CN101478910A - Capsule medical device and capsule medical device system - Google Patents

Capsule medical device and capsule medical device system Download PDF

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Publication number
CN101478910A
CN101478910A CNA2007800237087A CN200780023708A CN101478910A CN 101478910 A CN101478910 A CN 101478910A CN A2007800237087 A CNA2007800237087 A CN A2007800237087A CN 200780023708 A CN200780023708 A CN 200780023708A CN 101478910 A CN101478910 A CN 101478910A
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China
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mentioned
signal
capsule medical
medical instrument
magnetic field
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CNA2007800237087A
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CN101478910B (en
Inventor
内山昭夫
木村敦志
佐藤良次
千叶淳
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Olympus Corp
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Olympus Medical Systems Corp
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Priority claimed from JP2006183424A external-priority patent/JP2008011913A/en
Application filed by Olympus Medical Systems Corp filed Critical Olympus Medical Systems Corp
Priority claimed from PCT/JP2007/062909 external-priority patent/WO2008001810A1/en
Publication of CN101478910A publication Critical patent/CN101478910A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes

Abstract

Smooth guiding through the inside of a body cavity is carried out by a magnetic field applied from the outside of the body. The provided capsule medical device (1) includes a bio-information detecting device (5) for detecting bio information of the inside of a body cavity; a magnet (12) for receiving a guidance magnetic field applied from outside the body and generating a driving force; a coil (7) for receiving a position-detection magnetic field applied from outside the body and generating a position-detection signal; a filter device (8), connected to the coil (7), for attenuating an induction signal component which is generated by the guidance magnetic field incident on the coil (7); and a wireless transmission device (10) for externally transmitting the position-detection signal which has passed through the filter device (8) and the bio information which has been detected by the bio-information detecting device (5).

Description

Capsule medical instrument and capsule medical instrument system
Technical field
The present invention relates to a kind of endoceliac capsule medical instrument and capsule medical instrument system of being inserted into.
In addition, the present invention relates to a kind ofly possess the capsule medical instrument that is imported in the subject and moves and use position probing to detect the capsule medical instrument system of the position detecting device of the position of capsule medical instrument in subject inside with magnetic field with position dependence relevant with intensity in the inside of subject.
Background technology
Known a kind of capsule medical instrument system, this capsule medical instrument system is provided with Magnet in capsule medical instrument, by from the outside being worked in magnetic field to control the position and the posture (for example with reference to patent documentation 1) of capsule medical instrument.
In the capsule medical instrument system of this patent documentation 1, spiral helicine thrust is set on the outer peripheral face of capsule endoscope produces mechanism, advance capsule medical instrument from the external Magnet that makes rotating excitation field act on inside.
In addition, in this capsule medical instrument system, by the induced field that produces the magnetic field used from external generation position probing and the magnetic induction coil in vitro detection is configured in capsule medical instrument, detect endoceliac capsule medical instrument current position and towards.Thus, can be in body cavity guide capsule medical treatment device smoothly.
In addition, in recent years, a kind of capsule endoscope system (capsule medical instrument system) that uses the capsule type endoscope (capsule medical instrument) of deglutition type has been proposed in the field of endoscope.Be provided with image mechanism and wireless communication mechanisms in this capsule type endoscope.In addition, a kind of following capsule type endoscope has also been proposed: in order to observe (inspection) with this capsule type endoscope after the oral area of subject etc. imports in the body cavity, by apply from the outside magnetic force can make this capsule type endoscope in body cavity, the inside of internal organs such as for example stomach, small intestinal moves.Can take endoceliac desirable position thus.During moving in the body cavity of capsule type endoscope at subject, take the endoceliac view data obtain by capsule type endoscope and be sent to the outside successively, and be stored in to be arranged in the outside memorizer or to be displayed on and be arranged in the outside display device as image by radio communication.
In capsule-type endoscope system in the past, a kind of capsule-type endoscope system that possesses the mechanism that capsule type endoscope is detected in endoceliac position has been proposed.For example, record following a kind of capsule-type endoscope system in the patent documentation 2 described later: in the inner magnetic field that forms of the subject that imports capsule type endoscope, according to detecting capsule type endoscope in tested intravital position by the intensity that is built in the detected magnetic field of magnetic field sensor in the capsule type endoscope with position dependence relevant with intensity.
In above-mentioned capsule-type endoscope system, adopted the structure of the coil of stipulating in the subject exterior arrangement in order to form magnetic field, be made as by above-mentioned coil circulation predetermined electric current is come in the inner magnetic field that forms of subject.In said system, for example has following advantage: can obtain view data and can detect the position that gets access to view data, thereby in doctor's etc. diagnosis, understand corresponding relation between view data and the tested intravital position etc. easily.
Patent documentation 1: TOHKEMY 2005-245963 communique
Patent documentation 2: TOHKEMY 2006-75537 communique
Patent documentation 3: TOHKEMY 2006-78295 communique
Summary of the invention
The problem that invention will solve
Yet, in this capsule medical instrument system, by implement capsular guiding and capsular position probing from interaction in vitro magnetic field, therefore in the magnetic induction coil in capsule medical instrument, not only work in the magnetic field used of position probing, the rotating excitation field of the guiding usefulness of capsule medical instrument also works, thus might can't detect capsule medical instrument the tram and towards.In this case, consider the inconvenience that to carry out level and smooth guiding to capsule medical instrument.
In addition, by from the rotating excitation field of interaction in vitro be arranged on spiral helicine thrust on the outer peripheral face of capsule medical instrument and produce mechanism and make capsule medical instrument while rotating under the propulsive situation, might be because friction between capsule medical instrument and the internal organs on every side etc. and can't being rotated smoothly, thus the interior Magnet of capsule medical instrument polar towards with rotating excitation field towards becoming inconsistent.In this case, also consider the inconvenience that to carry out level and smooth guiding to capsule medical instrument.
In addition, in possessing the capsule-type endoscope system of position detecting function, in order to detect the position of capsule type endoscope, the magnetic field sensor that is configured in the outer coil of subject and is built in capsule type endoscope is moved all the time, so the power consumption of device outside the subject and capsule type endoscope is bigger.
The present invention finishes in view of the above problems, its purpose be to provide a kind of by come from the magnetic field of interaction in vitro can be in body cavity the capsule medical instrument of channeling conduct and capsule medical instrument system smoothly.
In addition, the object of the present invention is to provide a kind of capsule medical instrument and capsule medical instrument system that can in the position probing of carrying out capsule medical instrument well, reduce power consumption.
The scheme that is used to deal with problems
In order to achieve the above object, the invention provides following scheme.
First mode of the present invention provides a kind of capsule medical instrument, and this capsule medical instrument possesses: bioinformation detecting device, and it detects endoceliac Biont information; Magnet, its acceptance is used magnetic field from the guide of interaction in vitro, produces driving force; Coil, its acceptance is used magnetic field from the position probing of interaction in vitro, produces the position probing signal; Filter, it is connected on this coil, makes the induced signal composition decay that is produced with magnetic field by the above-mentioned guide of inciding in this coil; And wireless base station apparatus, its above-mentioned position probing that will pass through this filter sends to the outside with signal and by the detected Biont information of above-mentioned bioinformation detecting device.
According to first mode of the present invention, when acting as a guide with magnetic field, produce driving force by the Magnet of inside from interaction in vitro, advance endoceliac capsule medical instrument.In addition, when position probing with magnetic field during from interaction in vitro, produce the position probing signal by the coil of inside, therefore can according to the position of this position probing usefulness signal detection capsule medical instrument and towards.And, detect capsule medical instrument correct position and towards, under the state that is directed into desirable position and posture, bioinformation detecting device is moved, can detect endoceliac desirable Biont information thus.
