. 7 is the expression capsule type endoscope 2 reference coordinate axle when mobile and sketch map of the relation between the object coordinate axes in subject 1.Such as already explained, capsule type endoscope 2 is along by the path with the direct of travel be an axle rotation predetermined angular when advancing in subject 1 inside.Thereby, with respect to of the skew of capsule type endoscope 2 fixed object coordinate axess with respect to fixed reference coordinate axle generation orientation as shown in Figure 7 on the subject 1.
On the other hand, the first linear magnetic field formation portion 9 and the second linear magnetic field formation portion 10 are fixing with respect to subject 1 respectively.Thereby forming portion 9 and second linear magnetic field by first linear magnetic field forms first, second linear magnetic field that portion 10 forms and advances on certain orientation with respect to the reference coordinate axle, specifically, advance on the z direction of principal axis of first linear magnetic field in the reference coordinate axle, second linear magnetic field is advanced on the y direction of principal axis.
The orientation of present embodiment 1 derives and utilizes the first such linear magnetic field and second linear magnetic field to carry out.Specifically, the magnetic field sensor 16 that is at first had by capsule type endoscope 2 detects first linear magnetic field of timesharing supply and the direct of travel of second linear magnetic field.The magnetic-field component of X-direction, Y direction and Z-direction in the magnetic field sensor 16 detected object coordinate axess, the information relevant with the direct of travel of detected first, second linear magnetic field in the object coordinate axes sends by 19 pairs of position detecting devices in wireless transmission part 3.
The wireless signal that is sent by capsule type endoscope 2 is through the processing of signal processing part 39 grades and as field signal S 1, S 2Be output.For example, in the example of Fig. 7, field signal S 1In comprise direct of travel and coordinate (X as first linear magnetic field 1, Y 1, Z 1) relevant information, field signal S 2In comprise direct of travel and coordinate (X as second linear magnetic field 2, Y 2, Z 2) relevant information.With respect to this, orientation leading-out portion 40 receives field signal S 1, S 2Input and carry out of the derivation of object coordinate axes with respect to the orientation of reference coordinate axle.Specifically, orientation leading-out portion 40 will be in the object coordinate axes, with (X 1, Y 1, Z 1) and (X 2, Y 2, Z 2) both sides' the value of inner product is 0 coordinate (X 3, Y 3, Z 3) grasp as the coordinate corresponding with z direction of principal axis in the reference coordinate axle.Then, the Coordinate Conversion that orientation leading-out portion 40 is stipulated based on above-mentioned corresponding relation is handled, the X-axis in the derived object coordinate axes, Y-axis and the coordinate of Z axle in the reference coordinate axle, and this coordinate exported as azimuth information.The orientation that more than is orientation leading-out portion 40 derives mechanism.
Then, mechanism is derived in the position that the capsule type endoscope 2 of position leading-out portion 41 is described.Position leading-out portion 41 has from signal processing part 39 input field signal S 2, S 3,, import the structure of canned data in the magnetic line of force bearing data storehouse 42 simultaneously from orientation leading-out portion 40 input azimuth informations.Position leading-out portion 41 is derived based on the following position of carrying out capsule type endoscope 2 of these information of input.
At first, position leading-out portion 41 uses field signal S 2Carry out the derivation of the distance between the second linear magnetic field formation portion 10 and the capsule type endoscope 2.Field signal S 2Testing result corresponding to second linear magnetic field in the existence zone of capsule type endoscope 2, second linear magnetic field has along with its strength retrogression's the characteristic away from the second linear magnetic field formation portion 10 corresponding to the situation that the second linear magnetic field formation portion 10 is configured in subject 1 outside.Utilize such characteristic, position leading-out portion 41 relatively near second linear magnetic field the second linear magnetic field formation portion 10 intensity (obtaining) according to the current value that flows through in the second linear magnetic field formation portion 10 and according to field signal S 2The intensity of second linear magnetic field in the existence zone of the capsule type endoscope of obtaining 2, derive between the second linear magnetic field formation portion 10 and the capsule type endoscope 2 apart from r.Derive this result apart from r, as shown in Figure 8, to be positioned at from the second linear magnetic field formation portion 10 be on the curved surface 52 for the set apart from the point of r to capsule type endoscope 2 as can be known.
And position leading-out portion 41 is based on field signal S 3, canned data in the azimuth information that derives by orientation leading-out portion 40 and the magnetic line of force bearing data storehouse 42, derive the position of capsule type endoscope 2 on curved surface 52.Specifically, based on field signal S 3And azimuth information, the direct of travel in the diffusion magnetic field at the place, location of derivation capsule type endoscope 2.Because field signal S 3Be and detect the pairing signal of result in diffusion magnetic field, therefore about based on this field signal S based on the object coordinate axes 3The direct of travel in diffusion magnetic field, handle by using azimuth information to implement Coordinate Conversion to the reference coordinate axle from the object coordinate axes, derive the direct of travel in the diffusion magnetic field place, location, in the reference coordinate axle of capsule type endoscope 2.And, magnetic line of force bearing data storehouse 42 is owing to record the direct of travel in the diffusion magnetic field in the reference coordinate axle and the corresponding relation between the position, therefore as shown in Figure 9, position leading-out portion 41 is defined as the position of deriving the position of capsule type endoscope 2 by derive the corresponding position of direct of travel with the diffusion magnetic field of being derived with reference to canned data in the magnetic line of force bearing data storehouse 42.Mechanism is derived in the position that more than is position leading-out portion 41.
The strength control in second linear magnetic field and diffusion magnetic field then, is described.The control of this magnetic field intensity is carried out for the purpose of the consumption of required electric power such as the formation that reduces second linear magnetic field of using with magnetic field as position probing etc.In particular, magnetic field intensity control in the present embodiment 1 is when the position probing of after this carrying out, predict the position of capsule type endoscope 2 to a certain degree, as long as in this estimation range, can detect, just reduce the intensity that forms magnetic field by the magnetic field sensor 6 that capsule type endoscope 2 is had.
In present embodiment 1, magnetic field intensity control is carried out according to following process substantially.That is, comprising: the derivation that may have the zone of the derivation of the translational speed of the capsule type endoscope 2 that is undertaken by translational speed leading-out portion 45, the capsule type endoscope 2 that undertaken by scope leading-out portion 49, form the control that portion 10 and diffusion magnetic field form portion 11 based on second linear magnetic field that may exist the zone to carry out by magnetic field intensity control part 50.Below, the control of the derivation of translational speed, the derivation that may have the zone and the second linear magnetic field formation portion 10 etc. is described respectively.
In addition, after the following description and Figure 10, suppose that moment t represents to carry out the moment of position probing, among the moment t, moment t -1, t 0And t 1Be the moment of having carried out position probing, the moment of promptly passing by, t constantly 2Be the position probing moment corresponding of carrying out after therewith, magnetic field intensity control is about moment t 2Position probing and carry out.That is, in present embodiment 1, ' first in the claim scope is constantly ' corresponding to moment t 1, ' second constantly ' and corresponding to moment t 2, ' a plurality of moment in past ' are corresponding to moment t -1, t 0, t 1, so describe.
Figure 10 is the sketch map that is used to that translational speed is described and may has the derivation mechanism in zone.At first, translational speed leading-out portion 45 is based on the different t constantly of record in the record portion 43 -1, t 0, t 1The position derive t constantly -1～t 0In displacement r -1And moment t 0～t 1In displacement r 0, use displacement to derive average translational speed in the past.Specifically, by for example using t constantly -1～t 0In average speed v -1With moment t 0～t 1In average speed v 0, will moment t 1～t 2In the meansigma methods v of average speed export as
v＝(v -1+v 0)/2＝(1/2){r -1/(t 0-t -1)}+{r 0/(t 1-t 0)}…(1)。
In addition, in present embodiment 1, moment t 1～t 2In translational speed if derive based on detected position of a plurality of moment in the past, then can be the formula beyond (1) formula, for example also can be used as the simplest structure, as v=v 0, derive t constantly 1～t 2In translational speed.
And scope leading-out portion 49 is derived t constantly based on the translational speed that is derived by translational speed leading-out portion 45 2 Capsule type endoscope 2 may have the zone.As shown in figure 10, scope leading-out portion 49 is derived as bulbous region 53 may exist the zone, and this bulbous region 53 is with at moment t 1The position of detected capsule type endoscope 2 is as the center, with the translational speed of derivation with from moment t 1To moment t 2Till elapsed time Δ t (=t 2-t 1) value that multiplies each other is radius.That is, in present embodiment 1, be speculated as capsule type endoscope 2 at moment t by scope leading-out portion 49 2Be present in the bulbous region 53 shown in Figure 10.
Derive may have the zone after, magnetic field intensity control part 50 carries out the intensity adjustment in formation magnetic field of the second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 to cover this zone.Figure 11 is the example as the control of magnetic field intensity control part 50, the sketch map of the control of the magnetic field intensity that expression is relevant with the second linear magnetic field formation portion 10.In addition, in Figure 11, ' magnetic field forms the zone ' is meant the zone of formation about the significant magnetic field of position probing, specifically, is meant the zone in the magnetic field of the intensity that formation for example can detect by the magnetic field sensor 16 that capsule type endoscope 2 is had.By the control of magnetic field intensity control part 50, the second linear magnetic field formation portion 10 forms zone 54 and comprises under the condition of bulbous region 53 in magnetic field, forms magnetic field so that consume the electric power minimum.Specifically, second linear magnetic field has along with strength retrogression's the characteristic away from the second linear magnetic field formation portion 10, therefore the second linear magnetic field formation portion 10 forms magnetic fields, and to form the peripheral part in zone 54 overlapping so that be positioned at furthermost part and magnetic field in the bulbous region 53.It more than is the magnetic field intensity control mechanism of magnetic field intensity control part 50.
Blood processor 12 uses the position probing mechanism and the magnetic field intensity control mechanism of above explanation, moves according to flow chart shown in Figure 12.At first, magnetic field intensity control part 50 is controlled the second linear magnetic field formation portion 10 etc. in order to carry out initial position probing, covers subject 1 integral body so that magnetic field forms the zone, thereby forms the magnetic field (step S101) corresponding with such control.Then, utilize the magnetic field that forms to carry out the position and derive (step S102) by above-mentioned mechanism, based on detected position etc., that derives position probing from the step S102 capsule type endoscope 2 after through the stipulated time (=Δ t) may exist scope (step S103).
Then, magnetic field intensity control part 50 is set the magnetic field corresponding with there being scope and is formed the zone, and the second linear magnetic field formation portion 10 controlled to realize that this magnetic field forms zone (step S104), pass through the position of the capsule type endoscope 2 after the stipulated time in the time of the feedback control content and derive (step S105).Then, judge whether position probing finishes (step S106), and (step S 106, "No") return step S103 once more under situation about not finishing, and repeat above-mentioned processing.In addition, blood processor 12 is corresponding with above action carry out based on view data in the subject of the wireless signal that sends from capsule type endoscope 2 construct again, write down and for the actions such as transmission of the driving electric of capsule type endoscope 2, but, therefore omit explanation here owing to be not characteristic of the present invention.
In addition and since in step S101, set magnetic field form the zone to cover subject integral body and be because when the position probing of carrying out at first, what be difficult to derive above-mentioned mechanism may exist scope.That is, in above-mentioned mechanism, because the derivation of scope is carried out existing in detected position of use past etc., the therefore only position probing action about carrying out is at first carried out position probing according to mechanism same.
In addition, in step S105, the position derivation of carrying out position leading-out portion 41 in the time of the control content of feedback magnetic field strength control portion 50 is based on following reason.Promptly, derive in the action position, particularly in the second linear magnetic field formation portion 10 and the derivation between the capsule type endoscope 2 shown in Figure 8, utilized from the intensity of second linear magnetic field of the second linear magnetic field formation portion, 10 outputs characteristic along with decay away from the second linear magnetic field formation portion 10 apart from r.Specifically, position leading-out portion 41 is derived apart from r owing to the strength retrogression according to second linear magnetic field leads, so needs to be grasped near the magnetic field intensity the second linear magnetic field formation portion 10.Thereby, when derive the position in step S105, position leading-out portion 41 (and as required, orientation leading-out portion 40) from 50 inputs of magnetic field intensity control part and the relevant information of control content, utilize this information to carry out position probing.
The advantage of the introduction system into sample under test of present embodiment 1 then, is described.The introduction system into sample under test of present embodiment 1 has following advantage: use to form the position probing that capsule type endoscope is carried out in magnetic field, simultaneously the employed magnetic field intensity of position probing is controlled to be necessary value fully, thus the consumption electric power in checkout gear 3 integral body that can dip.
That is, in the introduction system into sample under test of present embodiment 1, as shown in figure 11, the moment (=t of position probing will carried out 2), the high zone of probability that exists of capsule type endoscope 2 is set at and may has scope, forms magnetic field to cover under this limit that may have scope.Therefore, compared, and can reduce magnetic field significantly and form the zone, and can reduce and form the required electric weight in magnetic field, and can realize the introduction system into sample under test of low consumption electric power with cover the situation that subject 1 integrally forms magnetic field so in the past.
In addition, in the introduction system into sample under test of present embodiment 1, set forr a short time than in the past because magnetic field is formed the zone, therefore having can be more in the past than the advantage that alleviated the influence of peripheral equipment.That is, set for a short time by magnetic field being formed the zone, the intensity in the outside formed magnetic field of subject 1 also is lowered, and can alleviate the influence that electronic equipment to the outside that is positioned at subject 1 etc. brings.
And then as shown in figure 11, the introduction system into sample under test of present embodiment 1 is derived with moment t as there being scope 1The position of capsule type endoscope 2 be the center, the value that multiplies each other with the movement speed v that derives and elapsed time Δ t is the bulbous region 53 of radius.By having scope by bulbous region 53 definition, therefore can derive have a high reliability may have scope.
Usually, capsule type endoscope 2 has pass through the characteristic that zone change of translational speed corresponding to subject 1 inside.Thereby, for example for moment t 1The position similarly determine to exist under the situation of scope, in the zone of 2 high-speed mobile of capsule type endoscope as esophagus, capsule type endoscope 2 is at moment t 2Be positioned at the probability height that may there be the position of scope in disengaging, can not carry out reliable position and detect.With respect to this, in present embodiment 1, owing to adopt testing result to derive translational speed based on the past, be set at the structure that may have scope for the scope that can arrive with the translational speed that derives, therefore can not produce the such drawback of situation that may there be scope in decision similarly, can derive have a high reliability may have scope.That is, the introduction system into sample under test of present embodiment 1 has the advantage that reduces the required electric power in formation magnetic field when can keep position detection accuracy.