In this case, come exogenic guide to act on the coil of inside with the both in magnetic field with magnetic field and position probing, produce induced signal by magnetic induction respectively, but be connected with filter on the coil, therefore being attenuated with the induced signal that magnetic field produces in the induced signal that produces by guide.And the action by wireless base station apparatus will make the remaining induced signal in induced signal decay back that produced with magnetic field by guide (the position probing signal that is produced with magnetic field by position probing) send to the outside with detected Biont information.Thereby, in the outside of capsule medical instrument, can receive guide with the less induced signal of influence in magnetic field, can improve the position and towards the detection degree of accuracy, thereby carry out level and smooth guiding.
In above-mentioned first mode, the direction in the opening direction of above-mentioned coil and the magnetic field that on the position of this coil, forms by above-mentioned Magnet perpendicular configuration roughly preferably.
By like this, the magnetic field that can suppress to be formed by Magnet is by in the coil, can reduce Magnet in position probing with the influence in the signal, can improve the position and towards the detection degree of accuracy carry out level and smooth guide.
In addition, in said structure, also can be made as and possess plural above-mentioned coil, the opening direction difference of each coil.
By like this, can obtain plural position probing signal according to a magnetic field from interaction in vitro, by magnetic field different more than three, can access the required position probing signal more than six of six-freedom degree of decision capsule medical instrument.
In addition, as mentioned above, also can constitute: under the different situation of the opening direction that possesses plural above-mentioned coil and each coil, above-mentioned coil is configured on the same position.
By like this, can reduce the spatial accommodation of coil, thereby with the capsule medical instrument miniaturization.
In addition, in above-mentioned first mode, also can constitute: keep according to above-mentioned position probing with signal come the detection position and towards in any required identifying information at least, above-mentioned wireless base station apparatus sends to the outside with this identifying information.
By like this, according to sending to outside identifying information and position probing signal by wireless base station apparatus, to different types of capsule medical instrument also easily the detection position and towards at least any.
In addition, in said structure, also can be made as: possess plural above-mentioned coil, above-mentioned identifying information comprises the relative position of this coil and the relative angle of opening direction.
In addition, in said structure, also can be made as: possess plural above-mentioned coil, above-mentioned identifying information comprises the relative angle between the direction of magnetization of the opening direction of the relative position of relative position, relative angle, above-mentioned coil and above-mentioned Magnet of this coil and above-mentioned coil and above-mentioned Magnet.
By like this, according to the relative angle and the position probing signal of the direction of magnetization of the opening direction of the relative angle of the relative position of plural coil, opening direction and/or coil and Magnet, can easily detect capsule medical instrument the position and towards at least any.
In addition, under the different situation of the opening direction that possesses plural above-mentioned coil and each coil as mentioned above like that, also can be made as the switching device shifter that switches that is connected that possesses between above-mentioned plural coil and the above-mentioned filter.
By like this, can reduce the number of filter, thereby realize the miniaturization and of capsule medical instrument.
In addition, in above-mentioned first mode, also can be made as: possess the position probing signal processing apparatus, this position probing is synchronously moved with signal processing apparatus and above-mentioned bioinformation detecting device, wherein, above-mentioned position probing is handled with signal the above-mentioned position probing of having passed through above-mentioned filter with signal processing apparatus and is input to wireless base station apparatus.
By like this, can make by position probing and carry out synchronously with the Signal Processing and the detection of the Biont information that is undertaken by bioinformation detecting device with the position probing that signal processing apparatus carries out, except position probing with magnetic field during from external action, stop position detects and uses Signal Processing, thereby can realize power saving.
In addition, as mentioned above, possessing under the situation of above-mentioned switching device shifter, also can be made as above-mentioned switching device shifter and above-mentioned bioinformation detecting device are synchronously moved.
In addition, second mode of the present invention provides a kind of capsule medical instrument system, and this capsule medical instrument system possesses: any above-mentioned capsule medical instrument; And be configured in external external device (ED), and wherein, this external device (ED) possesses: radio receiver, and it receives the signal that sends over from above-mentioned wireless base station apparatus; The position probing signal extracting device, it extracts above-mentioned position probing signal from the signal that is received by this radio receiver; The locality calculating apparatus, its according to the position probing that extracts with signal extracting device by this position probing with signal calculate above-mentioned capsule medical instrument the position and towards at least any; Guide is used magnetic field generation device, and it produces above-mentioned guide and uses magnetic field; And the position probing magnetic field generation device, it produces above-mentioned position probing and uses magnetic field.
According to second mode of the present invention, when guide produces driving force, pushing body intracavity capsule medical instrument by the Magnet of capsule medical instrument inside with magnetic field during from interaction in vitro with the action of magnetic field generation device by guide that external device (ED) possessed.And, detect endoceliac Biont information by the action of the bioinformation detecting device in the capsule medical instrument.
In addition, when position probing produces the position probing signal by the coil of capsule medical instrument inside with magnetic field during from interaction in vitro with the action of magnetic field generation device by position probing that external device (ED) possessed.And the position probing of generation is sent to external decayed by the induced signal composition of guide with the effect generation in magnetic field by filter after with signal with Biont information by the action of wireless base station apparatus.
Be sent to external position probing and receive by radio receiver that external device (ED) possessed with signal, after coming out with signal extracting device separation and Extraction from Biont information, be used in by the locality calculating apparatus by position probing the position of calculating capsule medical instrument and towards at least any.By the action of filter, from be used for calculating the position and towards position probing make by guide with the induced signal composition decay that magnetic field produces with signal, therefore can calculate accurately the position and towards, thereby guide capsule medical treatment device smoothly.And, can detect endoceliac desirable Biont information by the capsule medical instrument that is directed into desirable position and posture.
In addition, Third Way of the present invention provides a kind of capsule medical instrument system, and this capsule medical instrument system possesses: any above-mentioned capsule medical instrument; And be configured in external external device (ED), and wherein, this external device (ED) possesses: radio receiver, and it receives the signal that sends over from above-mentioned wireless base station apparatus; Information extracting device, it extracts above-mentioned position probing signal and above-mentioned identifying information from the signal that is received by this radio receiver; The locality calculating apparatus, its according to the position probing that extracts by this information extracting device with signal and identifying information calculate above-mentioned capsule medical instrument the position, towards and the direction of magnetization of Magnet; Guide is used magnetic field generation device, and it produces above-mentioned guide and uses magnetic field; And the position probing magnetic field generation device, it produces above-mentioned position probing and uses magnetic field.
According to Third Way of the present invention, the identifying information that keeps in the identifying information holding device of capsule medical instrument is received by external device (ED) by the wireless base station apparatus of capsule medical instrument and the radio receiver of external device (ED).Externally in the device, according to the position probing that extracts by information extracting device with signal and identifying information, by the action of locality calculating apparatus calculate with coming pinpoint accuracy capsule medical instrument the position, towards and the direction of magnetization of Magnet.Thus, even employed capsule medical instrument is changed, also guide capsule medical treatment device more smoothly.
In addition, cubic formula of the present invention provides a kind of capsule medical instrument system, and this capsule medical instrument system possesses: above-mentioned capsule medical instrument; And be configured in external external device (ED), and wherein, this external device (ED) possesses: radio receiver, and it receives the signal that sends over from above-mentioned wireless base station apparatus; Information extracting device, it extracts above-mentioned position probing signal from the signal that is received by this radio receiver; Identifying information holding device, its maintenance comprise the identifying information of the relative angle of the relative position of plural coil of above-mentioned capsule medical instrument and opening direction; The locality calculating apparatus, it is according to the identifying information read from this identifying information holding device with by the position probing signal that above-mentioned information extracting device extracts, calculate above-mentioned capsule medical instrument the position, towards and the direction of magnetization of Magnet; Guide is used magnetic field generation device, and it produces above-mentioned guide and uses magnetic field; And the position probing magnetic field generation device, it produces above-mentioned position probing and uses magnetic field.
According to cubic formula of the present invention, according to the identifying information that keeps in the identifying information holding device that external device (ED) possessed with from the position probing that capsule medical instrument sends over signal, by the action of locality calculating apparatus calculate with coming pinpoint accuracy capsule medical instrument the position, towards and the direction of magnetization of Magnet.Thus, by the identifying information of the employed capsule medical instrument of prior registration, thus guide capsule medical treatment device more smoothly.
In aforesaid way, also can be made as position according to the capsule medical instrument of calculating by above-mentioned locality calculating apparatus, towards and the direction of magnetization of Magnet above-mentioned guide is controlled with magnetic field generation device.
By like this, can according to the position of capsule medical instrument, towards and the direction of magnetization of Magnet, produce best guide and use magnetic field, thus guide capsule medical treatment device more smoothly.
The 5th mode of the present invention provides a kind of capsule medical instrument, this capsule medical instrument is imported in the subject, obtain the Biont information of this subject, and receive the position probing signal that the external device (ED) outside being arranged on above-mentioned subject sends, this capsule medical instrument has: Biont information deriving means (bioinformation detecting device), and it obtains the Biont information of above-mentioned subject; Signal receiving device, the action of itself and this Biont information deriving means synchronously carry out the reception action of above-mentioned position probing with signal; And wireless base station apparatus, it sends the accessed above-mentioned Biont information of above-mentioned Biont information deriving means, the received position probing information of signal and the synchronizing signal synchronous with the action of this signal receiving device of above-mentioned signal receiving device.
In the capsule medical instrument that constitutes like this, because signal receiving device and wireless base station apparatus can synchronously move, therefore signal receiving device can move knowing in advance under the state of positions such as phase place detection with the state of signal of position probing with signal that external device (ED) (position probing signal generation device) is produced, thereby can only when dbjective state signal receiving device be moved.Thus, can suppress movement time, thereby reduce the power consumption of capsule medical instrument for shorter.
And preferably constitute: above-mentioned Biont information deriving means periodically obtains the Biont information of above-mentioned subject, and the action of above-mentioned signal receiving device and above-mentioned Biont information deriving means synchronously receives action repeatedly and action is ended.
In the capsule medical instrument that constitutes like this, signal receiving device alternately receives action repeatedly and (that is, intermittently moving) ended in action, therefore can reduce power consumption.
And, in this capsule medical instrument, send and synchronous synchronizing signal of the action cycle of signal receiving device from wireless base station apparatus, therefore according to this synchronizing signal can know that signal receiving device moves during.Thus, can make produce position probing with the external device (ED) (position probing signal generation device) of signal only signal receiving device move during move, abort actions during in addition, thus can reduce the power consumption of external device (ED).
At this, the Biont information deriving means also can be to take the image pickup part that comes output image signal in the subject, and synchronizing signal also can be the signal that is included in advance in the picture signal that image pickup part exports.
In this case, can use in the picture signal signal (for example synchronizing signal) that originally comprises obtain with external device (ED) synchronously.Thus, only capsule medical instrument is in the past just revised a little and can be accessed capsule medical instrument of the present invention.
This synchronizing signal can be the vertical synchronizing signal of picture signal, in addition, also can be the horizontal-drive signal of picture signal.
In addition, having the image information captured to image pickup part at capsule medical instrument compresses and generates under the situation of data compression device of compressing image signal, the vertical synchronizing signal of picture signal, the horizontal-drive signal of picture signal also are compressed, and can't directly detect these synchronizing signals from compressing image signal itself.In this case, also can from compressing image signal, detect can determine the position data (for example data block of the beginning of compressing image signal) with it as the synchronizing signal utilization.
In addition, this capsule medical instrument also can constitute above-mentioned signal receiving device with the action of above-mentioned Biont information deriving means during move during different.
In this case, side in Biont information deriving means and the signal receiving device move during the opposing party's abort actions, the reduction of the voltage that power supply unit provided of the capsule medical instrument in the time of therefore can suppressing these devices and move, thereby the influence that reduction caused that voltage is provided that can alleviate the device that loads for capsule medical instrument.
In addition, the 6th mode of the present invention provides a kind of capsule medical instrument system, and this capsule medical instrument system has: the capsule medical instrument of the invention described above, and it is imported in the subject, obtain the Biont information of this subject, and this Biont information of wireless transmission; And external device (ED), it is set at outside the above-mentioned subject, receives the above-mentioned Biont information that above-mentioned capsule medical instrument sends, and wherein, the said external device has: position probing signal generation device, its wireless transmission position probing signal; Radio receiver, it receives the signal that above-mentioned wireless base station apparatus sent of above-mentioned capsule medical instrument; Device for extracting synchronizing signal, it extracts above-mentioned synchronizing signal from the received signal of this radio receiver; And synchronizer, its basis makes above-mentioned position probing regularly synchronous with the action of the signal receiving device of above-mentioned capsule medical instrument with the generation timing of signal with the above-mentioned position probing of signal generation device by the above-mentioned synchronizing signal that this device for extracting synchronizing signal extracts.
In the capsule medical instrument system that constitutes like this, because signal receiving device and wireless base station apparatus can synchronously move, therefore signal receiving device can move knowing in advance under the state of positions such as phase place detection with the state of signal of position probing with signal that external device (ED) (position probing signal generation device) is produced, so can only when dbjective state signal receiving device be moved.Thus, movement time can be suppressed, thereby the power consumption of capsule medical instrument can be reduced for shorter.
In addition, alternately move and end (that is, intermittently moving) repeatedly, can reduce the power consumption of capsule medical instrument by the signal receiving device that makes capsule medical instrument.
In addition, by control device position probing is regularly controlled with the action of signal generation device.Control device makes position probing regularly synchronous with the action of the signal receiving device of capsule medical instrument with the generation timing of signal according to the synchronizing signal that wireless base station apparatus sent of capsule wireless dispensing device.
Promptly, in this capsule medical instrument system, can make to be set at the outer position probing of subject and only to move during the signal receiving device effect with signal generation device, therefore abort actions during in addition can reduce the power consumption of external device (ED).
At this, the above-mentioned signal receiving device of above-mentioned capsule medical instrument constitutes repeatedly to move at interval across regular time and receives a plurality of above-mentioned position probing signals, the above-mentioned locality accountant of said external device also can have: the frequency selection portion, and it extracts the above-mentioned position probing signal corresponding frequency content received with above-mentioned radio receiver; And the locality data processing division, its according to the frequency content of selecting by this frequency selection portion calculate above-mentioned capsule medical instrument the position and towards at least any.
In this case, by the frequency selection portion the received signal of the radio receiver of external device (ED) (signal that comprises the signal that wireless base station apparatus sent of capsule medical instrument) is handled, extracted and the above-mentioned position probing corresponding frequency content of signal.
Promptly, from the received signal of the radio receiver of external device (ED), extract the signal that wireless base station apparatus sent (signal that comprises the received a plurality of position detection signals of signal receiving device) of capsule medical instrument, remove unwanted compositions such as denoising.
Thus, can reduce the data processing amount of locality data processing division.In addition, have at position bearing data handling part under the situation of the storage device (also comprising the storage device that carries out placeholder record) of preserving the received signal of radio receiver, in storage device only storage calculate capsule medical instrument the position and towards in any required minimal information at least get final product, so can reduce the memory capacity of storage device.
And, also can constitute: above-mentioned locality accountant has the FFT handling part, this FFT handling part carries out Fourier transformation to the signal that is received by above-mentioned radio receiver, the said frequencies selection portion is accepted the result of above-mentioned FFT handling part, extracts and the above-mentioned position probing corresponding frequency content of signal.
In this case, by the FFT handling part the received signal of the radio receiver of external device (ED) (signal that comprises the signal that wireless base station apparatus sent of capsule medical instrument) is handled, according to this result, the frequency selection portion is extracted and the position probing corresponding frequency content of signal.
Promptly, from the received signal of the radio receiver of external device (ED), extract the signal that wireless base station apparatus sent (comprising the signal of the received a plurality of position probing of signal receiving device) of capsule medical instrument, remove unwanted compositions such as denoising with signals.
Thus, can reduce the data processing amount of locality data processing division.In addition, have at position bearing data handling part under the situation of the storage device (also comprising the storage device that carries out placeholder record) of preserving the received signal of radio receiver, in storage device only storage calculate capsule medical instrument the position and towards in any required minimal information at least get final product, so can reduce the memory capacity of storage device.