Embodiment 2
The introduction system into sample under test of embodiment 2 then, is described.The introduction system into sample under test of present embodiment 2 has following structure, promptly about the translational speed of the capsule type endoscope 2 that carries out as the prerequisite of the control of magnetic field intensity, use the data base of the relation of the position of having write down the capsule type endoscope 2 in subject 1 inside in advance and translational speed to derive.
Figure 13 is the block diagram of signal of structure of the blood processor that introduction system into sample under test had 55 of expression embodiment 2.In addition, the introduction system into sample under test of present embodiment 2 has same with the introduction system into sample under test of embodiment 1 basically structure, though omitted diagram, has capsule type endoscope 2, display device 4 and portable type recording medium 5 similarly to Example 1.In addition, about position detecting device, except the blood processor 55 of following explanation, have reception antenna 7a～7d, transmitting antenna 8a～8d, the first linear magnetic field formation portion 9, the second linear magnetic field formation portion 10 and diffusion magnetic field formation portion 11 similarly to Example 1.And then, in blood processor 55, have with embodiment 1 in the structure of the same title of blood processor 12, symbol as long as do not mention especially following, just be made as the structure, the function that have similarly to Example 1.
As shown in figure 13, the blood processor that introduction system into sample under test had 55 of present embodiment 2 newly has translational speed data base 56.Translational speed data base 56 has the function of the relevant information of the corresponding relation of the position of the interior capsule type endoscope 2 of record and subject 1 and translational speed, that translational speed leading-out portion 57 has is 43 that write down based on record portion, first constantly the position of capsule type endoscope 2 and translational speed data base 56 in the information of record, derive second constantly the function of translational speed of capsule type endoscope 2.
The translational speed of capsule type endoscope 2 has following character, promptly always do not keep certain value in subject 1 inside, but usually since the Alimentary structure of passing through etc. change, for example, high-speed mobile by esophagus the time, and translational speed reduces by small intestinal the time.In present embodiment 2, be conceived to capsule type endoscope 2 according to the position in the subject 1 and the characteristic that its translational speed changes, prepare as data in advance with the corresponding relation typeization of tested intravital position and translational speed, and with typed corresponding relation, thereby derive translational speed.
Figure 14 is the sketch map of an example of the content of the information of record among the expression translational speed data base 56.As shown in figure 14, the zone capsule type endoscope 2 passed through as an example of translational speed data base 56 is divided into three substantially.Specifically, translational speed data base 56 have storage first velocity band 59 corresponding with esophagus, with the corresponding second speed regional 60 of stomach and with the position in small intestinal, third speed zone 61 that large intestine is corresponding, and to the function of each area stores maximal rate.
With respect to this, the translational speed of translational speed leading-out portion 57 following derivation capsule type endoscopes 2.Be translational speed leading-out portion 57 initial reference record portions 43, obtain and first moment (moment t 1) the relevant information in position of capsule type endoscope 2.Then, translational speed leading-out portion 57 judges based on the position of the capsule type endoscope of obtaining 2 which velocity band capsule type endoscope 2 is positioned at, and obtains the information relevant with corresponding translational speed in first moment.For example, in the example of Figure 14, translational speed leading-out portion 57 has following function, be about to be judged as belong to second speed zone 60 and the speed among the translational speed data base 56 of being stored in as the value corresponding with second speed zone 60 to grasp be (t constantly second constantly 2) the translational speed of capsule type endoscope 2, output to scope leading-out portion 49.
The advantage of the introduction system into sample under test of present embodiment 2 is described.In present embodiment 2, except the advantage of embodiment 1, also has the advantage that to carry out the derivation of translational speed simply.That is, in present embodiment 2, translational speed leading-out portion 57 is based on detected first constantly the position of capsule type endoscope 2, by deriving translational speed from the corresponding information of translational speed data base 56 inputs.Thereby, in present embodiment 2, have when deriving translational speed and needn't carry out calculation process etc., can be rapidly and derive the advantage of translational speed simply.
Embodiment 3
The introduction system into sample under test of embodiment 3 then, is described.The introduction system into sample under test of present embodiment 3 is not only also derived about translational speed but also about moving direction deriving when may have scope, thus can derive reliability higher may have scope.
Figure 15 is the block diagram of signal of structure of the blood processor that introduction system into sample under test had 63 of expression present embodiment 3.In addition, same with the situation of embodiment 2, though omitted diagram but the introduction system into sample under test of present embodiment 3 has capsule type endoscope 2, display device 4 and portable type recording medium 5, about position detecting device, except the blood processor 63 of following explanation, has reception antenna 7a～7d etc. similarly to Example 1.And then, give the structure of the title same, symbol as long as do not mention especially following with embodiment 1,2, just have structure, the function same with embodiment 1,2.
As shown in figure 15, blood processor 63 has the structure that also comprises moving direction leading-out portion 64.Moving direction leading-out portion 64 has based on the pointing direction of the capsule type endoscope 2 in first moment of record in the record portion 43 derives the function of the moving direction of capsule type endoscope 2, and has the function that the moving direction that will derive outputs to scope leading-out portion 65.Corresponding to the situation that newly is provided with moving direction leading-out portion 64, scope leading-out portion 65 has following function, promptly based on record in the record portion 43 first constantly capsule type endoscope 2 position, the translational speed that derives by translational speed leading-out portion 45, by the moving direction that moving direction leading-out portion 64 is derived, derive second constantly capsule type endoscope 2 may have scope.
Figure 16 is the sketch map that is used to illustrate the derivation mechanism that may have scope of embodiment 3.At moment t 1Movement speed v is derived by translational speed leading-out portion 45 in the position of the capsule type endoscope 2 of (first constantly), derives moving direction (a by moving direction leading-out portion 64 1, b 1, c 1).With respect to this, as shown in figure 16, moment t 2The capsule type endoscope 2 of (second constantly) is owing to hypothesis moves to the place of having moved v Δ t on moving direction, so scope leading-out portion 65 will comprise the regulation zone in this place as having scope 66 and deriving.And magnetic field intensity control part 50 is for example controlled the second linear magnetic field formation portion 10, comprises the magnetic field that may have scope 66 with formation and forms zone 67.
The advantage of the introduction system into sample under test of present embodiment 3 is described.In present embodiment 3, when may there be scope in derivation as above-mentioned, adopt the structure of not only using translational speed but also using moving direction.Thereby, as embodiment 1,2, do not consider moving direction especially, and will be with moment t 1The position of capsule type endoscope 2 be that the bulbous region at center exports as and may exist the situation of scope to compare, can dwindle to have scope.Thereby, under the such situation of example as shown in figure 16, with t constantly 1The position of capsule type endoscope 2 be that the bulbous region at center is compared as the situation that may have scope, can dwindle magnetic field and form the zone, have the advantage that the magnetic field that can further reduce in the second linear magnetic field formation portion, 10 grades forms required power consumption.
(variation)
The variation of the introduction system into sample under test of embodiment 3 then, is described.In embodiment 3, moving direction leading-out portion 64 is based on the moment t of record in the record portion 43 1The pointing direction of capsule type endoscope 2 derive moving direction, but in this variation, derive moving direction based on the position of the capsule type endoscope 2 in a plurality of moment in past.
Figure 17 is used to illustrate that the moving direction of this variation derives the sketch map of mechanism.As shown in figure 17, in this variation, based on a plurality of moment t in past -1, t 0, t 1The position, and according to from moment t -1To moment t 0Moving direction vector (a 2, b 2, c 2), from moment t 0To moment t 1Moving direction vector (a 3, b 3, c 3), derive from moment t 1To moment t 2Moving direction vector (a 4, b 4, c 4).Specifically, for example the meansigma methods of the moving direction vector by the computing past derives from moment t 1To moment t 2The moving direction vector.Not only effectively derive moving direction by this method, and particularly under the situation of the position detecting device of the function of the pointing direction that is applied to also not derive capsule type endoscope 2, by adopting the structure of this variation, even do not have the moving direction that the export function of pointing direction also can derive capsule type endoscope 2.
Embodiment 4
The introduction system into sample under test of embodiment 4 then, is described.The introduction system into sample under test of embodiment 4 has the function that replaces first linear magnetic field and carry out position probing by the use earth magnetism.
Figure 18 is the integrally-built sketch map that is used to illustrate the introduction system into sample under test of embodiment 4.As shown in figure 18, the introduction system into sample under test of present embodiment 4 and embodiment 1～3 have capsule type endoscope 2, display device 4 and portable type recording medium 5 equally, on the other hand the structure difference of position detecting device 68.Specifically, omit the first linear magnetic field formation portion 9 that position detecting device had in embodiment 1 grade, newly have geomagnetic sensor 69.In addition, blood processor 70 also has and different structures such as embodiment 1.
Geomagnetic sensor 69 has basically the same structure of the magnetic field sensor that had with capsule type endoscope 2 16.That is, geomagnetic sensor 69 has following function: in the zone that is configured, detect the intensity of three axial magnetic-field components of regulation, and the output signal of telecommunication corresponding with detected magnetic field intensity.On the other hand, geomagnetic sensor 69 is different with magnetic field sensor 16, is configured on the surface of subject 1, has to detect and the intensity of corresponding magnetic-field component of function distinguish to(for) the direction of x axle, y axle and z axle in the subject 1 fixed reference coordinate axle.That is, geomagnetic sensor 69 has the function of the direct of travel that detects earth magnetism, has blood processor 70 outputs and structure about the corresponding signal of telecommunication of x direction of principal axis, y direction of principal axis and the detected magnetic field intensity of z direction of principal axis.
Then, blood processor 70 in the present embodiment 4 is described.Figure 19 is the block diagram of the structure of expression blood processor 70.As shown in figure 19, blood processor 70 have basically with embodiment 1 in the same structure of blood processor 12, the structure that has magnetic azimuth leading-out portion 71 on the other hand, this magnetic azimuth leading-out portion 71 is based on the direct of travel of deriving the earth magnetism on the reference coordinate axle from the signal of telecommunication of geomagnetic sensor 69 input, and results are derived in 40 outputs to the orientation leading-out portion.
What become problem under the situation of utilizing earth magnetism as first linear magnetic field is derivation for the direct of travel of the earth magnetism on the subject 1 fixed reference coordinate axle.That is and since capsule type endoscope 2 move in vivo during, subject 1 also can act on one's own, therefore prediction changes along with moving of subject 1 for the relation of the position between subject 1 fixed reference coordinate axle and the earth magnetism.On the other hand, from the viewpoint of derived object coordinate axes with respect to the position relation of reference coordinate axle, under the situation that the direct of travel of first linear magnetic field in the reference coordinate axle is failed to understand, generation can not make the clear and definite problem of corresponding relation of reference coordinate axle and object coordinate axes about the direct of travel of first linear magnetic field.
Thereby, in present embodiment 4, for the direct of travel that monitors the earth magnetism that changes owing to the mobile grade of subject 1 on the reference coordinate axle has geomagnetic sensor 69 and magnetic azimuth leading-out portion 71.That is, based on the testing result of geomagnetic sensor 69, magnetic azimuth leading-out portion 71 is derived the direct of travel of the earth magnetism on the reference coordinate axles, and will derive the result and output to orientation leading-out portion 40.With respect to this, orientation leading-out portion 40 comes to cooperate the corresponding relation in second linear magnetic field about the direct of travel derivation reference coordinate axle of earth magnetism and the corresponding relation of object coordinate axes by the direct of travel that uses the earth magnetism of importing, and can derive azimuth information.
In addition, according to the direction of subject 1, the direct of travel of earth magnetism and to form second linear magnetic field that portion 10 forms by second linear magnetic field parallel to each other sometimes.In this case, the related data of the orientation of the object coordinate axes by using previous moment and the position of initial point can carry out the detection of position relation.In addition, parallel to each other for fear of the earth magnetism and second linear magnetic field, the bearing of trend that constitutes the coil 32 of the second linear magnetic field formation portion 10 is not to be the y direction of principal axis in the reference coordinate axle as shown in Figure 4, but the structure of for example extending on the z direction of principal axis also is effective.
The advantage of the position detecting device of present embodiment 4 then, is described.The position detecting device of present embodiment 4 also has the further advantage of utilizing earth magnetism to produce except the advantage of embodiment 1.Promptly, by adopting the structure of utilizing earth magnetism as first linear magnetic field, can become the structure of having omitted the mechanism that forms first linear magnetic field, the burden of the subject 1 the during importing that can alleviate capsule type endoscope 2, the derived object coordinate axes is with respect to the position relation of reference coordinate axle simultaneously.Therefore in addition, geomagnetic sensor 69 can use formations such as MI pick off, and miniaturization fully can not increase the burden of subject 1 owing to geomagnetic sensor 69 newly is set.
In addition, by adopting the structure that earth magnetism is utilized as first linear magnetic field, also has advantage from reducing the viewpoint that consumes electric power.That is, under the situation of using formation first linear magnetic fields such as coil, the electric current that electric power consumption is crossed owing to coil midstream etc. increases, but needn't consume this electric power by utilizing earth magnetism, therefore can realize the system of low consumption electric power.
Embodiment 5
The introduction system into sample under test of embodiment 5 then is described.Figure 20 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 5.In Figure 20, capsule type endoscope 2, display device 4 and portable type recording medium 5 are same structure with embodiment 1, so omit explanation here.The difference of embodiment 1 and present embodiment 5 is the structure of position detecting device 103.
Then, the detail bit detection device 103.As shown in figure 20, position detecting device 103 comprises: reception antenna 106a～106d, and it is used to receive the wireless signal that sends from capsule type endoscope 2; Transmitting antenna 107a～107d, it is used for capsule type endoscope 2 is sent the wireless signal that is used to power; The first linear magnetic field formation portion 108, it forms first linear magnetic field; The second linear magnetic field formation 110a～110d of portion, it is kept by holding member 109, forms second linear magnetic field; Diffusion magnetic field formation portion 111, it forms diffusion magnetic field; And blood processor 112, it carries out predetermined process for the wireless signal that receives by reception antenna 106a～106d etc.