In addition, also can be made as: above-mentioned capsule medical instrument has Magnet in inside, the said external device has guide and uses magnetic field generation device, this guide acts on above-mentioned Magnet with the magnetic field generation device generation and guides the guide of above-mentioned capsule medical instrument to use magnetic field, and the above-mentioned signal receiving device of above-mentioned capsule medical instrument has removes the filter of above-mentioned guide with the frequency content that magnetic field had.
When the time spent is done to the signal receiving device of capsule medical instrument in magnetic field, produce induced signal by magnetic induction.
Therefore, as mentioned above, filter is set on signal receiving device, makes the induced signal decay that produces with magnetic field by guide in the induced signal of generation by filter thus.Thus, reduce guide is used signal to the received position probing of signal receiving device with magnetic field influence, therefore correctly the detection position is detected and is used signal, thereby the position probing that can improve capsule medical instrument is come guide capsule medical treatment device smoothly with degree of accuracy.
The effect of invention
According to the present invention, playing can be by coming in body cavity the effect of guide capsule medical treatment device smoothly from the magnetic field of interaction in vitro.
In addition, according to capsule medical instrument involved in the present invention and capsule medical instrument system, can in the position probing of carrying out capsule medical instrument well, reduce power consumption.
Description of drawings
Fig. 1 is the overall structure figure of the related capsule medical instrument system of expression first embodiment of the present invention.
Fig. 2 is the block diagram of the capsule medical instrument system of Fig. 1.
Fig. 3 is the block diagram of the related capsule medical instrument of expression present embodiment.
Fig. 4 is the longitudinal section of the capsule medical instrument of presentation graphs 3.
Fig. 5 is that expression is built in position probing in the capsule medical instrument of Fig. 3 with the block diagram of signal processing part.
Fig. 6 is the block diagram of external device (ED) of the capsule medical instrument system of presentation graphs 1.
Fig. 7 is the oscillogram that is illustrated in the capsule medical instrument of Fig. 3 by an example of the coil-induced induced signal that goes out of magnetic field sensor.
Fig. 8 is illustrated in to be imported into the oscillogram of position probing with an example of the induced signal in the signal processing part in the capsule medical instrument of Fig. 3.
Fig. 9 is the block diagram of the related capsule medical instrument of expression second embodiment of the present invention.
Figure 10 is the longitudinal section of the capsule medical instrument of presentation graphs 9.
Figure 11 is the longitudinal section of variation of the capsule medical instrument of expression Figure 10.
Figure 12 is the block diagram of variation of external device (ED) of the capsule medical instrument system of presentation graphs 6.
Figure 13 is the overall structure figure of the related capsule medical instrument system of expression the 3rd embodiment of the present invention.
Figure 14 is the block diagram of the capsule medical instrument system of Figure 13.
Figure 15 is the block diagram of the related capsule medical instrument of expression the 3rd embodiment of the present invention.
Figure 16 is the longitudinal section of the capsule medical instrument of expression Figure 15.
Figure 17 is the block diagram that expression is built in the induced signal handling part in the capsule medical instrument of Figure 15.
Figure 18 is the block diagram of external device (ED) of the capsule medical instrument system of expression Figure 13.
Figure 19 is the periodic time diagram of action of the related capsule medical instrument system of expression the 3rd embodiment of the present invention.
Description of reference numerals
M 1: guide is used magnetic field; M 2: position probing is used magnetic field; 1,1 ': capsule medical instrument; 2: the capsule medical instrument system; 3: external device (ED); 5: image pickup part (bioinformation detecting device); 7,7a, 7b: coil; 8: wave filter (filter); 9: position probing signal processing part (position probing signal processing apparatus); 10: wireless transmitter (wireless base station apparatus); 12: permanent magnet (Magnet); 30: guide is used magnetic field generating unit (guide is used magnetic field generation device); 33: wireless receiver (radio receiver); 34: data separating unit (position probing signal extracting device); 38: position probing magnetic field generating unit (position probing magnetic field generation device); 43: locality calculating part (locality calculating apparatus); 52: switching part (switching device shifter); 101: capsule medical instrument; 102: the capsule medical instrument system; 103: external device (ED); 105: image pickup part (Biont information deriving means); 106: power supply unit; 108: wave filter; 110: wireless transmitter; 130: guide is used the magnetic field generating unit; 133: wireless receiver; 138: position probing magnetic field generating unit (position probing signal generation device); 139: detection trigger portion (device for extracting synchronizing signal); 140: locality detection signal generating unit (synchronizer); 143: locality calculating part (locality data processing division); The 143a:FFT handling part; 143b: frequency selection portion; 112: permanent magnet; Re: signal receiving device.
The specific embodiment
Below with reference to Fig. 1～Fig. 8 capsule medical instrument 1 and the capsule medical instrument system 2 that first embodiment of the present invention is related is described.
As shown in Figures 1 and 2, the related capsule medical instrument system 2 of present embodiment possesses endoceliac capsule medical instrument 1 that is put to those who are investigated's (omitting diagram) and the external external device (ED) 3 that is configured in those who are investigated.
As shown in Figures 3 and 4, capsule medical instrument 1 possesses: outer package 4: its within it portion hold various device; Image pickup part (bioinformation detecting device) 5 is photographed in its body cavity to those who are investigated and is obtained image (Biont information); Power supply unit 6, its various device to outer package 4 inside provides electric power; Magnetic field sensor coil (the following coil that only is called) 7, it is according to the magnetic field M that accepts from external device (ED) 3 1, M 2Produce induced signal; Wave filter 8, it carries out filtering to the induced signal that is produced by this coil 7; Position probing signal processing part 9, it is handled with signal the position probing of having passed through wave filter 8; Wireless transmitter 10, the position probing after it will be handled use signal to external transmission; Control part 11, it is controlled with signal processing part 9 and wireless transmitter 10 power supply unit 6, image pickup part 5, position probing; And permanent magnet (Magnet) 12, it is according to the magnetic field M that accepts from external device (ED) 3 1, M 2Produce driving force.
Outer package 4 is formed by the leading section 4b of the capsule body 4a of drum, transparent semi-spherical shape and the rearward end 4c of semi-spherical shape, form the capsule container of sealing with the watertight structure, wherein, above-mentioned capsule body 4a is a central shaft with the fore and aft axis R of capsule medical apparatus 1, transmits infrared, above-mentioned leading section 4b covers the front end of this capsule body 4a, and above-mentioned rearward end 4c covers the rear end of capsule body 4a.
In addition, possessing on the outer peripheral face of the capsule body 4a of outer package 4 with fore and aft axis R is that the center is the spire 13 of the wire coil curl of circle with the cross section.
Image pickup part 5 possesses: imageing sensor (image sensor) 15, and it is configured on the face of leading section 4b side of the substrate 14a that generally perpendicularly disposes with fore and aft axis R; Lens group 16, it makes picture imaging on imageing sensor 15 of those who are investigated's body cavity inner face; And LED (Light Emitting Diode: light emitting diode) 17, it throws light on to the body cavity inner face.
Imageing sensor 15 will be transformed to the signal of telecommunication (picture signal) by the light of leading section 4b and lens group 16 imagings and export to control part 11.Complementary metal oxide semiconductors (CMOS)), CCD is as this imageing sensor 15 for example can use CMOS (Complementary Metal Oxide Semiconductor:.
In addition, on the support unit 18 that disposes on the position of the more close leading section 4b than substrate 14a, be the center a plurality of LED17 of devices spaced apart ground configuration in a circumferential direction with fore and aft axis R.
Wave filter 8 for example is configured on the aforesaid substrate 14a, for example is that cut-off frequency is the single order high pass filter of about 1kHz.
Above-mentioned position probing possesses with signal processing part 9: the A/D changer (is expressed as ADC among the figure.) 19, its position probing that will pass through wave filter 8 is transformed to digital signal with signal; And A/D convertor controls portion (is expressed as the ADC control part among the figure.) 20, it controls this A/D changer 19, and will pass to wireless transmitter 10 with signal and by the picture signal that imageing sensor 15 gets access to from the position probing of A/D changer 19 outputs in predetermined timing.
More particularly, as shown in Figure 5, A/D convertor controls portion 20 possesses: timing generative circuit 21, it is connected on the above-mentioned control part 11, generates timing signal according to clock signal C lock that receives from this control part 11 and the synchronizing signal (for example vertical synchronizing signal V-Sync) that obtains based on the picture signal that is imported into control part 11; Memorizer 22, its storage is from the position probing signal of the numeral of A/D changer 19 outputs; Multiplex adapter 23, it is with this memorizer 22, regularly generative circuit 21 and above-mentioned control part 11 are connected, according to the timing signal that comes self-timing generative circuit 21 to switching with signal and export from the picture signal of control part 11 with from the position probing of memorizer 22.In addition, timing generative circuit 21 pairs of A/D changers, 19 clock signal AD clocks and A/D conversion enable signal.
Control part 11 is electrically connected with battery 25 by substrate 14a～14d and flexible substrate 24a, 24b, and is electrically connected with imageing sensor 15 by substrate 14a, is electrically connected with LED 17 by substrate 14a, flexible substrate 24a and support unit 18.In addition, control part 11 outputs to A/D convertor controls portion 20 with imageing sensor 15 accessed picture signals, and the On/Off of imageing sensor 15 and LED 17 is controlled.
In addition, 11 pairs of wireless transmitters 10 of control part are controlled, and will send to the outside from the signal that the multiplex adapter 23 of A/D convertor controls portion 20 is exported.
That is, wireless transmitter 10 is for example so that have the picture signal and the position probing of specific length and send to the outside with the successive data mode of signal.
Permanent magnet 12 is configured in the rearward end 4c side of wireless transmitter 10.Permanent magnet 12 be configured or be geomagnetic into the orthogonal direction of fore and aft axis R (for example above-below direction among Fig. 4) on have the direction of magnetization (magnetic pole).The leading section 4b side of permanent magnet 12 possesses the switch portion 26 that is configured on the substrate 14c.Switch portion 26 has infrared ray sensor 26a, is electrically connected with power supply unit 6, and is electrically connected with battery 25 by substrate 14c and flexible substrate 24a.
In addition, be that the center equally spaced disposes a plurality of switch portion 26 in a circumferential direction with fore and aft axis R, and be configured to infrared ray sensor 26a towards the diametric(al) outside.In the present embodiment, the example that disposes four switch portion 26 is described, but the quantity of switch portion 26 is not limited to four, how many its numbers is can.
The leading section 4b side of switch portion 26 disposes battery 25, and this battery 25 is clipped between substrate 14b, the 14c.
Above-mentioned coil 7 is configured to be rolled into cylindric to the radial direction inboard of the capsule body 4a of outer package 4.Among the figure, Reference numeral 27 is the core components (magnet core) that formed by ferrite, and this core components forms central shaft and the roughly consistent cylindrical shape of fore and aft axis R.
Thus, the opening direction of coil 7 be configured in the orthogonal direction of the direction of magnetization of permanent magnet 12 on.Its result prevents the inside by coil 7, the magnetic field that formed by permanent magnet 12, makes permanent magnet 12 formed magnetic fields not exert an influence to the induced signal that produces in the coil 7.
As Fig. 2 and shown in Figure 6, said external device 3 possesses: device outside 28, it receives the signal that sends over from capsule medical instrument 1, produces the magnetic field M that position probing is used 2 External control portion 29, it generates image according to the signal that is received by this device outside 28, and calculate capsule medical instrument 1 the position and towards at least any; Guide is with magnetic field generating unit 30, its according to from the position of the capsule medical instrument 1 of these external control portion 29 outputs and towards information produce guide and use magnetic field M 1And display device 31, it is according to the picture signal display image from 29 outputs of external control portion.
Above-mentioned device outside 28 possesses: wireless receiver 33, and it receives picture signal and the position probing signal that sends over from capsule medical instrument 1 by antenna element 32; Data separating unit 34, it is separated into picture signal and position probing signal with the signal that receives; Image Data Compression portion 35, it compresses isolated picture signal; Data are synthesized portion 36, and it synthesizes with signal picture signal and isolated position probing after compressing; Memorizer 37, the data after its storage is synthetic; And position probing magnetic field generating unit 38, it produces the magnetic field M that position probing is used according to the signal that is received by wireless receiver 33 2
Include picture signal and position probing signal in the signal by wireless receiver 33 receptions, but picture signal has the length of regulation, so data separating unit 34 can be separated with the position probing that is right after thereafter picture signal easily with signal.
In addition, position probing possesses with magnetic field generating unit 38: detection trigger portion 39, the triggering signal, for example vertical synchronizing signal V-Sync that are comprised in its detected image information; Position probing signal generator 40, it detects the signal of usefulness at the timing outgoing position that with detected triggering signal is benchmark; And a plurality of signals produce coil 41, the magnetic field M that these a plurality of signals generation coils 41 are used according to the signal generation position probing of being exported with signal generator 40 by this position probing 2
Said external control part 29 possesses: image spreading handling part 42, its picture signal after to the compression that sends over from device outside 28 are expanded and are outputed to display device 31; Locality calculating part 43, its according to the position probing that sends over from device outside 28 with signal calculate capsule medical instrument 1 the position and towards etc., and output to display device 31; And operating portion 44, its according to the position that is presented at the image of the body cavity inner face in the display device 31 and capsule medical instrument 1 and towards, make the operator indicate the direct of travel and/or the gait of march of capsule medical instrument 1.
43 pairs of position probing that send over of locality calculating part are handled with signal, from this position probing with extracting the position probing magnetic field M that is produced with magnetic field generating unit 40 with position probing the signal 2The set specific frequency signal of the roughly the same frequency of frequency, according to the set specific frequency signal that extracts calculate capsule medical instrument 1 the position and towards at least any.
Above-mentioned guide possesses with magnetic field generating unit 30: guide is with magnetic field control part 45, its according to from 29 outputs of said external control part from the position of operator's action command signal and capsule medical instrument 1 and towards etc. information produce guide and use magnetic field M 1Control signal; A plurality of guide coils 46, these a plurality of guide coils 46 are according to using magnetic field M from this guide with the control signal generation guide of magnetic field control part 45 1And guide coil actuator 47, it provides electric current to these guide coils 46.
At this, the effect of above-mentioned wave filter 8 is described.
For example use the magnetic field conduct of the brute force of 1mT～1T to use the guide that produces in the magnetic field generating unit 30 to use magnetic field M above-mentioned guide 1In addition, for position and posture to capsule medical instrument 1 are controlled, use magnetic field M with the change of the frequency below 100Hz guide 1Generation direction, magnetic field intensity.
Therewith relatively, use and to have the magnetic field intensity about 0.01 μ T～100 μ T on the position of capsule medical instrument 1 and to have the magnetic field M that the magnetic field of the frequency of several kHz～number 100kHz is used as position probing 2
Wanting to use magnetic field M by guide 1Change under the situation of direction of capsule medical instrument 1, the direction of magnetization and the guide of the permanent magnet 12 by making capsule medical instrument 1 inside are used magnetic field M 1Towards between exist angle to produce magnetic torque.The direction of magnetization and guide at permanent magnet 12 are used magnetic field M 1Towards between angle when being 90 °, magnetic torque is maximum.
Coil 7 in the capsule medical instrument 1 is subjected to magnetic field and produces induction (voltage) signal.If this induced signal is made as V, then,
V＝2πfB?SNcosθ。
At this, f is the frequency in magnetic field, and B is the intensity in magnetic field, and S is the area of section of coil, and N is the volume number of coil 7, θ be magnetic direction with the opening direction of coil 7 between the angle that become.