In addition, reception antenna 7a～7d, the transmitting antenna 8a～8d of reception antenna 106a～106d, transmitting antenna 107a～107d and the first linear magnetic field formation portion 108 and embodiment 1 and the structure of the first linear magnetic field formation portion 9 are identical, so omit explanation here.
Then, illustrate to form second linear magnetic field that works with the example in magnetic field as position probing of the present invention, and form the second linear magnetic field formation 110a～110d of portion that a unitary example works as magnetic field in the present invention.The second linear magnetic field formation 110a～110d of portion is used to form i.e. second linear magnetic field of the linear magnetic field of advancing and having a position dependence about intensity on the direction different with first linear magnetic field.
Figure 21 is illustrated in the present embodiment 5, disposes the second a plurality of linear magnetic field formation 110a～110d of portion and the second linear magnetic field formation 110a～110d of portion is carried out the sketch map of the position relation of fixed holding member 109 to subject 1.As shown in figure 21, the second linear magnetic field formation 110a～110d of portion on the holding member 109 of the body portion ground formation that covers subject 1, is configured in the P as the point of x direction of principal axis and the axial end of y respectively 1～P 4On, have and form the function that forms the second corresponding linear magnetic field of regional 132a～132d with magnetic field.Here, ' magnetic field forms the zone ' is meant the zone in the magnetic field of the intensity that formation can utilize when position probing, in present embodiment 5, is meant the magnetic field of the intensity that can be detected by the magnetic field sensor 16 that capsule type endoscope 2 is had.As shown in figure 21, magnetic field form regional 132a～132d be formed respectively comprise may residing zones as the capsule type endoscope 2 of detected object a part, be the part of the overall region of subject 1, on the other hand each magnetic field is formed regional synthetic zone and is formed and comprises the integral body that capsule type endoscope 2 may residing zones.
Figure 22 is the structure of expression second linear magnetic field formation 110a of portion and diffusion magnetic field formation portion 111, represents to be formed by second linear magnetic field sketch map of the situation of second linear magnetic field that the 110a of portion forms simultaneously.As shown in figure 22, the second linear magnetic field formation 110a of portion has: coil 133, and its y direction of principal axis in the reference coordinate axle extends coil section and xy plane parallel; And current source 134, it is used for coil 133 is carried out electric current supply.Therefore, as shown in figure 22, it is linear magnetic field in subject 1 inside at least that second linear magnetic field that is formed by coil 133 has, and simultaneously along with the characteristic that intensity decays lentamente away from coil 133, promptly has position dependence about intensity.In addition, in Figure 22, only show the second linear magnetic field formation 110a of portion, the second linear magnetic field formation 110b～110d of portion also has the same structure with the second linear magnetic field formation 110a of portion, forms and the same linear magnetic field of the second linear magnetic field formation 110a of portion though direct of travel is different.
Then, diffusion magnetic field formation portion 111 is described.Diffusion magnetic field formation portion 111 is used to form not only about magnetic field intensity but also the diffusion magnetic field that also has position dependence about magnetic direction.Specifically, as shown in figure 22, diffusion magnetic field formation portion 111 has coil 135 and is used for coil 135 is carried out the current source 136 of electric current supply.
Figure 23 is expression is formed the situation in the diffusion magnetic field that portion 111 forms by diffusion magnetic field a sketch map.As shown in figure 23, the coil 135 that diffusion magnetic field formation portion 111 is had forms, on the surface of subject 1, form vortex shape, form the diffusion magnetic field that portion 111 forms by diffusion magnetic field, as shown in figure 23, in the magnetic field that is formed by coil 135 (omitting diagram in Figure 23), the magnetic line of force is injected coil 135 after the diffusion earlier radially once more.
In addition, in present embodiment 5, the first linear magnetic field formation portion 108, the second linear magnetic field formation portion 110 and diffusion magnetic field formation portion 111 form magnetic field constantly in difference respectively.Promptly, in present embodiment 5, the first linear magnetic field formation portion, 108 grades are not to form magnetic field simultaneously but according to the rules order forms magnetic field, and the magnetic field sensor 16 that capsule type endoscope 2 is had detects first linear magnetic field, second linear magnetic field and diffusion magnetic field respectively independently.
The structure of blood processor 112 then, is described.Figure 24 is the block diagram that schematically illustrates the concrete structure of blood processor 112.At first, blood processor 112 has the function that the reception of carrying out the wireless signal that sent by capsule type endoscope 2 is handled, and corresponding to this function, has: reception antenna selection portion 137, any among its selective reception antenna 106a～106d; Receiving circuit 138, it carries out demodulation process etc. for the wireless signal that receives by selected reception antenna, thereby extracts the original signal that comprises in the wireless signal; And signal processing part 139, it reconstructs picture signal etc. by the original signal that processing extracts.
Specifically, signal processing part 139 has based on the original signal that extracts and reconstructs field signal S 1～S 3And picture signal S 4, and the function of respectively suitable element being exported.Here, field signal S 1～S 3Be respectively with by the corresponding field signal in magnetic field sensor 16 detected first magnetic fields, second magnetic field and diffusion magnetic field.In addition, picture signal S 4Corresponding to the tested in-vivo image of obtaining by in-subject information obtaining section 14.In addition, as field signal S 1～S 3Concrete mode, by for the direction vector performance corresponding in the capsule type endoscope 2 fixed object coordinate axess, suppose to comprise the magnetic field direct of travel in the object coordinate axes and the relevant information of magnetic field intensity with detecting magnetic field intensity.In addition, to the 143 output image signal S of record portion 4Record portion 143 is used for the data that 5 outputs are transfused to the portable type recording medium, has except picture signal S 4In addition, the result for position probing described later waits the function that also is recorded in the portable type recording medium 5.
In addition, blood processor 112 has based on the function of the position of being waited the capsule type endoscope 2 that detects subject 1 inside by capsule type endoscope 2 detected magnetic field intensities and detects with respect to the function of capsule type endoscope 2 fixed object coordinate axess with the orientation that is become with respect to subject 1 fixed reference coordinate axle.Specifically, comprising: orientation leading-out portion 140, its based on send by capsule type endoscope 2 and signal by signal processing part 139 outputs in, the field signal S corresponding with the detected intensity of first linear magnetic field and second linear magnetic field 1, S 2, the derived object coordinate axes is with respect to the residing orientation of reference coordinate axle; Position leading-out portion 141, it uses the field signal S corresponding to the detected intensity in diffusion magnetic field 3And field signal S 2With the derivation result of orientation leading-out portion 140, derive the position of capsule type endoscope 2; And magnetic line of force bearing data storehouse 142, it has write down when position leading-out portion 141 carries out the position derivation, constitutes the direct of travel of the magnetic line of force that spreads magnetic field and the corresponding relation of position.Derive and position derivation detailed description in the back about these orientation that constitute element.
And then, blood processor 112 has the function to capsule type endoscope 2 wireless transmission driving electric, comprising: the agitator 144 of the frequency of the wireless signal that regulation will send, the amplifying circuit 146 that will amplify from the intensity of the wireless signal of agitator 144 output and the transmitting antenna selection portion 147 of selecting the employed transmitting antenna of transmission of wireless signal.Such wireless signal is received by the reception antenna 28 that capsule type endoscope 2 is had, and works as the driving electric of capsule type endoscope 2.
In addition, blood processor 112 has the selection control part 148 of the antenna selection mode of control reception antenna selection portion 137 and transmitting antenna selection portion 147.Select control part 148 to have following function: based on the orientation and the position of the capsule type endoscope 2 of being derived respectively by scope leading-out portion 140 and position leading-out portion 141, selection is suitable for transmitting antenna 107 and the reception antenna 106 received and dispatched for capsule type endoscope 2 most.
In addition, blood processor 112 has choice of location based on capsule type endoscope 2 and is configured among the second a plurality of linear magnetic field formation 110a～110d of portion any, and the second linear magnetic field formation portion of selecting 110 controlled, to form the function of second linear magnetic field.Specifically, blood processor 112 comprises: choice of location portion 149, and it selects suitable position from the position that forms the second linear magnetic field formation 110a～110d of portion that works the unit as magnetic field; Drive control part 150, it forms portion 110 for second linear magnetic field corresponding with the position of being selected by choice of location portion 149 and controls, to form second linear magnetic field; And power feeding section 151, its each element to blood processor 112 is supplied with driving electric.
Choice of location portion 149 is used to be chosen in when first has passed through second constantly the position probing of stipulated time constantly, forms the position that position probing should exist with the formation unit, magnetic field in magnetic field.In present embodiment 5, form unitary example as the magnetic field in the claim scope, adopt to have the structure of the second linear magnetic field formation 110a～110d of portion, choice of location portion 149 has from having disposed the position P of the second linear magnetic field formation 110a～110d of portion 1～P 4In be chosen in the function of the position that the second second linear magnetic field formation portion 110 that constantly forms second linear magnetic field should exist.
Specifically, choice of location portion 149 grasps the position P of the second linear magnetic field formation 110a～110d of portion in advance 1～P 4And magnetic field forms the scope of regional 132a～132d.Then, choice of location portion 149 has following function, promptly based on position of grasping etc. and first constantly the position of capsule type endoscope 2, as forming unitary position in second magnetic field that forms second linear magnetic field constantly, from position P 1～P 4In select optimal position, and to the position relevant information of drive control part 150 outputs with selection.
Drive control part 150 has driving and is formed the function of portion 110 by the second corresponding linear magnetic field of the position of choice of location portion 149 selections.Specifically, drive control part 150 has the function that the current source 134 that the second linear magnetic field formation 110a～110d of portion is had respectively drives control, has simultaneously and grasps position P in advance 1～P 4And second the function of corresponding relation between the linear magnetic field formation 110a～110d of portion.Based on such function, 150 pairs of relevant pairing second linear magnetic field formation portions 110 of information of chosen position from 149 outputs of choice of location portion of drive control part control, form zone 132 with the magnetic field that forms regulation, to controlling, form simultaneously to stop magnetic field with the not corresponding second linear magnetic field formation portion 110 of chosen position.
The action of the introduction system into sample under test of present embodiment 5 then is described.Below, to have selected the situation of the second linear magnetic field formation 110a of portion from the second linear magnetic field formation 110a～110d of portion is example, explanation is as the position probing mechanism of the position of the capsule type endoscope 2 of detected object, then, the Selecting Mechanism and Procedure of selecting the best from second 110a of the linear magnetic field formation portion～110d that is used for position derivation etc. is described.
The position probing of the capsule type endoscope 2 that is undertaken by position detecting device 103 at first, is described.In the introduction system into sample under test of present embodiment 5, having is deriving the structure that the position concerns with respect to subject 1 fixed reference coordinate axle with between with respect to capsule type endoscope 2 fixed object coordinate axess, specifically, on the basis of derived object coordinate axes with respect to the orientation of reference coordinate axle, the orientation of utilization derivation derives the origin position of the object coordinate axes on the reference coordinate axle, is the position of the capsule type endoscope 2 of subject 1 inside.Thereby, below after having illustrated that at first the orientation derives mechanism, the position derivation mechanism of using the orientation that derives be described, but application of the present invention is not limited to have the system of such position probing mechanism certainly.
Explanation is derived mechanism by the orientation that orientation leading-out portion 140 carries out.In addition, this orientation derives mechanism and the orientation of being undertaken by orientation leading-out portion 40 of using Fig. 7 explanation, and to derive mechanism same, so use Fig. 7 to describe.Such as already explained, capsule type endoscope 2 is axle rotation predetermined angular with the direct of travel along advancing in subject 1 inside by the path simultaneously.Thereby, for the skew in fixed reference coordinate axle generation orientation as shown in Figure 7 on capsule type endoscope 2 fixed object coordinate axess and the subject 1.
On the other hand, the first linear magnetic field formation portion 108 and the second linear magnetic field formation 110a of portion are fixing for subject 1 respectively.Thereby, forming portion 108 and second linear magnetic field by first linear magnetic field, to form first, second linear magnetic field that the 110a of portion forms be to advance on certain direction with respect to the reference coordinate axle, specifically, on the z direction of principal axis of first linear magnetic field in the reference coordinate axle, advance, under the situation of using the second linear magnetic field formation 110a of portion, second linear magnetic field is advanced on the y direction of principal axis.
Orientation in the present embodiment 5 derives and utilizes the first such linear magnetic field and second linear magnetic field to carry out.Specifically, the magnetic field sensor 16 that is at first had by capsule type endoscope 2 detects first linear magnetic field of timesharing ground supply and the direct of travel of second linear magnetic field.Magnetic field sensor 16 is constituted as the magnetic-field component of X-direction, Y direction and Z-direction in the detected object coordinate axes, and the relevant information of the direct of travel of detected first, second linear magnetic field in the object coordinate axes sends by the 19 pairs of position detecting devices 103 in wireless transmission part.
The wireless signal that is sent by capsule type endoscope 2 passes through the processing of signal processing part 139 grades, is used as field signal S 1, S 2Output.For example, in the example of Fig. 7, field signal S 1In comprise direct of travel and coordinate (X as first linear magnetic field 1, Y 1, Z 1) relevant information, field signal S 2In comprise direct of travel and coordinate (X as second linear magnetic field 2, Y 2, Z 2) relevant information.With respect to this, orientation leading-out portion 140 receives field signal S 1, S 2Input and carry out of the derivation of object coordinate axes with respect to the orientation of reference coordinate axle.Specifically, orientation leading-out portion 140 will be in the object coordinate axes, for (X 1, Y 1, Z 1) and (X 2, Y 2, Z 2) both sides' the value of inner product is 0 coordinate (X 3, Y 3, Z 3) grasp as the coordinate corresponding with z direction of principal axis in the reference coordinate axle.Then, the Coordinate Conversion that orientation leading-out portion 140 is stipulated based on above-mentioned corresponding relation is handled, the X-axis in the derived object coordinate axes, Y-axis and the coordinate of Z axle in the reference coordinate axle, and this coordinate exported as azimuth information.
Then, the position derivation mechanism of using the capsule type endoscope 2 azimuth information, that position leading-out portion 141 is carried out of deriving is described.Position leading-out portion 141 has from signal processing part 139 input field signal S 2, S 3,, import the structure of canned data in the magnetic line of force bearing data storehouse 142 simultaneously from orientation leading-out portion 140 input azimuth informations.Position leading-out portion 141 is derived based on the following position of carrying out capsule type endoscope 2 of these information of input.