For example ought be made as guide and use magnetic field M 1Intensity be that 100mT, frequency are 10Hz, position probing magnetic field M 2Intensity be that 1 μ T, frequency are that angle that the opening direction of 10kHz, coil 7 is become with magnetic direction is that 60 °, the area of section of coil 7 are 10 * 10 -6m 2, coil 7 the volume number be 400 when obtaining the induced signal V that produces by coil 7, guide is used magnetic field M 1The intensity of induced signal be about 100mV, position probing magnetic field M 2The intensity of induced signal be about 2mV.
Detected signal such as Fig. 7 under this state.
Then, when this signal was directly carried out the A/D conversion, the major part of the dynamic range of A/D changer 19 all was wasted in by guide and uses magnetic field M 1On the induced signal that produces, can't pinpoint accuracy ground detection position detection magnetic field M 2Induced signal.
In the present embodiment, by on coil 7, connecting the high pass filter 8 that cut-off frequency is about 1kHz, can make guide use magnetic field M 1The induced signal decay-40dB of frequency 10Hz.Thus, as shown in Figure 8, make by guide and use magnetic field M 1The induced signal that produces decays to about 1mV, thereby can make by position probing magnetic field M 2The induced signal that produces still passes through with the state of about 2mV.
Like this, by on coil 7, connecting wave filter 8, can reduce guide and use magnetic field M 1Influence, thereby pinpoint accuracy ground detects by position probing magnetic field M 2The induced signal that produces.
The following describes the related capsule medical instrument 1 of the present embodiment of such formation and the effect of capsule medical instrument system 2.
In order to use the related capsule medical instrument system 2 of present embodiment to obtain those who are investigated's endoceliac image, at first, those who are investigated are configured in the space S, and the guide that is produced by the guide coil of arranging as shown in Figure 1 46 in this space S is used magnetic field M 1Work.
Then, utilize not shown infrared ray generator to penetrate infrared ray, connect the power supply of capsule medical instrument 1 to the infrared ray sensor 26a of capsule medical instrument 1.Then, oral area or the anus of capsule medical instrument 1 from those who are investigated dropped in the body cavity.In addition, externally install in 3 also and make on and off switch 49 actions of device outside 28 that power supply unit 51 is switched to on-state, provide power supply to each unit thus by battery 50.
In being put to endoceliac capsule medical instrument 1, begin the action of image pickup part 5 after at the appointed time, obtain by image by imageing sensor 15 from the body cavity inner face of the illumination light illumination of LED17.The picture signal that gets access to is sent to A/D convertor controls portion 20 by control part 11, the timing of setting at the clock signal C lock that is generated according to control part 11 by timing generative circuit 21 and vertical synchronizing signal V-Sync is passed to wireless transmitter 10, and is sent to external by wireless transmitter 10.
Receive the picture signal that is sent out by wireless receiver 33 by the antenna element 32 that is arranged on the device outside 28.The picture signal that receives is imported into position probing with magnetic field generating unit 38, detects the such triggering signal of vertical synchronizing signal V-Sync.Then, according to detected triggering signal, position probing is activated with signal generator 40, and signal produces coil 41 by excitation, thereby produces position probing magnetic field M in disposing those who are investigated's space S 2
As the position probing magnetic field M that produces 2Capsule medical instrument 1 is done the time spent, position probing magnetic field M 2In the coil 7 in the capsule medical instrument 1, in coil 7, induce the position probing signal thus.Position probing is imported into position probing with signal processing part 9 with signal by wave filter 8, carries out the A/D conversion according to the timing of being set by timing generative circuit 21, is stored in afterwards in the memorizer 22.Then, position probing (is expressed as MUX with signal by the multiplex adapter that switches in the timing of being set by timing generative circuit 21 among the figure.) 23 be passed to wireless transmitter 10, and be sent to external by wireless transmitter 10.
Receive the position probing signal that is sent out by wireless receiver 33 by the antenna element 32 that is arranged on the device outside 28.From picture signal, isolate the position probing signal that receives by data separating unit 34.The position probing of separating is sent straight to external control portion 29 with signal, and picture signal is sent to external control portion 29 after being compressed and handling in Image Data Compression portion 35.In addition, the picture signal of position probing after with signal and compression synthesized the form of mutual correspondence in the synthetic portion 36 of data, and store in the memorizer 37.
The picture signal that sends to external control portion 29 is carried out extension process in image spreading handling part 42, and send to display device 31 and show.The position probing that sends to external control portion 29 is sent to locality calculating part 43 with signal, be used for calculating capsule medical instrument 1 the position and towards at least any.The position of the capsule medical instrument 1 of calculating and towards being sent to display device 31 and showing is sent to guide on the other hand with magnetic field generating unit 30, is used to calculate the guide that should produce and uses magnetic field M 1
To the position of the image of the body cavity inner face that in display device 31, shows and capsule medical instrument 1 and towards the information operator that carried out confirming operate by operating portion 44 outside control part 29, thus the direct of travel of capsule medical instrument 1 and gait of march are input to guide with magnetic field generating unit 30.Guide with magnetic field generating unit 30 according to from the command signal of the direct of travel of operating portion 44 inputs and gait of march and from the position of the capsule medical instrument 1 of locality calculating part 43 inputs and towards information guide coil actuator 47 is moved, make that obtaining the guide that should produce uses magnetic field M 1Intensity and direction.Thus, guide coil 46 is produced desirable guide and uses magnetic field M by excitation in the existing space S of those who are investigated 1
Act as a guide and use magnetic field M 1Capsule medical instrument 1 is done the time spent, and the permanent magnet 12 that is configured in the capsule medical instrument 1 produces the driving force that makes capsule medical instrument 1 rotation, makes its direction of magnetization and guide use magnetic field M 1The direction unanimity.Use magnetic field M when on the direction that the fore and aft axis R of capsule medical instrument 1 tilts, producing guide in the direction of magnetization with respect to permanent magnet 12 1The time, produce the driving force that makes capsule medical instrument 1 towards the generation change.On the other hand, when tilting and when producing driving force, produce the driving force that capsule medical instrument 1 is rotated around fore and aft axis R to the circumferencial direction of capsule medical instrument 1 with respect to the direction of magnetization of permanent magnet 12.
The outer peripheral face of the outer package of capsule medical instrument 1 is provided with screw mechanism 13, therefore when capsule medical instrument 1 is rotated around its fore and aft axis R by above-mentioned driving force, by the propulsive force of screw mechanism 13 generations along fore and aft axis R direction.Thus, on fore and aft axis R direction, advance capsule medical instrument 1.
In this case, guide is used magnetic field M 1With position probing magnetic field M 2The both is incided in the coil 7 that is configured in the capsule medical instrument 1, produces and this magnetic field M respectively 1, M 2Corresponding induced signal such as intensity, but capsule medical instrument 1 and the capsule medical instrument system 2 related according to present embodiment is connected with wave filter 8 on the coil 7, therefore used magnetic field M by guide 1Carry out the A/D conversion under the state that the induced signal that produces is attenuated, and be sent to external device (ED) 3.Thereby, externally install in 3, as mentioned above, can reduce guide and use magnetic field M 1Influence and pinpoint accuracy ground detects by position probing magnetic field M 2The position probing signal that produces.
Thereby, use the detected position probing that is used for position probing in such pinpoint accuracy ground with signal come pinpoint accuracy ground calculate capsule medical instrument 1 the position and towards, so guide can subtend loop driver 47 drives the correct guide of instruction generation that makes according to from the operator with magnetic field control part 45 and uses magnetic field M 1Its result, have can pinpoint accuracy ground guide capsule medical treatment device 1 obtain the effect of the image at endoceliac desirable position.
In addition, in the related capsule medical instrument system 2 of present embodiment, according to the timing that generates based on the vertical synchronizing signal V-Sync that from picture signal, extracts capsule medical instrument 1 and external device (ED) 3 are synchronously moved, therefore can only produce position probing magnetic field M from device outside 28 2The time, 1 pair of position probing from coil 7 of capsule medical instrument is carried out the A/D conversion with signal.Thereby, can not produce position probing magnetic field M 2During stop the processing to carry out with signal with 9 pairs of position probing of signal processing part by position probing, thereby can realize power saving.