At first, position leading-out portion 141 uses field signal S 2Carry out the derivation of the distance between the second linear magnetic field formation 110a of portion and the capsule type endoscope 2.Field signal S 2Testing result corresponding to second linear magnetic field in the existence zone of capsule type endoscope 2, second linear magnetic field has along with its strength retrogression's the characteristic away from the second linear magnetic field formation 110a of portion corresponding to the situation that the second linear magnetic field formation 110a of portion is configured in subject 1 outside.Utilize such characteristic, position leading-out portion 141 relatively near second linear magnetic field the second linear magnetic field formation 110a of portion intensity (obtaining) according to the current value that flows through among the second linear magnetic field formation 110a of portion and according to field signal S 2The intensity of second linear magnetic field in the existence zone of the capsule type endoscope of obtaining 2, derive between the second linear magnetic field formation 110a of portion and the capsule type endoscope 2 apart from r.Derive this result apart from r, as shown in figure 25, to be positioned at from the second linear magnetic field formation 110a of portion be on the curved surface 52 for the set apart from the point of r to capsule type endoscope 2 as can be known.
And position leading-out portion 141 is based on field signal S 3, canned data in the azimuth information that derives by orientation leading-out portion 140 and the magnetic line of force bearing data storehouse 142, derive the position on the curved surface 52 of capsule type endoscope 2.Specifically, based on field signal S 3And azimuth information, the direct of travel in the diffusion magnetic field at the place, location of derivation capsule type endoscope 2.Because field signal S 3Be based on the pairing signal of result that the object coordinate axes detects diffusion magnetic field, therefore about based on this field signal S 3The direct of travel in diffusion magnetic field, handle by using azimuth information to implement Coordinate Conversion to the reference coordinate axle from the object coordinate axes, derive the direct of travel in the diffusion magnetic field location, in the reference coordinate axle of capsule type endoscope 2.And, magnetic line of force bearing data storehouse 142 is owing to record the direct of travel in the diffusion magnetic field in the reference coordinate axle and the corresponding relation of position, therefore as shown in figure 26, position leading-out portion 141 is defined as the position of deriving the position of capsule type endoscope 2 by derive the corresponding position of direct of travel with the diffusion magnetic field of being derived with reference to canned data in the magnetic line of force bearing data storehouse 142.Mechanism is derived in the position that more than is position leading-out portion 141.
The Selecting Mechanism and Procedure of the second linear magnetic field formation portion 110 that uses when then, position probing being described.In the introduction system into sample under test of present embodiment 5, forming magnetic field that the 110a～110d of portion forms respectively by second linear magnetic field forms regional 132a～132d and is formed and only comprises the part zone that capsule type endoscope 2 may residing subjects 1 inside, therefore in present embodiment 5, by choice of location portion 149 from position P 1～P 4In the second linear magnetic field formation portion 110 may exist when being chosen in position probing position, the control of control part 150 of overdriving that going forward side by side works is so that only drive the second corresponding linear magnetic field formation portion 110 of position with selection.
Figure 27 is the sketch map of an example of the position that exists of explanation first capsule type endoscope 2 constantly.Below, use example shown in Figure 27 that the choice of location of the second linear magnetic field formation portion 110 that position selection portion 149 is carried out and the driving control of drive control part 150 are described.
Select in the information that choice of location portion 149 writes down from record portion 143 with in the past first moment in the relevant information in position of capsule type endoscope 2.In addition, as mentioned above, choice of location portion 149 grasps position P 1～P 4Concrete value and the magnetic field scope that forms regional 132a～132d, also have position P 1～P 4And magnetic field forms the corresponding relation between regional 132a～132d, its result, and choice of location portion 149 grasps at first moment capsule type endoscope 2 where be positioned at the position of capsule type endoscope 2 and position P 1～P 4Relation.
Based on the assurance of this position, choice of location portion 149 selects only magnetic field to form unitary position when being the position probing of carrying out in second moment from first moment of having passed through the stipulated time constantly.In present embodiment 5, the 149 chosen position P of choice of location portion 1～P 4In, near first constantly the position of capsule type endoscope 2 positions.Specifically, in the example of Figure 27, the capsule type endoscope 2 in first moment is with respect to position P 1Be positioned at apart from r 1The zone in, with respect to position P 2Be positioned at apart from r 2(＜r 1) the zone in.Thereby choice of location portion 149 is as immediate choice of location position P 2, the position of selecting is exported drive control part 150 as the position that should exist in the second second linear magnetic field formation portion 110 that forms second linear magnetic field constantly.
On the other hand, drive control part 150 drives second linear magnetic field corresponding with the position of being selected by choice of location portion 149 and forms portion 110.As mentioned above, because drive control part 150 has been grasped position P in advance 1～P 4And second the corresponding relation between the linear magnetic field formation 110a～110d of portion, therefore for example selected position P corresponding in the example of Figure 27, having imported from choice of location portion 149 2The meaning information situation and the control of stipulating forms second linear magnetic field so that form the 110b of portion by second linear magnetic field.
In addition, in Selecting Mechanism and Procedure, orientation leading-out portion 140 and position leading-out portion 141 are also exported information about the position of being selected by choice of location portion 149.Promptly, for example owing to forming second linear magnetic field that the 110a of portion forms by second linear magnetic field and forming by second linear magnetic field between second linear magnetic field that the 110b of portion forms, direct of travel and intensity distributions difference, therefore orientation leading-out portion 140 and position leading-out portion 141 are carrying out that the orientation derives and position when deriving respectively, need to be grasped the second linear magnetic field formation 110a～110d of portion which formed magnetic field.
The advantage of the introduction system into sample under test of present embodiment 5 then, is described.The introduction system into sample under test of present embodiment adopts to have and a plurality ofly forms the structure of the second linear magnetic field formation portion 110 of working the unit as magnetic field, and described magnetic field forms the unit and forms about intensity and have position dependence and as second linear magnetic field of position probing with magnetic field work.As mentioned above, each second linear magnetic field formation 110a～110d of portion has following structure, promptly any one that forms regional 132a～132d for the magnetic field of correspondence is not to cover subject 1 integral body individually, covers subject 1 integral body but form regional 132a～132d integral body by magnetic field.Thereby the second linear magnetic field formation 110a～110d of portion compares with the formation unit, magnetic field that the magnetic field that forms independent covering subject 1 integral body forms the zone, and the required electric weight in each self-forming magnetic field reduces.Therefore as mentioned above, under situation about from the second linear magnetic field formation 110a～110d of portion, only driving with the chosen position corresponding person, compare with introduction system into sample under test in the past, can reduce forming the position probing required electric weight in magnetic field (second linear magnetic field).
On the other hand, in present embodiment 5, form the scope that magnetic field that the 110a～110d of portion forms forms regional 132a～132d by reduction by each second linear magnetic field, become the evils that can not form significant magnetic field etc. in the position that the capsule type endoscope 2 of detected object occupies in the time of can not occurring in position probing.That is, in present embodiment 5, as mentioned above, can form second linear magnetic field that forms residing subject 1 integral body of integral body covering capsule type endoscope 2 possibilities of regional 132a～132d by magnetic field.Thereby, form the position of portion by suitably select second linear magnetic field by choice of location portion 149, can reduce forming the required electric weight in magnetic field, in the position probing of capsule type endoscope 2, form significant magnetic field simultaneously reliably.
And then, form the scope that magnetic field that the 110a～110d of portion forms forms regional 132a～132d by reduction by each second linear magnetic field, have the advantage that can reduce to the influence in the magnetic field of the electronic equipment that is present in subject 1 outside etc.That is, form the zone by reduction magnetic field, the intensity in the outside formed magnetic field of subject 1 also reduces, and can reduce the influence that the electronic equipment of the outside that is positioned at subject 1 etc. is brought.
In addition, in present embodiment 5, the benchmark when carrying out choice of location as choice of location portion 149 is from position P 1～P 4Middle selection approaches the position of capsule type endoscope 2 positions in first moment most.By adopting such structure, in present embodiment 5, have for capsule type endoscope 2 second constantly residing zone can form the advantage of second linear magnetic field of detectable intensity reliably.
Forming magnetic field by the second linear magnetic field formation portion 110 corresponding with the position of selecting is second moment of having passed through the stipulated time from first moment.Here, under situation about moving between first moment and second moment, the position of the capsule type endoscope 2 in second moment and first alternate position spike constantly is apart from predetermined distance at capsule type endoscope 2.Thereby under based on first constantly the situation of position of the choice of location second linear magnetic field formation portion 110, second constantly, capsule type endoscope 2 may be positioned at and break away from the zone that corresponding magnetic field forms zone 132.
With respect to this, in present embodiment 5, by from position P 1～P 4In selection approach first constantly the position of capsule type endoscope 2 positions most, can improve capsule type endoscope 2 and be positioned at the reliability that and magnetic field formation corresponding with the position P that selects forms regional 132 scope constantly second.That is, closing with position shown in Figure 27 is example when describing, first constantly capsule type endoscope 2 and magnetic field form regional 132b circumference between distance become than and magnetic field form distance between the circumference of regional 132a big approximated position P 2The value of part.Thereby, in the example of Figure 27, capsule type endoscope 2 second constantly, form probability that regional 132b breaks away from form the probability of regional 132a disengaging than from magnetic field low from magnetic field, by selecting immediate position, can reduce from the magnetic field of correspondence and form the probability that the zone breaks away from, can carry out reliable position constantly second and detect.
Embodiment 6
The introduction system into sample under test of embodiment 6 then, is described.The introduction system into sample under test of present embodiment 6 has following structure, and the promptly single second linear magnetic field formation portion forms second linear magnetic field to being moved by the position of choice of location portion selection.
Figure 28 is the sketch map of the relation of the expression second linear magnetic field formation portion 110 that introduction system into sample under test had of embodiment 6 and holding member 154.In addition, the introduction system into sample under test of present embodiment 6 has same with the introduction system into sample under test of embodiment 5 basically structure, has capsule type endoscope 2, display device 4 and portable type storage medium 5 similarly to Example 5 though omitted diagram.In addition, about position detecting device, except holding member 154 and blood processor described later 156, also have reception antenna 106a～106d, transmitting antenna 107a～107d, the first linear magnetic field formation portion 108, the second linear magnetic field formation portion 110 and diffusion magnetic field formation portion 111 similarly to Example 5.In addition, in present embodiment 6, has the element of similarly to Example 5 title, symbol as long as do not have same structure, function with embodiment 5 following just mentioning especially.
As shown in figure 28, in present embodiment 6, the second linear magnetic field formation portion 110 have with embodiment 5 in same respectively function, the structure of second 110a of linear magnetic field formation portion～110d, be not fixing but keep on the other hand with movable state with respect to holding member 154.Specifically, holding member 154 is constituted as guiding parts and works, and on the other hand, the second linear magnetic field formation portion 110 is constituted as by movable agency 155 and moves along holding member 154.In addition, on holding member 154, with embodiment 5 in position P 1～P 4Be formed with halt 154a～154d on the corresponding position, movable agency 155 has by detecting halt 154a～154d respectively to position P 1～P 4Move the function of the second linear magnetic field formation portion 110 respectively.
Then, detail bit blood processor that detection device has 156.Figure 29 is the schematic block diagram of the structure of expression blood processor 156.Blood processor 156 has the structure substantially the same with the blood processor ¨ 2 among the embodiment 5, on the other hand, newly has the mobile control division 157 of the mobile status of 155 pairs second linear magnetic field formation of control movable agency portion 110.Specifically, mobile control division 157 has control movable agency 155, and the second linear magnetic field formation portion 110 is moved to by choice of location portion 149 from position P 1～P 4The function of the middle position of selecting.
Figure 30 is used to illustrate the sketch map that forms the move mode of portion 110 based on regioselective second linear magnetic field that is undertaken by choice of location portion 149.Choice of location portion 149 is same with the situation of embodiment 5, based on first constantly the position etc. of capsule type endoscope 2, with the example of Figure 27 equally from position P 1～P 4In any in select P 2, as forming the position that the second linear magnetic field formation portion 110 of working the unit should be configured as magnetic field when second constantly the position probing.157 outputs of 149 pairs of mobile control divisions of choice of location portion and the position P that selects 2Relevant information, 155 indications of 157 pairs of movable agencies of mobile control division move to position P with the second linear magnetic field formation portion 110 2Receive this indication, movable agency 155 the second linear magnetic field formation portion 110 is moved in the counterclockwise direction along holding member 154, and detect halt 154b, thereby the second linear magnetic field formation portion 110 is disposed at position P as shown in figure 30 2Therefore, when the position probing in second moment, the second linear magnetic field formation portion 110 is being disposed at position P 2State form down second linear magnetic field.
The advantage of the introduction system into sample under test of present embodiment 6 then, is described.The second linear magnetic field formation 110a～110d of portion of the introduction system into sample under test of present embodiment 6 and embodiment 5 has formation magnetic field equally, so that form the function that the second linear magnetic field formation portion 110 of second linear magnetic field that works with magnetic field as position probing only covers the part of subject 1.Thereby, same with the situation of embodiment 5, have advantages such as electric power required in the time of can being reduced in formation second linear magnetic field.
In addition, in present embodiment 6, not that a plurality of second linear magnetic field formation portions 110 are set, but adopt the structure that single mechanism can be moved to a plurality of positions, thereby realize and the same function of situation that a plurality of second linear magnetic field formation portions 110 are set.Thereby, in present embodiment 6, can reduce the number of the second linear magnetic field formation portion 110 than embodiment 5, except the advantage of embodiment 5, also have and can implementation structure simplify, and can reduce the advantage of the introduction system into sample under test of manufacturing cost.
Embodiment 7
The introduction system into sample under test of embodiment 7 then is described.The introduction system into sample under test of present embodiment 7 has following structure, promptly not being based on first constantly the position of capsule type endoscope 2 directly carries out magnetic field and forms unitary choice of location, and the position of the capsule type endoscope 2 in second moment is predicted in the position that was based on for first moment, and carries out choice of location based on predicting the outcome.
Figure 31 is the block diagram of signal of structure of the blood processor that introduction system into sample under test had 159 of expression embodiment 7.As shown in figure 31, blood processor 159 has basically the structure same with the blood processor 112 of embodiment 5.On the other hand, blood processor 159 comprises: translational speed leading-out portion 160, and it derives the translational speed of capsule type endoscope 2; Moving direction leading-out portion 161, it derives the moving direction of capsule type endoscope 2; And scope leading-out portion 162, its based on first constantly the position of capsule type endoscope 2 and the translational speed of derivation also have moving direction, derive second constantly capsule type endoscope 2 may have scope.And choice of location portion 163 has based on what derived by scope leading-out portion 162 may exist scope, from position P 1～P 4In form second linear magnetic field when selecting second constantly the position probing magnetic field form the function of unitary position.
Translational speed leading-out portion 160 has the function that derives the translational speed of the capsule type endoscope 2 that was carved into for second moment from first o'clock based on the information of record in the record portion 143.Specifically, translational speed leading-out portion 160 has the variable quantity based on the position of the detected capsule type endoscope 2 of a plurality of moment in past, for example by deriving the function that average speed carries out the derivation of translational speed.
The information that moving direction leading-out portion 161 has based on record in the record portion 143 derives the function of the moving direction of the capsule type endoscope 2 that was carved into for second moment from first o'clock.Blood processor 159 has the structure that comprises scope leading-out portion 140 similarly to Example 5, in record portion 143, be recorded in the relevant information in the orientation that first constantly 140 that derive by the orientation leading-out portion, object coordinate axes become with respect to the reference coordinate axle, promptly point to the relevant information of which direction with respect to the reference coordinate axle with capsule type endoscope 2.With respect to this, moving direction leading-out portion 161 based on first constantly the relevant information in detected orientation from record portion 143, extracts the pointing direction (being generally the vertical of capsule type endoscope 2) of capsule type endoscope 2, and this direction is derived as moving direction.
Scope leading-out portion 162 is used for the derivation result based on translational speed leading-out portion 160 and moving direction leading-out portion 161, derives capsule type endoscope 2 and promptly may have scope in the second high scope of probability that exists constantly.Figure 32 is the sketch map that is used for the derivation that may have scope of declared range leading-out portion 162.Shown in figure 32, scope leading-out portion 162 at first extracts from record portion 143 and the first moment (moment t among Figure 32 1) the relevant information in position of capsule type endoscope 2.And, will be for the position that extracts to moving direction vector (a 1, b 1, c 1) extended to movement speed v multiply by second constantly and the zone of the value behind first constantly the difference value Δ t be estimated as capsule type endoscope 2 at the second moment (moment t among Figure 32 2) position that exists, and derive comprise this zone may have scope 164.
Choice of location portion 163 carries out choice of location based on the scope that may exist that is derived by scope leading-out portion 162.Promptly, in embodiment 5 grades, for example shown in Figure 27, carry out the choice of location of the second linear magnetic field formation portion 110 based on first constantly the position of capsule type endoscope 2, but in present embodiment 7, have based on as second constantly the position that may have scope of estimation range of position of capsule type endoscope 2, carry out the regioselective function of the second linear magnetic field formation portion 110.In addition, same about choice of location mechanism itself and embodiment 5,6, therefore the action of the result's who selects about position-based drive control part 150 grades omits the explanation here also similarly to Example 5.
The advantage of the introduction system into sample under test of embodiment 7 then, is described.In present embodiment 7, adopt scope leading-out portion 162 newly is set, undertaken based on second constantly the regioselective structure of the second linear magnetic field formation portion 110 of predicted position of capsule type endoscope 2 by scope leading-out portion 162.Therefore, the advantage of the introduction system into sample under test of present embodiment 7 in embodiment 5 grades, the position that can also exist at the capsule type endoscope 2 in second moment forms position probing more reliably and uses magnetic field.Therefore, the position probing in the zone that the introduction system into sample under test of present embodiment 7 moves brokenly for for example capsule type endoscope 2 etc. also can be enjoyed advantages such as reducing power consumption, can carry out reliable position simultaneously and detect.
Embodiment 8
The introduction system into sample under test of embodiment 8 then is described.The introduction system into sample under test of embodiment 8 has the function that replaces first linear magnetic field and carry out position probing by the use earth magnetism.
Figure 33 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 8.As shown in figure 33, the introduction system into sample under test of present embodiment 8 and embodiment 5～7 are same, have capsule type endoscope 2, display device 4 and portable type storage medium 5, on the other hand the structure difference of position detecting device 168.Specifically, have and omitted the first linear magnetic field formation portion 108 that position detecting device had in embodiment 5 grades, and newly have the structure of geomagnetic sensor 169.In addition, also have and different structures such as embodiment 5 about blood processor 170.
Geomagnetic sensor 169 has basically the same structure of the magnetic field sensor that had with capsule type endoscope 2 16.That is, geomagnetic sensor 169 has in the zone that is configured, and detects the intensity of three axial magnetic-field components of regulation, and the function of the output signal of telecommunication corresponding with detected magnetic field intensity.On the other hand, geomagnetic sensor 169 is different with magnetic field sensor 16, is configured on the surface of subject 1, has to detect and the intensity of corresponding magnetic-field component of function distinguish to(for) the direction of x axle, y axle and z axle in the subject 1 fixed reference coordinate axle.That is, geomagnetic sensor 169 has the function of the direct of travel that detects earth magnetism, has blood processor 170 outputs and structure about the corresponding signal of telecommunication of x direction of principal axis, y direction of principal axis and the detected magnetic field intensity of z direction of principal axis.
Then, blood processor 170 in the present embodiment 8 is described.Figure 34 is the block diagram of the structure of expression blood processor 170.As shown in figure 34, blood processor 170 have basically with embodiment 5 in the same structure of blood processor 112, has magnetic azimuth leading-out portion 171 on the other hand, based on the direct of travel of deriving the earth magnetism on the reference coordinate axle from the signal of telecommunication of geomagnetic sensor 169 inputs, and to orientation leading-out portion 140 output derivation results.
What become problem under the situation of utilizing earth magnetism as first linear magnetic field is derivation for the direct of travel of the earth magnetism on the subject 1 fixed reference coordinate axle.That is and since capsule type endoscope 2 move in vivo during, subject 1 also can act on one's own, therefore prediction changes along with moving of subject 1 for the relation of the position between subject 1 fixed reference coordinate axle and the earth magnetism.On the other hand, from the viewpoint of derived object coordinate axes with respect to the position relation of reference coordinate axle, under the situation that the direct of travel of first linear magnetic field in the reference coordinate axle is failed to understand, generation can not make the clear and definite problem of corresponding relation of reference coordinate axle and object coordinate axes about the direct of travel of first linear magnetic field.
Thereby, in present embodiment 8, for the direct of travel that monitors the earth magnetism that changes owing to the mobile grade of subject 1 on the reference coordinate axle has geomagnetic sensor 169 and magnetic azimuth leading-out portion 171.That is, based on the testing result of geomagnetic sensor 169, magnetic azimuth leading-out portion 171 is derived the direct of travel of the earth magnetism on the reference coordinate axles, and will derive the result and output to orientation leading-out portion 140.With respect to this, orientation leading-out portion 140 comes to cooperate the corresponding relation in second linear magnetic field about the direct of travel derivation reference coordinate axle of earth magnetism and the corresponding relation of object coordinate axes by the direct of travel that uses the earth magnetism of importing, and can derive azimuth information.
In addition, according to the direction of subject 1, the direct of travel of earth magnetism and to form second linear magnetic field that portion 110 forms by second linear magnetic field parallel to each other sometimes.In this case, by use and the orientation of the object coordinate axes of previous moment and the relevant data in position of initial point, can carry out the detection of position relation.In addition, parallel to each other for fear of the earth magnetism and second linear magnetic field, the bearing of trend that constitutes the coil 133 of the second linear magnetic field formation portion 110 is not to be the y direction of principal axis in the reference coordinate axle as shown in Figure 3, but the structure of for example extending on the z direction of principal axis also is effective.
The advantage of the position detecting device of present embodiment 8 then, is described.The position detecting device of present embodiment 8 also has the further advantage of utilizing earth magnetism to produce except the advantage of embodiment 5.Promptly, by adopting the structure of utilizing earth magnetism as first linear magnetic field, can become the structure of having omitted the mechanism that forms first linear magnetic field, the burden of the subject 1 the during importing that can alleviate capsule type endoscope 2, the derived object coordinate axes is with respect to the position relation of reference coordinate axle simultaneously.Therefore in addition, geomagnetic sensor 169 can use formations such as MI pick off, and miniaturization fully can not increase the burden of subject 1 owing to geomagnetic sensor 169 newly is set.
In addition, by adopting the structure that earth magnetism is utilized as first linear magnetic field, also has advantage from reducing the viewpoint that consumes electric power.That is, under the situation of using formation first linear magnetic fields such as coil, the electric current that electric power consumption is crossed owing to coil midstream etc. increases, but needn't consume this power by utilizing earth magnetism, therefore can realize the system of low consumption electric power.
More than, by embodiment 5～8 the present invention has been described, but the present invention is not limited to the foregoing description, so long as those skilled in the art just can associate various embodiment, variation etc.For example, in embodiment 5～8, adopt second linear magnetic field as position probing with the example in magnetic field, forming unitary example as magnetic field uses the second linear magnetic field formation portion 110 to be illustrated, but needn't be defined in such structure, also first linear magnetic field, diffusion magnetic field or other magnetic field can be used with magnetic field as position probing, the first linear magnetic field formation portion 108, diffusion magnetic field formation portion 111 or other magnetic field formation portion be formed the unit as magnetic field use.Promptly, adopt and for example subject 1 inside is divided into a plurality of zones, the structure that in the zone that each is cut apart, has a plurality of first linear magnetic field formation portions 108, and consider to adopt by choice of location portion and select and a plurality of first linear magnetic fields form the variation such as structure of the corresponding position of portion 108.In addition, as mode,, just can adopt for example use location P so long as select to comprise capsule type endoscope in the second residing zone constantly so that magnetic field forms the zone based on first constantly the position of capsule type endoscope 2 by choice of location portion chosen position 1～P 4Between distance beyond selection mode.
In addition, the present invention needn't be defined in introduction system into sample under test as the applicable object of position detecting device.As seen from the above description, the present invention can be applied to the use location and detect the whole position detecting devices that carry out position probing with magnetic field, also can enjoy advantage of the present invention for general position detecting device.
And then, also can adopt the structure that embodiment 5～8 is made up mutually.For example for the such mechanism that the single second linear magnetic field formation portion 110 is moved to chosen position shown in the embodiment 6, with shown in the embodiment 7 like that as mechanisms such as scope leading-out portion, use does not have the combined location checkout gear of contradiction, introduction system into sample under test can enjoy advantage of the present invention mutually yet.
Embodiment 9
The introduction system into sample under test of embodiment 9 then is described.Figure 35 is the integrally-built sketch map of the introduction system into sample under test of expression present embodiment 9.In Figure 35, display device 4 and portable type storage medium 5 are same structure with embodiment 1,5, so omit explanation here.The difference of embodiment 1,5 and embodiment 9 is the structure of capsule type endoscope 2 and position detecting device 203.
As shown in figure 36, the capsule type endoscope 2 of present embodiment 9 is to have with the difference of the capsule type endoscope 2 of embodiment 1,5: the speed leading-out portion 228 of the translational speed of the capsule type endoscope 2 of derivation subject 1 inside and the timing control part 21 of controlling the driving timing of in-subject information obtaining section 14, magnetic field sensor 16, wireless transmission part 19 etc. based on the derivation result of speed leading-out portion 228.
Switching part 20 has via the field signal of A/D converter section 18 output, via the picture signal of signal processing part 15 outputs, suitably switch from the driving timing signal of timing control part 21 (aftermentioned) output, and the function that wireless transmission part 19 is exported.Thereby, comprise these signals in the wireless signal that sends by wireless transmission part 19, as described later, in the blood processor 212 (aftermentioned) that position detecting device 203 is had, the wireless signal that sends from capsule type endoscope 2 is reconstructed respectively is field signal S 1～S 3, picture signal S 4And driving timing signal S 5
Speed leading-out portion 228 is used for the example as the mobile status of capsule type endoscope 2, derives translational speed.Concrete structure as speed leading-out portion 228, for example have miniature gyroscope uniform acceleration pick off and mechanism, have the function of the translational speed that 21 outputs are derived to timing control part simultaneously carrying out the time integral computing by the detected acceleration of acceleration transducer.
Timing control part 21 has the function of controlling about the driving timing of magnetic field sensor at least 16 in the element of capsule type endoscope 2 and wireless transmission part 19.Specifically, timing control part 21 have based on the mobile status of capsule type endoscope 2, in present embodiment 9 for based on the translational speed of capsule type endoscope 2, set the drive cycle of magnetic field sensor 16 grades, according to the function of timing driving magnetic field pick off 16 grades consistent with the drive cycle of setting.Promptly, along with moving of capsule type endoscope 2, in-subject information obtaining section 14 and magnetic field sensor 16 have the function that obtains action and magnetic field detection action of carrying out in-subject information repeatedly respectively, corresponding to this perseveration, wireless transmission part 19 also has the structure of the wireless transmission action of stipulating repeatedly.In present embodiment 9, timing control part 21 is used to stipulate the cycle of this perseveration, and the back describes the setting of drive cycle etc. in detail.
In addition, timing control part 21 has the function that generates the driving timing signal as the information relevant with driving timing of the drive cycle of setting etc., and the driving timing signal of generation together is sent to position detecting device 203 by wireless transmission part 19 and other signal.And then timing control part 21 has the function of the movement content of control switching part 20, specifically, and the timing that control is switched for field signal, picture signal and driving timing signal to switching part 20 inputs.
Then, the detail bit detection device 203.As shown in figure 35, position detecting device 203 comprises: reception antenna 207a～207d, and it is used to receive the wireless signal that sends from capsule type endoscope 2; The first linear magnetic field formation portion 209, it forms first linear magnetic field; The second linear magnetic field formation portion 210, it forms second linear magnetic field; Diffusion magnetic field formation portion 211, it forms diffusion magnetic field; And blood processor 212, it carries out predetermined process for the wireless signal that receives by reception antenna 207a～207d etc.In addition, reception antenna 207a～207d, the first linear magnetic field formation portion 209 and the second linear magnetic field formation portion 210 have the identical structure with reception antenna 7a～7d of embodiment 1, the first linear magnetic field formation portion 9 and the second linear magnetic field formation portion 10, so omit explanation here.