In addition, in the present embodiment, being made as according to the timing that generates based on the vertical synchronizing signal V-Sync that extracts from picture signal makes capsule medical instrument 1 and external device (ED) 3 synchronous, but be not limited thereto, also can be made as according to the timing that generates based on other triggering signals such as the horizontal-drive signals of from picture signal, extracting and carry out synchronously.
In addition, adopted cut-off frequency be the high pass filter of 1kHz as wave filter, but also can adopt band filter with its replacement.
In addition, in the present embodiment, be made as and screw mechanism 13 is set on the outer peripheral face of capsule medical instrument 1 makes capsule medical instrument 1 be rotated and advance, but also can constitute: utilize and use magnetic field M by guide 1The magnetic gradient that change to produce of Distribution of Magnetic Field make permanent magnet 12 generation power (thrust), control the position of capsule medical instrument 1 thus.
Then the related capsule medical instrument 1 of second embodiment of the present invention ' and capsule medical instrument system is described with reference to Fig. 9 and Figure 10.
In description of the present embodiment, to related capsule medical instrument 1 and the additional same Reference numeral of capsule medical instrument system 2 something in commons of structure and above-mentioned first embodiment and omit its explanation.
Two magnetic field sensor coils of the related capsule medical instrument 1 of present embodiment ' in outer package 4, possess (below only be called coil.)7a、7b。As shown in figure 10, two coil 7a, 7b are rolled into the opening obliquely for the fore and aft axis R of capsule medical instrument 1.In addition, the opening direction of two coil 7a, 7b is set to different direction mutually.
In example shown in Figure 10, two coil 7a, 7b are configured to intersect on the same position of fore and aft axis R direction.Thus, two coil 7a, 7b with the vertical direction of the paper of Figure 10 on possess common radial direction axle Q.And, with the direction of magnetization of permanent magnet 12 be configured to parallel with this radial direction axle Q, promptly with the vertical direction of the paper of Figure 10.Thus, can make the magnetic field that forms by permanent magnet 12 not pass two coil 7a, 7b as far as possible.
In addition, as shown in Figure 9, two coil 7a, 7b are connected with wave filter 8 by switching part 52.Switching part 52 is connected in the A/D convertor controls portion 20, and the timing signal according to the timing generative circuit 21 by A/D convertor controls portion 20 generates synchronously moves with A/D changer 19.
In addition, as shown in Figure 9, possesses identifying information maintaining part 53 in signal processing part 9 in position probing.In identifying information maintaining part 53, store the information such as relative position of the direction of magnetization, coil 7a, 7b and permanent magnet 12 of relative angle, the permanent magnet 12 of position, the opening direction of two coil 7a, 7b.When capsule medical instrument 1 moved, the information that is stored in the identifying information maintaining part 53 sent once to device outside 28 at least by wireless transmitter 10.
The following describes the related capsule medical instrument 1 of the present embodiment of such formation ' and the effect of capsule medical instrument system.
The capsule medical instrument system related according to present embodiment is when the signal of being used by a position probing with the action of magnetic field generating unit 38 by the position probing of device outside 28 produces the position probing magnetic field M that coil 41 produces 2To capsule medical instrument 1 ' the do time spent, produce two position probing signals by capsule medical instrument 1 ' two interior coil 7a, 7b.Two coil 7a, 7b are to different direction openings, therefore except position probing magnetic field M 2The direction situation consistent with the direction of fore and aft axis R outside, two position probing signal differences.
Decide the position and the posture of capsule medical instrument 1 according to six values of total that are used for determining three coordinate figures of three-dimensional position and center on three rotation angle value of each coordinate axes.The capsule medical instrument system related according to present embodiment, the magnetic field that produces coil 41 according to the signal of using from a position probing obtains two position probing signals, therefore by producing coil 41 at the signal of configuration more than three on the diverse location in advance, can be from the capsule medical instrument 1 of same position and same posture ' obtain position probing signal different more than six.
Especially, the related capsule medical instrument 1 of present embodiment ' in, coil 7a, 7b be configured to opening direction towards with respect to capsule medical instrument 1 ' the direction that tilts of fore and aft axis R, even therefore work in same magnetic field, if around the anglec of rotation difference of fore and aft axis R, then in coil 7a, 7b, produce different position probing signals.Thus, also can easily detect around capsule medical instrument 1 ' the anglec of rotation of fore and aft axis R.
Like this, the capsule medical instrument 1 related ' and capsule medical instrument system according to present embodiment, can determine fully capsule medical instrument 1 ' six-freedom degree.Thereby, have following advantage: even because endoceliac capsule medical instrument 1 ' with the friction of its surrounding tissue etc. and under the inconsistent situation of the direction of magnetization of the direction in guide usefulness magnetic field and permanent magnet 12, also can detect it, pinpoint accuracy ground guide capsule medical treatment device 1 '.
In addition, the capsule medical instrument 1 related according to present embodiment ', the position probing that produces in two coil 7a, 7b is switched with signal and it is carried out filtering by wave filter 8 by the action of switching part 52.Thereby position probing is used magnetic field M with signal making by guide by wave filter 8 1Be sent to position probing under the state of the induced signal decay that produces with signal processing part 9, therefore externally install can calculate to pinpoint accuracy in 3 capsule medical instrument 1 ' the position and towards.
In addition, switch being connected between two coil 7a, 7b and the wave filter 8, so wave filter 8 has one to get final product by switching part 52, thus can realize capsule medical instrument 1 ' miniaturization.
In addition, the coil 7a, the 7b that are undertaken by switching part 52 also carry out according to the timing signal that generates in timing generative circuit 21 with the switching that is connected between the wave filter 8, therefore can make the position probing of this change action and device outside 28 synchronous, can realize power saving with the action of magnetic field generating unit 38.
In addition, the related capsule medical instrument 1 of present embodiment ' in, be made as and possess two coil 7a, 7b, but also can be made as the coil that possesses more than three its replacement.
In addition, in the present embodiment, be made as coil 7a, 7b and be configured on the same position on the fore and aft axis R direction and possess common radial direction axle Q, but also can be as shown in Figure 11, be configured in along on the diverse location on the direction of fore and aft axis R with its replacement.In this case, be made as two coil 7a, 7b and possess parallel radial direction axle Q 1, Q 2, and these radial direction axles Q 1, Q 2Between distance also be stored in the identifying information maintaining part 53 and get final product.
In addition, in the present embodiment, be made as capsule medical instrument 1 ' position probing with possessing the identifying information maintaining part 53 that is read out at least after the startup once in the signal processing part.Thus, the different capsule medical instrument 1 of the performance that adopts coil 7a, 7b, configuration ' situation under also can pinpoint accuracy ground detect its position and towards.
As shown in figure 12, also can be made as 3 the external control portion 29 of externally installing ' in possess identifying information maintaining part 53 with replace capsule medical instrument 1 ' in possess this identifying information maintaining part 53.In this case, the capsule medical instrument that need to use predetermined form as capsule medical instrument 1 ', but need after startup, not carry out the processing of reading of identifying information, can realize in addition saving capsule medical instrument 1 ' in memory capacity.
Below with reference to Fig. 7, Fig. 8 and Figure 13 to Figure 18 capsule medical instrument 101 and the capsule medical instrument system 102 that the 3rd embodiment of the present invention is related is described.
As Figure 13 and shown in Figure 14, the related capsule medical instrument system 102 of present embodiment possesses endoceliac capsule medical instrument 101 that is put to those who are investigated's (omitting diagram) and the external external device (ED) 103 that is configured in those who are investigated.
As Figure 15 and shown in Figure 16, capsule medical instrument 101 possesses: outer package 104, its within it portion hold various device; Image pickup part (Biont information deriving means) 105 is photographed in its body cavity to those who are investigated and is obtained image information (Biont information); Power supply unit 106, its various device to outer package 104 inside provides electric power; Magnetic field sensor coil (the following coil that only is called) 107, it is according to the magnetic field M that accepts from external device (ED) 103 1, M 2Produce induced signal; Wave filter 108, it carries out filtering to the induced signal that is produced by this coil 107; Induced signal handling part 109, it is handled the induced signal that has passed through wave filter 108; Wireless transmitter 110, the induced signal after it will be handled is to external transmission; Control part 111, its action to power supply unit 106, image pickup part 105, induced signal handling part 109 and wireless transmitter 110 is controlled; And permanent magnet (Magnet) 112, it is according to the magnetic field M that accepts from external device (ED) 103 1, M 2Produce driving force.