Figure 37 is the structure of expression second linear magnetic field formation portion 210 and diffusion magnetic field formation portion 211, represents to be formed by second linear magnetic field sketch map of the situation of second linear magnetic field that portion 210 forms simultaneously.As shown in figure 37, the second linear magnetic field formation portion 210 have on the y direction of principal axis in the reference coordinate axle extend, the coil 233 of coil section and the formation of xy plane parallel ground.Therefore, as shown in figure 37, second linear magnetic field that is formed by coil 233 is a linear magnetic field in subject 1 inside at least, has simultaneously along with the characteristic that intensity decays lentamente away from coil 233, promptly has position dependence about intensity.
In addition, diffusion magnetic field formation portion 211 has coil 234.Here, coil 233 is configured to have the magnetic field of direct of travel on predetermined direction, and under the situation of present embodiment 9, its direct of travel that is configured to the linear magnetic field that formed by coil 233 becomes the y direction of principal axis in the reference coordinate axle.In addition, coil 234 is fixed on the position that forms the diffusion magnetic field identical with the magnetic direction of storage in the magnetic line of force bearing data described later storehouse 242.
Figure 38 is expression is formed the situation in the diffusion magnetic field that portion 211 forms by diffusion magnetic field a sketch map.As shown in figure 38, the coil 234 that diffusion magnetic field formation portion 211 is had forms, on the surface of subject 1, form vortex shape, form diffusion magnetic field that portion 211 forms as shown in figure 38 by diffusion magnetic field, in the magnetic field that is formed by coil 234 (among Figure 38 omit diagram), the magnetic line of force is diffused as earlier injects coil 234 after radial once more.In addition, also be configured in subject 1 outside about diffusion magnetic field formation portion 211, owing to form magnetic field radially, therefore the diffusion magnetic field that forms has along with strength retrogression's the characteristic away from coil 234.
Then, blood processor 212 is described.Figure 39 is a block diagram of schematically representing the concrete structure of blood processor 212.At first, blood processor 212 has the function that the reception of carrying out the wireless signal that sent by capsule type endoscope 2 is handled.Corresponding to such function, blood processor 212 has: reception antenna selection portion 237, any among its selective reception antenna 207a～207d; Receiving circuit 238, it carries out demodulation process etc. for the wireless signal that receives by selected reception antenna, thereby extracts the original signal that comprises in the wireless signal; And signal processing part 239, it reconstructs picture signal etc. by the original signal that processing extracts.Specifically, signal processing part 239 has based on the original signal that extracts and reconstructs field signal S 1～S 3, picture signal S 4And driving timing signal S 5, and the function of respectively suitable element being exported.Here, field signal S 1～S 3Be respectively with by the corresponding field signal of magnetic field sensor 16 detected first linear magnetic fields, second linear magnetic field and diffusion magnetic field.In addition, picture signal S 4Corresponding to the tested in-vivo image of obtaining by in-subject information obtaining section 14, driving timing signal S 5Corresponding to the driving timing signal that generates by timing control part 21.Wherein, record portion 243 is exported by signal processing part 239 reconstituted picture signal S 4Record portion 243 is used for the data that 5 outputs are transfused to the portable type recording medium, has except picture signal S 4In addition, the result for position probing described later waits the function that also is recorded in the portable type recording medium 5.
In addition, blood processor 212 has based on waiting the function of the position of the capsule type endoscope 2 that detects subject 1 inside by capsule type endoscope 2 detected magnetic field intensities, and detects for the function of capsule type endoscope 2 fixed object coordinate axess with respect to the orientation that subject 1 fixed reference coordinate axle is become.Specifically, comprising: orientation leading-out portion 240, its based on send by capsule type endoscope 2 and signal by signal processing part 239 outputs in, the field signal S corresponding with the detected intensity of first linear magnetic field and second linear magnetic field 1, S 2, the orientation that the derived object coordinate axes is become with respect to the reference coordinate axle; Position leading-out portion 241, it uses the corresponding field signal S of detected intensity with diffusion magnetic field 3And field signal S 2With the derivation result of orientation leading-out portion 240, derive the position of capsule type endoscope 2; And magnetic line of force bearing data storehouse 242, it has write down when position leading-out portion 241 carries out the position derivation, constitutes the direct of travel of the magnetic line of force that spreads magnetic field and the corresponding relation of position.Orientation about these elements derives and position derivation detailed description in the back.
And then blood processor 212 has the selection control part 248 of the antenna selection mode of control reception antenna selection portion 237.Select control part 248 to have following function: based on the orientation and the position of the capsule type endoscope 2 of being derived respectively by orientation leading-out portion 240 and position leading-out portion 241, selection is suitable for from the reception antenna 207 of the reception of the wireless signal of capsule type endoscope 2 transmissions most.In addition, by selecting control part 248, receiving circuit 238 and reception antenna 207a～207d to constitute acceptance division 244, work as an example of the receiving element in the claim scope.
In addition, blood processor 212 has the function that forms the driving timing of portion's 209 grades based on driving timing signal controlling first linear magnetic field that is extracted by signal processing part 239.Specifically, blood processor 212 has magnetic field control part 249, and it is based on the driving timing signal S from signal processing part 239 outputs 5, the driving timing of controlling the first linear magnetic field formation portion 209, the second linear magnetic field formation portion 210 and spreading magnetic field formation portion 211.And blood processor 212 also has power feeding section 251, and it has the function of above element being supplied with driving electric.
The action of the introduction system into sample under test of present embodiment 9 then, is described.In the present embodiment 9, carry out the situation of the obtaining of in-subject information, magnetic field detection and their wireless transmission corresponding to capsule type endoscope 2 when moving off and on repeatedly in that subject 1 is inner, 212 pairs of wireless signals that send off and on of blood processor carry out predetermined process.Below, in these actions, after having illustrated that the position probing of using the field signal that comprises respectively etc. from the wireless signal that capsule type endoscope 2 sends is repeatedly moved, the control treatment of the driving timing of wireless transmission part 19 grades of the transmission of the wireless signal that carries out carrying out in capsule type endoscope 2 is described.
The position probing action at first is described.In the introduction system into sample under test of present embodiment 9, having is deriving the structure that the position concerns for subject 1 fixed reference coordinate axle with between for capsule type endoscope 2 fixed object coordinate axess, specifically, deriving on the basis of object coordinate axes with respect to the orientation of reference coordinate axle, utilize the position of the initial point of the object coordinate axes on the orientation derivation reference coordinate axle of being derived, i.e. the position of the capsule type endoscope 2 of subject 1 inside.Thereby, below illustrated that at first the orientation derives after the mechanism, the position derivation mechanism of using the orientation that is derived be described, but application of the present invention is not limited to have the system of such position probing mechanism certainly.
Explanation is derived mechanism by the orientation that orientation leading-out portion 240 carries out.In addition, to derive mechanism same with the orientation that orientation leading-out portion 40 carries out passed through of using Fig. 7 explanation because this orientation derives mechanism, so use Fig. 7 to describe.Such as already explained, capsule type endoscope 2 has rotated predetermined angular with direct of travel as axle simultaneously along advancing in subject 1 inside by the path.Thereby, for capsule type endoscope 2 fixed object coordinate axess and the skew that produces orientation as shown in Figure 7 for fixed reference coordinate axle on the subject 1.
On the other hand, the first linear magnetic field formation portion 209 and the second linear magnetic field formation portion 210 are fixing for subject 1 respectively.Thereby forming portion 209 and second linear magnetic field by first linear magnetic field forms first, second linear magnetic field that portion 210 forms and advances on certain orientation with respect to the reference coordinate axle, specifically, advance on the z direction of principal axis of first linear magnetic field in the reference coordinate axle, use second linear magnetic field under the situation of the second linear magnetic field formation portion 210 on the y direction of principal axis, to advance.
The orientation of present embodiment 9 derives and utilizes the first such linear magnetic field and second linear magnetic field to carry out.Specifically, the magnetic field sensor 16 that is at first had by capsule type endoscope 2 detects first linear magnetic field of timesharing supply and the direct of travel of second linear magnetic field.The magnetic-field component of X-direction, Y direction and Z-direction in the magnetic field sensor 16 detected object coordinate axess, the information relevant with the direct of travel in the object coordinate axes of detected first, second linear magnetic field sends by 19 pairs of position detecting devices in wireless transmission part 203.
The wireless signal that is sent by capsule type endoscope 2 is through the processing of signal processing part 239 grades and as field signal S 1, S 2Be output.For example, in the example of Fig. 7, field signal S 1In comprise direct of travel and coordinate (X as first linear magnetic field 1, Y 1, Z 1) relevant information, field signal S 2In comprise direct of travel and coordinate (X as second linear magnetic field 2, Y 2, Z 2) relevant information.With respect to this, orientation leading-out portion 240 receives field signal S 1, S 2Input and carry out of the derivation of object coordinate axes with respect to the orientation of reference coordinate axle.Specifically, orientation leading-out portion 240 will be in the object coordinate axes, for (X 1, Y 1, Z 1) and (X 2, Y 2, Z 2) both sides' the value of inner product is 0 coordinate (X 3, Y 3, Z 3) grasp as the coordinate corresponding with z direction of principal axis in the reference coordinate axle.Then, the Coordinate Conversion that orientation leading-out portion 240 is stipulated based on above-mentioned corresponding relation is handled, the X-axis in the derived object coordinate axes, Y-axis and the coordinate of Z axle in the reference coordinate axle, and this coordinate exported as azimuth information.The orientation that more than is orientation leading-out portion 40 derives mechanism.
Then, mechanism is derived in the position that the capsule type endoscope 2 that the position leading-out portion 241 that used the azimuth information that is derived carries out is described.Position leading-out portion 241 has from signal processing part 239 input field signal S 2, S 3,, import the structure of canned data in the magnetic line of force bearing data storehouse 242 simultaneously from orientation leading-out portion 240 input azimuth informations.Position leading-out portion 241 is derived based on the following position of carrying out capsule type endoscope 2 of these information of being imported.
At first, position leading-out portion 241 uses field signal S 2Carry out the derivation of the distance between the second linear magnetic field formation portion 210 and the capsule type endoscope 2.Field signal S 2Testing result corresponding to second linear magnetic field in the existence zone of capsule type endoscope 2, second linear magnetic field has along with its strength retrogression's the characteristic away from the second linear magnetic field formation portion 210 corresponding to the situation that the second linear magnetic field formation portion 210 is configured in subject 1 outside.Utilize such characteristic, position leading-out portion 241 relatively near second linear magnetic field the second linear magnetic field formation portion 210 intensity (obtaining) according to the current value that flows through in the second linear magnetic field formation portion 210 and according to field signal S 2The intensity of second linear magnetic field in the existence zone of the capsule type endoscope of obtaining 2, derive between the second linear magnetic field formation portion 210 and the capsule type endoscope 2 apart from r.Derive this result apart from r, as shown in figure 40, to be positioned at from the second linear magnetic field formation portion 210 be on the curved surface 52 for the set apart from the point of r to capsule type endoscope 2 as can be known.
And position leading-out portion 241 is based on field signal S 3, canned data in the azimuth information that derives by orientation leading-out portion 240 and the magnetic line of force bearing data storehouse 242, derive the position of capsule type endoscope 2 on curved surface 52.Specifically, based on field signal S 3And azimuth information, the direct of travel in the diffusion magnetic field at the place, location of derivation capsule type endoscope 2.Because field signal S 3Be and detect the pairing signal of result in diffusion magnetic field, therefore about based on this field signal S based on the object coordinate axes 3The direct of travel in diffusion magnetic field, handle by using azimuth information to implement Coordinate Conversion to the reference coordinate axle, thereby derive the direct of travel in the diffusion magnetic field place, location, in the reference coordinate axle of capsule type endoscope 2 from the object coordinate axes.And, magnetic line of force bearing data storehouse 242 is owing to record the direct of travel in the diffusion magnetic field in the reference coordinate axle and the corresponding relation of position, therefore as shown in figure 41, position leading-out portion 241 is defined as the position of deriving the position of capsule type endoscope 2 by derive the corresponding position of direct of travel with the diffusion magnetic field of being derived with reference to canned data in the magnetic line of force bearing data storehouse 242.Derive the orientation and the position of the capsule type endoscope 2 in the subject 1 by carrying out above processing, the completing place is detected.
Carry out above position probing action repeatedly along with the reception of the wireless signal that sends repeatedly from capsule type endoscope 2 sides.The orientation of detected capsule type endoscope 2 and position are recorded in the portable type storage medium 5 via record portion 243, use when coexisting doctor's etc. diagnosis with the view data one of same record.
The control treatment of driving timing of wireless transmission part 19 grades of the transmission of carrying out the wireless signal that carries out in capsule type endoscope 2 then, is described.Figure 42 is the flow chart that is used to illustrate the control treatment of the driving timing that the timing control part 21 that had by capsule type endoscope 2 carries out.
As shown in figure 42, timing control part 21 is obtained the translational speed (step S201) of the capsule type endoscope 2 of being derived by speed leading-out portion 228, judges that whether obtained translational speed is greater than the threshold value of stipulating (step S202).Under situation (step S202, "No"), drive cycle is set at the long period (step S203) of regulation less than threshold value.On the other hand, under situation (step S202, "Yes"), drive cycle is set at the short period (step S204) of the regulation shorter than long period greater than threshold value.Then, generate the driving timing signal (step S205) that comprises the information relevant at least, drive in-subject information obtaining section 14, magnetic field sensor 16 and wireless transmission part 19 (step S206) according to driving timing simultaneously based on the drive cycle that sets with the drive cycle of setting.
In addition, in present embodiment 9, the timing that the magnetic field of 249 pairs first linear magnetic field formation of magnetic field control part portion 209, the second linear magnetic field formation portion 210 and diffusion magnetic field formation portion 211 forms is controlled, so that its driving timing with timing control part 21 settings is synchronous.Promptly, magnetic field control part 249 is based on being generated by timing control part 21 and deriving drive cycle by signal processing part 239 reconstituted driving timing signals, and control, so that drive the first linear magnetic field formation portion 209, the second linear magnetic field formation portion 210 and diffusion magnetic field formation portion 211 according to the timing corresponding with the drive cycle of deriving.Specifically, magnetic field control part 249 is controlled the driving timing of the first linear magnetic field formation portion, 209 grades by the supply timing of the driving electric of maintenance in the control power feeding section 251.
The advantage of the introduction system into sample under test of present embodiment 9 then, is described.At first, the introduction system into sample under test of present embodiment 9 has following structure as mentioned above, promptly controls the driving timing of wireless transmission part 19, magnetic field sensor 16 and in-subject information obtaining section 14 based on the mobile status of capsule type endoscope 2.Thereby in present embodiment 9, having can be with the driving timing of wireless transmission part 19 grades at the optimized advantage of the mobile status of capsule type endoscope 2.
For example, in present embodiment 9, use of the control of the translational speed of capsule type endoscope 2 as mobile status.Specifically, timing control part 21 is controlled, under the situation of capsule type endoscope 2 high-speed mobile, drive cycle is set at the short period, under the situation that low speed moves, drive cycle is set at long period, according to the corresponding driving timing of setting of drive cycle, wireless transmission part 19 grades are moved.Thereby under the low situation of the translational speed of capsule type endoscope 2, the frequency of the transmission of generation wireless signal etc. reduces, and can reduce the advantage of useless action in capsule type endoscope 2.
Usually, under the situation that capsule type endoscope 2 low speed move, the displacement of the capsule type endoscope 2 of time per unit also reduces, therefore in the short period, be roughly same direction, intensity by magnetic field sensor 16 detected first linear magnetic fields etc., lack necessity with short period driving magnetic field pick off 16 grades.Thereby, in present embodiment 9, by under the low situation of the translational speed of capsule type endoscope 2, drive cycle being made as long period, thereby avoid the transmission that repeatedly repeats the detection in same magnetic field and comprise the wireless signal of the information relevant, and suppress capsule type endoscope 2 and invalidly move with same magnetic field.
By adopting such structure, have miscellaneousization of the processing that can avoid introduction system into sample under test integral body, and can reduce the advantages such as power consumption in the capsule type endoscope 2.Capsule type endoscope 2 is for example in order to be contained in the capsule and have the structure that the limited electric power by small-sized supplies such as one-shot battery drives usually.Thereby the electric power that capsule type endoscope 2 can utilize does not have the limit, by adopting the structure of present embodiment 9, avoids the advantage of the power consumption that useless action causes to become very remarkable.
In addition, in flow chart shown in Figure 42, in step S202, derive the magnitude relationship with the threshold value of regulation, and set two groups of cycles, but, also can use cycle set algorithm arbitrarily as long as decide drive cycle according to translational speed according to magnitude relationship.Specifically, the value that a plurality of threshold values increase corresponding drive cycle can be set, also can set drive cycle so that translational speed and drive cycle long-pending becomes certain value.Be under the situation of roughly certain value making amassing of translational speed and drive cycle especially, each and translational speed irrespectively mobile about equally apart from the time carry out the transmission etc. of wireless signal, can carry out the detection of the change in location etc. of capsule type endoscope 2 effectively, reduce the power consumption of capsule type endoscope 2 simultaneously.
In addition, in present embodiment 9, has the advantage of the power consumption in the checkout gear 203 that also dips.That is, constitute the magnetic field control part 249 that the blood processor 212 of position detecting device 203 had and have the function of controlling the driving condition of the first linear magnetic field formation portion, 209 grades based on the driving timing signal.Specifically, magnetic field control part 249 is controlled by the driving timing signal that generates based on the timing control part 21 that is had by capsule type endoscope 2, and the timing that can only carry out magnetic field detection at magnetic field sensor 16 drives the first linear magnetic field formation portion 209, the second linear magnetic field formation portion 210 and diffusion magnetic field formation portion 211.As mentioned above, the first linear magnetic field formation portion 209 has the function that the electric power of supplying with based on the power feeding section 251 that is possessed from blood processor 212 forms magnetic field.Thereby, compare with the situation that formed like that magnetic field during whole in the past, make the driving timing optimization by the drive cycle that cooperates magnetic field sensor 16, thereby can reduce the power consumption of power feeding section 251.
(variation)
The variation of the introduction system into sample under test of embodiment 9 then, is described.In the introduction system into sample under test of this variation, have mobile status as capsule type endoscope, detect the vibrational state of capsule type endoscope, and carry out the structure of driving timing control based on vibrational state.
Figure 43 is the schematic block diagram of the structure of the expression capsule type endoscope 254 that constitutes this variation.As shown in figure 43, replace the speed leading-out portion and vibration detecting part 255 newly is set in this variation, timing control part 256 has the structure based on the testing result control driving timing of vibration detecting part 255.
Speed leading-out portion 228 among vibration detecting part 255 and the embodiment 9 is used to detect the mobile status of capsule type endoscope 254 equally, is used for detecting as mobile status the vibrational state of capsule type endoscope 254.Specifically, vibration detecting part 255 is made of acceleration transducer, cantilever etc., has the function of the vibrational state that detects capsule type endoscope 254.Here, ' vibrational state ' is the generalized concept of expression with the state of the acceleration movement more than a certain threshold value, is not defined as single oscillating movement etc.
The advantage of this variation is described.In this variation,, use vibrational state as the mobile status of capsule type endoscope 254, for example, when capsule type endoscope 254 stopped in subject 1 inside, timing control part 256 can be made as drive cycle infinity (that is, temporarily stopping the function of magnetic field sensor 216 grades).Thereby, can prevent when stopping (indeclinable period of position) driving magnetic field pick off 216 etc. invalidly, its result can reduce power consumption.
In addition, in this variation, have when position probing, the structure that also derives of orientation by 240 pairs of capsule type endoscopes 254 of orientation leading-out portion similarly to Example 9, sometimes capsule type endoscope 254 rests in the zone of regulation (that is, the value of translational speed is under 0 the state) and directly changes the orientation.In this variation, because the function that has the vibration of detecting and carry out the control of driving timing, therefore keep 0 state for translational speed and change simultaneously under the situation in orientation at capsule type endoscope 254 and also can driving timing according to the rules move, have the advantage that also can carry out position probing (the particularly derivation in orientation) for this situation reliably.
Embodiment 10
The introduction system into sample under test of embodiment 10 then, is described.Adopt following structure in the introduction system into sample under test of present embodiment 10, promptly derive the mobile status of capsule type endoscope in the position detecting device side, and the information relevant with the mobile status of derivation to the capsule type endoscope wireless transmission.In addition, in the following description, symbol, the needing only of title of giving similarly to Example 9 do not have same structure, function following just not mentioning especially with embodiment 9.
Figure 44 is the integrally-built sketch map of the introduction system into sample under test of expression present embodiment 10.As shown in figure 44, the introduction system into sample under test of present embodiment 10 has same with the introduction system into sample under test of embodiment 9 basically structure, and on the other hand, position detecting device 258 has the structure that newly comprises transmitting antenna 259a～259d.
The capsule type endoscope 257 of the introduction system into sample under test that constitutes present embodiment 10 then, is described.Figure 45 is a structure of schematically representing capsule type endoscope 257.As shown in figure 45, capsule type endoscope 257 is same as the capsule type endoscope 2 among basic structure and the embodiment 9, on the other hand, has the structure of signal processing part 264 that newly comprises the wireless receiving portion 261 that the reception of carrying out the wireless signal that sends from position detecting device 258 is handled and be used for extracting the translational speed of capsule type endoscope 257 from the signal of handling by wireless receiving portion 261.
Wireless receiving portion 261 is used to receive processing, promptly receives the wireless signal that sends from position detecting device 258, and extracts the original signal of stipulating by carrying out demodulation etc.Specifically, wireless receiving portion 261 constitutes by the reception antenna 262 that is used to receive wireless signal with to the receiving circuit 263 that the wireless signal that receives by reception antenna 262 carries out receptions processing such as demodulation.
Signal processing part 264 is used for reconstructing the information that comprises the wireless signal based on the original signal that is extracted from wireless signal by wireless receiving portion 261.In present embodiment 10, as described later, contain the information relevant with the translational speed of capsule type endoscope 257 from the wireless signal that position detecting device 258 sends, signal processing part 264 has the function of extracting the information relevant with the translational speed of capsule type endoscope 257 and timing control part 221 being exported.
Then, the structure of the blood processor 260 that had of detail bit detection device 258.Figure 46 is the schematic block diagram of the structure of expression blood processor 260.As shown in figure 46, blood processor 260 have basically with embodiment 9 in the same structure of blood processor 212, on the other hand, comprising: translational speed leading-out portion 267, its information based on record in the record portion 243 derives the translational speed of capsule type endoscope 257; Transtation mission circuit 268, its generation contains the wireless signal of the information relevant with translational speed; And transmitting antenna selection portion 269, it selects to send the antenna of the wireless signal that is generated by transtation mission circuit 268.
Translational speed leading-out portion 267 is used for the position probing result based on the past relevant with capsule type endoscope 257, derives the translational speed of capsule type endoscope 257.Specifically, record portion 243 has about the function of a plurality of moment records by the position of the capsule type endoscope 257 of position leading-out portion 241 derivation as also illustrating among the embodiment 9.The position in a plurality of moment in the past of the capsule type endoscope 257 of translational speed leading-out portion 267 by obtaining in the record portion 243 record and with the relevant information of the moment that derives the position, carry out the derivation of the translational speed of capsule type endoscope 257.Specifically, for example suppose that capsule type endoscope 257 is at moment t 1Be positioned at (x 1, y 1, z 1), from moment t 1Passed through the moment t of Δ t 2Be positioned at (x 2, y 2, z 2).Movement speed v can use these information to pass through
v＝{(x 2-x 1) 2+(y 2-y 1) 2+(z 2-z 1) 2} 1/2/Δt...(2)
Definition.
Transtation mission circuit 268 is used to generate the wireless signal that contains the information relevant with the translational speed of translational speed leading-out portion 267 derivation.Specifically, transtation mission circuit 268 generates wireless signal by carrying out necessary processing such as modulation treatment.
Transmitting antenna selection portion 269 is used for selecting the transmitting antenna 259a～259d of a plurality of configurations to be suitable for the transmitting antenna of the transmission of wireless signal most.Specifically, same with reception antenna selection portion 237, transmitting antenna selection portion 269 has the function of selecting transmitting antenna based on the control of selecting control part 248 from transmitting antenna 259a～259d.In addition, constitute wireless transmission part 270 by transtation mission circuit 268, transmitting antenna selection portion 269 and transmitting antenna 259a～259d.
The advantage of the introduction system into sample under test of present embodiment 10 then, is described.The introduction system into sample under test of present embodiment 10 has following structure similarly to Example 9, the i.e. driving timing of magnetic field sensor 216 grades that had according to the translational speed of capsule type endoscope 257 control capsule type endoscope 257, the magnetic field of the first linear magnetic field formation portion 209 that had of control position checkout gear 258 forms regularly simultaneously.Thereby, be suppressed at similarly to Example 9 in capsule type endoscope 257 grades and carry out useless action, and have the advantage that reduces power consumption etc.
In addition, in present embodiment 10, have the structure that the translational speed leading-out portion 267 that is had by blood processor 260 carries out the translational speed of capsule type endoscope 257, have new advantage by adopting this structure.At first, in present embodiment 10, needn't have the advantage that prevents that capsule type endoscope 257 from maximizing at the internal configurations speed leading-out portion of capsule type endoscope 257.
Embodiment 11
The introduction system into sample under test of embodiment 11 then, is described.The introduction system into sample under test of embodiment 11 has first linear magnetic field of replacement, carries out the function of position probing by using earth magnetism.
Figure 47 is the integrally-built sketch map of the introduction system into sample under test of expression embodiment 11.As shown in figure 47, the introduction system into sample under test of present embodiment 11 comprises capsule type endoscope 2, display device 4 and portable type recording medium 5 similarly to Example 9, on the other hand, and the structure difference of position detecting device 272.Specifically, have and omitted the first linear magnetic field formation portion 209 that position detecting device had in embodiment 9 grades, and newly have the structure of geomagnetic sensor 273.In addition, also have and different structures such as embodiment 9 about blood processor 274.
Geomagnetic sensor 273 has basically the same structure of the magnetic field sensor that had with capsule type endoscope 2 16.That is, geomagnetic sensor 273 has in the zone that is configured, and detects the intensity of three axial magnetic-field components of regulation, and the function of the output signal of telecommunication corresponding with detected magnetic field intensity.On the other hand, geomagnetic sensor 273 is different with magnetic field sensor 16, is configured on the surface of subject 1, has to detect and the intensity of corresponding magnetic-field component of function distinguish to(for) the direction of x axle, y axle and z axle in the subject 1 fixed reference coordinate axle.That is, geomagnetic sensor 273 has the function of the direct of travel that detects earth magnetism, has blood processor 274 outputs and structure about the corresponding signal of telecommunication of x direction of principal axis, y direction of principal axis and the detected magnetic field intensity of z direction of principal axis.
Then, blood processor 274 in the present embodiment 11 is described.Figure 48 is the block diagram of the structure of expression blood processor 274.As shown in figure 48, blood processor 274 have basically with embodiment 9 in the same structure of blood processor 212, has magnetic azimuth leading-out portion 275 on the other hand, it is based on the direct of travel of deriving the earth magnetism on the reference coordinate axle from the signal of telecommunication of geomagnetic sensor 273 input, and results are derived in 240 outputs to the orientation leading-out portion.
What become problem under the situation of utilizing earth magnetism as first linear magnetic field is derivation for the direct of travel of the earth magnetism on the subject 1 fixed reference coordinate axle.That is and since capsule type endoscope 2 move in vivo during, subject 1 also can act on one's own, therefore prediction changes along with moving of subject 1 for the relation of the position between subject 1 fixed reference coordinate axle and the earth magnetism.On the other hand, from the viewpoint of derived object coordinate axes with respect to the position relation of reference coordinate axle, under the situation that the direct of travel of first linear magnetic field in the reference coordinate axle is failed to understand, generation can not make the clear and definite problem of corresponding relation of reference coordinate axle and object coordinate axes about the direct of travel of first linear magnetic field.
Thereby, in present embodiment 11, for the direct of travel that monitors the earth magnetism that changes owing to the mobile grade of subject 1 on the reference coordinate axle has geomagnetic sensor 273 and magnetic azimuth leading-out portion 275.That is, based on the testing result of geomagnetic sensor 273, magnetic azimuth leading-out portion 275 is derived the direct of travel of the earth magnetism on the reference coordinate axles, and will derive the result and output to orientation leading-out portion 240.With respect to this, orientation leading-out portion 240 comes to cooperate the corresponding relation in second linear magnetic field about the direct of travel derivation reference coordinate axle of earth magnetism and the corresponding relation of object coordinate axes by the direct of travel that uses the earth magnetism of importing, and can derive azimuth information.
In addition, according to the direction of subject 1, the direct of travel of earth magnetism and to form second linear magnetic field that portion 210 forms by second linear magnetic field parallel to each other sometimes.In this case, by use and the orientation of the object coordinate axes of previous moment and the relevant data in position of initial point, can carry out the detection of position relation.In addition, parallel to each other for fear of the earth magnetism and second linear magnetic field, the bearing of trend that constitutes the coil 233 of the second linear magnetic field formation portion 210 is not to be the y direction of principal axis in the reference coordinate axle as shown in Figure 3, but the structure of for example extending on the z direction of principal axis also is effective.
The advantage of the position detecting device of present embodiment 11 then, is described.The position detecting device of present embodiment 11 also has the further advantage of utilizing earth magnetism to produce except the advantage of embodiment 9.Promptly, by adopting the structure of utilizing earth magnetism as first linear magnetic field, can become the structure of having omitted the mechanism that forms first linear magnetic field, the burden of the subject 1 the during importing that can alleviate capsule type endoscope 2, the derived object coordinate axes is with respect to the position relation of reference coordinate axle simultaneously.Therefore in addition, geomagnetic sensor 273 can use formations such as MI pick off, and abundant miniaturization can not increase the burden of subject 1 owing to geomagnetic sensor 273 newly is set.
In addition, by adopting the structure that earth magnetism is utilized as first linear magnetic field, also has advantage from reducing the viewpoint that consumes electric power.That is, under the situation of using formation first linear magnetic fields such as coil, the electric current that electric power consumption is crossed owing to coil midstream etc. increases, but needn't consume this electric power by utilizing earth magnetism, therefore can realize the system of low consumption electric power.
Utilizability on the industry
As mentioned above, position detecting device of the present invention and introduction system into sample under test are imported into inside of human body, useful for the medical observation device of observing tested position, be specially adapted to form necessity and fully position probing carry out the position probing of the detected objects such as capsule type endoscope with magnetic field.

Claims (26)

1. position detecting device, this position detecting device at least first constantly and from this first second moment of having passed through the stipulated time constantly, the position probing that use has a position dependence about intensity is carried out the position probing of detected object with magnetic field, this position detecting device is characterised in that, comprising:
Magnetic field forms the unit, and its position probing that forms intensity variable is used magnetic field;
Position lead-out unit, its described position probing that goes out based on the position probing that exists at described detected object are derived the position of described detected object with the intensity in magnetic field; And
The magnetic field intensity control unit, its position based on the described detected object in described first moment is controlled described magnetic field and is formed the unit, so that in described second moment, described position probing forms with magnetic field can be by the intensity of described detected object detection.
2. position detecting device as claimed in claim 1, it is characterized in that, this position detecting device also comprises the scope lead-out unit, this scope lead-out unit is based on the position of the described detected object in described first moment, may there be scope in derivation, may there be scope in this is the scope that may exist at described described detected object of second moment
Described magnetic field intensity control unit is controlled described magnetic field and is formed the unit, uses magnetic field so that form described position probing in the scope in may existing of being derived by described scope lead-out unit, and described position probing has detectable intensity with magnetic field.
3. position detecting device as claimed in claim 2 is characterized in that this position detecting device also comprises the translational speed lead-out unit, and this translational speed lead-out unit is derived the translational speed of the described detected object in the described stipulated time,
Described scope lead-out unit with bulbous region as described second constantly may have scope, this bulbous region is the center, has a radius that translational speed to described detected object multiply by the value after the described stipulated time with described first constantly the position of described detected object.
4. position detecting device as claimed in claim 2 is characterized in that, this position detecting device also comprises:
The translational speed lead-out unit, it derives the translational speed of the described detected object in the described stipulated time; And
The moving direction lead-out unit, it derives the moving direction of the described detected object in the described stipulated time,
May there be scope in the zone that described scope lead-out unit will comprise following position as described, and this position is by obtaining with respect to described first constantly the position, the value that has moved after described translational speed and described stipulated time multiplied each other to described moving direction of described detected object.
5. position detecting device as claimed in claim 3, it is characterized in that, described translational speed lead-out unit is derived described translational speed based on the variation of the position of the described detected object of being derived in a plurality of moment of having carried out position probing by described position lead-out unit.
6. position detecting device as claimed in claim 4, it is characterized in that, described translational speed lead-out unit is derived described translational speed based on the variation of the position of the described detected object of being derived in a plurality of moment of having carried out position probing by described position lead-out unit.
7. position detecting device as claimed in claim 3 is characterized in that, this position detecting device also comprises the translational speed data base of the corresponding relation between the translational speed of the position of the described detected object that has write down subject inside and described detected object,
Described translational speed lead-out unit uses the corresponding relation that writes down among the described translational speed data base to derive the translational speed of the described detected object in the described stipulated time based on the position of the described detected object in described first moment.
8. position detecting device as claimed in claim 4 is characterized in that, this position detecting device also comprises the translational speed data base of the corresponding relation between the translational speed of the position of the described detected object that has write down subject inside and described detected object,
Described translational speed lead-out unit uses the corresponding relation that writes down among the described translational speed data base to derive the translational speed of the described detected object in the described stipulated time based on the position of the described detected object in described first moment.
9. as claim 4,6 or 8 described position detecting devices, it is characterized in that, described moving direction lead-out unit is derived the moving direction of the described detected object in the described stipulated time based on the variation of the position of the described detected object of being derived in a plurality of moment of having carried out position probing by described position lead-out unit.
10. as claim 4,6 or 8 described position detecting devices, it is characterized in that, in the zone that described detected object may exist, form first linear magnetic field of advancing point-blank with respect to the reference coordinate axle of irrespectively determining with moving of described detected object, to fixed direction
Described position probing is second linear magnetic field of advancing point-blank on the direction different with described first linear magnetic field, with respect to the direction of described reference coordinate axial restraint with magnetic field,
Described moving direction lead-out unit is derived described moving direction according to the pointing direction by the described detected object that determines with respect to the relation between the direct of travel of the fixed object coordinate axes of described detected object and described first linear magnetic field and described second linear magnetic field.
11. position detecting device as claimed in claim 10 is characterized in that, described first linear magnetic field is formed by earth magnetism.
12. position detecting device as claimed in claim 1, it is characterized in that, described position lead-out unit is based on formed the unit forms near the intensity in the magnetic field that forms the unit and used magnetic field by the detected position probing of described detected object in described magnetic field intensity by described magnetic field, derive the distance between formation unit, described magnetic field and the described detected object, and use the distance that derives to derive the position of described detected object.
13. position detecting device, this position detecting device at least first constantly and from this first second moment of having passed through the stipulated time constantly, the position probing of using regulation is carried out the position probing of detected object with magnetic field, and this position detecting device is characterised in that, comprising:
More than one magnetic field forms the unit, and its part in the residing zone of described detected object possibility forms the position probing that can detect and uses magnetic field;
The choice of location unit, it forms described position probing based on described first constantly choice of location of described detected object and forms unitary position with the described magnetic field in magnetic field, so that can carry out magnetic field detection in the position of the described detected object in described second moment; And
The position lead-out unit, it derives the position of described detected object based on the intensity in the described position probing usefulness magnetic field of the position of described detected object existence.
14. position detecting device as claimed in claim 13 is characterized in that, described choice of location unit selects in predefined a plurality of position, with respect in the described first immediate position of described detected object of deriving constantly.
15., it is characterized in that formation unit, described magnetic field and predefined a plurality of position have disposed a plurality of accordingly as claim 13 or 14 described position detecting devices,
Described position detecting device also comprises driving control unit, and this driving control unit is controlled, so as described second constantly, make the corresponding described magnetic field of selecting with described choice of location unit, position form the unit to drive.
16., it is characterized in that this position detecting device also comprises as claim 13 or 14 described position detecting devices:
Holding member, it keeps described magnetic field to form the unit with state movably; And
Mobile control unit, it is controlled, so that form the position of selecting to described choice of location unit the unit and move in described second moment, described magnetic field.
17. position detecting device as claimed in claim 13, it is characterized in that, this position detecting device also comprises the scope lead-out unit, this scope lead-out unit is based on the position of the described detected object in described first moment, may there be scope in derivation what described described detected object of second moment might exist
Described choice of location unit selects the described position probing of formation to form unitary position with the described magnetic field in magnetic field, so that can carry out magnetic field detection in comprising the zone that may have scope of being derived by described scope lead-out unit.
18. position detecting device as claimed in claim 17 is characterized in that, this position detecting device also comprises:
The translational speed lead-out unit, it derives the translational speed of described detected object; And
The moving direction lead-out unit, it derives the moving direction of described detected object,
The zone that described scope lead-out unit will comprise following position be as may existing scope to derive, this position be by with respect to described first constantly described detected object the position, moved by described translational speed and the long-pending displacement that obtains of described stipulated time to described moving direction and to have obtained.
19. an introduction system into sample under test, this introduction system into sample under test comprises: the subject introducing device, and it is imported in the subject; And position detecting device, its at least first constantly and from this first second moment of having passed through the stipulated time constantly, the position probing that use has a position dependence about intensity is carried out the position probing of described subject introducing device with magnetic field, this introduction system into sample under test is characterised in that
Described subject introducing device comprises:
Magnetic field sensor, it detects the intensity in formed magnetic field at least; And
The wireless transmission unit, it sends wireless signal, and described wireless signal comprises and the relevant information of the detected magnetic field intensity of described magnetic field sensor,
Described position detecting device comprises:
Magnetic field forms the unit, and its position probing that forms intensity variable is used magnetic field;
The position lead-out unit, its based on extract the described wireless signal that receives from reception antenna via regulation, by the intensity of the detected described position probing of described magnetic field sensor with magnetic field, derive the position of described subject introducing device; And
The magnetic field intensity control unit, it forms the unit based on described first constantly described magnetic field of Position Control of described subject introducing device, so as described second constantly, make described position probing form the intensity that can detect by described magnetic field sensor with magnetic field.
20. an introduction system into sample under test, this introduction system into sample under test comprises: the subject introducing device, and it is imported in the subject; And position detecting device, its at least first constantly and from this first second moment of having passed through the stipulated time constantly, the position probing that use has a position dependence about intensity is carried out the position probing of described subject introducing device with magnetic field, this introduction system into sample under test is characterised in that
Described subject introducing device comprises:
Magnetic field sensor, it detects the intensity in formed magnetic field at least; And
The wireless transmission unit, it sends wireless signal, and described wireless signal comprises and the relevant information of the detected magnetic field intensity of described magnetic field sensor,
Described position detecting device comprises:
The position lead-out unit, its based on extract the described wireless signal that receives from reception antenna via regulation, by the intensity of the detected described position probing of described magnetic field sensor with magnetic field, derive the position of described subject introducing device;
More than one magnetic field forms the unit, and its part in the residing zone of detected object possibility forms the position probing that can detect and uses magnetic field; And
The choice of location unit, it forms described position probing based on described first constantly choice of location of described detected object and forms unitary position with the described magnetic field in magnetic field, so that can carry out magnetic field detection in the position of the described subject introducing device in described second moment.
21. an introduction system into sample under test, this introduction system into sample under test comprises: the subject introducing device, and it is imported into subject, moves in the inside of this subject; And position detecting device, it uses the position of the position probing of regulation with the described subject introducing device of the inside of the described subject of magnetic field detection, this introduction system into sample under test is characterised in that, described subject introducing device comprises: magnetic field sensor, and its described position probing that detects in this residing zone of subject introducing device is used magnetic field; The wireless transmission unit, its transmission comprises the wireless signal of the testing result of described magnetic field sensor; And timing control unit, it is based on the mobile status of this subject introducing device of described subject inside, control the driving timing of described wireless transmission unit and/or described magnetic field sensor, described position detecting device comprises: magnetic field forms the unit, and it forms described position probing and uses magnetic field; Receiving element, its reception of wireless signal that comprises the testing result of described magnetic field sensor is handled; And the position lead-out unit, it receives the described wireless signal of handling based on having been undertaken by described receiving element, derives the position of described subject introducing device of the inside of described subject.
22. introduction system into sample under test as claimed in claim 21 is characterized in that,
Described subject introducing device also comprises the speed lead-out unit of deriving the translational speed of this subject introducing device as described mobile status,
Described timing control unit is controlled described driving timing based on the translational speed that is derived by described speed lead-out unit.
23. introduction system into sample under test as claimed in claim 21 is characterized in that,
Described subject introducing device also comprises the vibration detecting unit that detects the vibrational state of this subject introducing device as described mobile status,
Described timing control unit is based on controlling described driving timing by the detected vibrational state of described vibration detecting unit.
24. introduction system into sample under test as claimed in claim 21 is characterized in that,
In the wireless signal that sends by described wireless transmission unit, also comprise the information relevant with described driving timing,
Described position detecting device also comprises the magnetic field control unit, and this magnetic field control unit is controlled described magnetic field and formed the formation of unitary magnetic field regularly based on the information relevant with described driving timing that comprises in the described wireless signal.
25. introduction system into sample under test as claimed in claim 21 is characterized in that,
Described position detecting device comprises:
The translational speed lead-out unit, it derives the translational speed of described subject introducing device based on the position of the subject introducing device in a plurality of moment of being derived by described position lead-out unit; And
Transmitting element, the wireless signal that its transmission will be comprised as information by the translational speed that described translational speed lead-out unit is derived,
Described subject introducing device also comprises:
Radio receiving unit, it carries out being handled by the reception of the described wireless signal of described transmitting element transmission; And
The translational speed leading-out portion, it derives the translational speed of this subject introducing device based on undertaken receiving the described wireless signal of handling by described radio receiving unit, and the information relevant with the translational speed that is derived is outputed to described timing control unit.
26. introduction system into sample under test as claimed in claim 25 is characterized in that,
Described position detecting device also comprises the magnetic field control unit, and this magnetic field control unit is controlled described magnetic field based on the translational speed that is derived by described translational speed lead-out unit and formed unitary magnetic field and forms timing.
CN200580029128XA 2004-08-30 2005-08-30 Position sensor and introduction-into-subject system Expired - Fee Related CN101010026B (en)

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JP2004261666A JP4388442B2 (en) 2004-09-08 2004-09-08 Position detection apparatus and in-subject introduction system
JP266067/2004 2004-09-13
JP2004266067A JP4505292B2 (en) 2004-09-13 2004-09-13 Intra-subject introduction system
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