In addition, as described later, the magnetic field M that external device (ED) 103 is sent 2The position probing signal that comprises capsule medical instrument 101, above-mentioned coil 107, wave filter 108 and induced signal handling part 109 constitute receiving position and detect the signal receiving device Re that uses signal.
Outer package 104 is formed by the leading section 104b of the capsule body 104a of drum, transparent semi-spherical shape and the rearward end 104c of semi-spherical shape, form the capsule container of sealing with the watertight structure, wherein, above-mentioned capsule body 104a is a central shaft with the fore and aft axis R of capsule medical apparatus 101, make infrared transmitting, above-mentioned leading section 104b covers the front end of this capsule body 104a, and above-mentioned rearward end 104c covers the rear end of capsule body 104a.
In addition, possessing on the outer peripheral face of the capsule body 104a of outer package 104 with fore and aft axis R is that the center is the spire 113 of the wire coil curl of circle with the cross section.
Image pickup part 105 possesses: imageing sensor 115, and it is configured on the face of leading section 104b side of the substrate 114a that generally perpendicularly disposes with fore and aft axis R; Lens group 116, it makes picture imaging on imageing sensor 115 of those who are investigated's body cavity inner face; And LED (Light Emitting Diode) 117, it throws light on to the body cavity inner face.
Imageing sensor 115 will be transformed to the signal of telecommunication (picture signal) by the light of leading section 104b and lens group 116 imagings and export to control part 111.For example can use CMOS (Complementary Metal Oxide Semiconductor), CCD as this imageing sensor 115.
In addition, on the support unit 118 that disposes on the position of more close leading section 104b side, be the center a plurality of LED 117 of devices spaced apart ground configuration in a circumferential direction with fore and aft axis R than substrate 114a.
Wave filter 108 for example is configured on the aforesaid substrate 114a, for example uses the single order high pass filter of cut-off frequency for about 1kHz.
Above-mentioned induced signal handling part 109 possesses: A/D changer (being expressed as ADC among the figure) 119, and its induced signal that will pass through wave filter 108 is transformed to digital signal; And A/D convertor controls portion (being expressed as the ADC control part among the figure) 120, it controls this A/D changer 119, and will be delivered to wireless transmitter 110 from the induced signal of A/D changer 119 outputs and by the picture signal that imageing sensor 115 obtains in predetermined timing.
More particularly, as shown in figure 17, A/D convertor controls portion 120 possesses: timing generative circuit 121, it is connected on the above-mentioned control part 111, generates timing signal according to clock signal C lock that receives from this control part 111 and the synchronizing signal (for example vertical synchronizing signal V-Sync, horizontal-drive signal H-Sync etc.) that obtains from the picture signal that is imported into control part 111; Memorizer 122, its storage is from the induced signal of the numeral of A/D changer 119 outputs; Multiplex adapter 123, it is with this memorizer 122, regularly generative circuit 121 and above-mentioned control part 111 are connected, according to the timing signal that comes self-timing generative circuit 121 to switching and export from the picture signal of control part 111 with from the induced signal of memorizer 122.In addition, timing generative circuit 121 pairs of A/D changers, 119 clock signal Clock and A/D conversion enable signal, thus, synchronously periodically palikinesia and action are stopped in the action of A/D changer 119 and imageing sensor 115.In addition, in the present embodiment, A/D changer 119 with the action of imageing sensor 115 and LED 117 during move during different.
Control part 111 is electrically connected with battery (power supply unit) 125 by substrate 114a～114d and flexible substrate 124a, 124b, and be electrically connected with imageing sensor 115 by substrate 114a, be electrically connected with LED117 by substrate 114a, flexible substrate 124a and support unit 118.And control part 111 outputs to A/D convertor controls portion 120 with imageing sensor 115 accessed picture signals, and the On/Off of imageing sensor 115 and LED 117 is controlled.Control thus and make imageing sensor 115 and LED 117 periodically move.
In addition, 111 pairs of wireless transmitters 110 of control part are controlled, and will send to the outside from the signal that multiplex adapter 123 outputs of A/D convertor controls portion 120 are come.
That is, wireless transmitter 110 picture signal and the induced signal that for example will have a specific length sends to the outside with the data mode that is connected.
Permanent magnet 112 is configured in the rearward end 104c side of wireless transmitter 110.Permanent magnet 112 be configured or be geomagnetic into the orthogonal direction of fore and aft axis R (for example above-below direction among Figure 16) on have the direction of magnetization (magnetic pole).The leading section 104b side of permanent magnet 112 possesses the switch portion 126 that is configured on the substrate 114c.Switch portion 126 has infrared ray sensor 126a, is electrically connected with power supply unit 106, and is electrically connected with battery 125 by substrate 114c and flexible substrate 124a.
In addition, be that the center equally spaced disposes a plurality of switch portion 126 in a circumferential direction with fore and aft axis R, and be configured and make infrared ray sensor 126a towards the diametric(al) outside.In the present embodiment, the example that disposes four switch portion 126 is described, but the quantity of switch portion 126 is not limited to four, how many its numbers is can.
The leading section 104b side of switch portion 126 disposes battery 125, and this battery 125 is clipped between substrate 114b, the 114c.
Above-mentioned coil 107 is configured to be rolled into cylindric to the radial direction inboard of the capsule body 104a of outer package 104.Among the figure, Reference numeral 127 is the core components (magnet core) that formed by ferrite, and this core components forms central shaft and the roughly consistent cylindrical shape of fore and aft axis R.
Thus, the opening direction of coil 107 be configured in the orthogonal direction of the direction of magnetization of permanent magnet 112 on.Its result constitutes and prevents the inside by coil 107, the magnetic field that formed by permanent magnet 112, thereby do not make permanent magnet 112 formed magnetic fields produce induced signal in coil 107.
As Figure 14 and shown in Figure 180, said external device 103 possesses: device outside 128, it receives the signal that sends over from capsule medical instrument 101, produces the magnetic field M that position probing is used 2 External control portion 129, it generates image according to the signal that is received by this device outside 128, and calculate capsule medical instrument 101 the position and towards; Guide is with magnetic field generating unit 130, its according to from the position of the capsule medical instrument 101 of these external control portion 129 outputs and towards information produce guide and use magnetic field M 1And display device 131, it is according to the picture signal display image from 129 outputs of external control portion.
Above-mentioned device outside 128 possesses: wireless receiver 133, and it receives picture signal and the induced signal that sends over from capsule medical instrument 101 by antenna element 132; Data separating unit 134, it is separated into picture signal and induced signal with the signal that receives; Image Data Compression portion 135, it compresses isolated picture signal; Data are synthesized portion 136, and it synthesizes picture signal and the isolated induced signal after compressing; Memorizer 137, the data after its storage is synthetic; And position probing magnetic field generating unit 138, it produces the magnetic field M that position probing is used according to the signal that is received by wireless receiver 133 2
Include picture signal and induced signal in the signal by wireless receiver 133 receptions, but picture signal has the length of predefined regulation, so data separating unit 134 can be separated picture signal easily with the induced signal that is right after thereafter.
In addition, position probing possesses with magnetic field generating unit 138: detection trigger portion (device for extracting synchronizing signal) 139, the triggering signal, for example vertical synchronizing signal V-Sync, the horizontal-drive signal H-Sync that are comprised in its detected image information; Position probing signal generator (synchronizer) 140, it detects the signal of usefulness at the timing outgoing position that with detected triggering signal is benchmark; And a plurality of signals produce coil 141, the magnetic field M that these a plurality of signals generation coils 141 are used according to the signal generation position probing of being exported with signal generator 140 by this position probing 2
Said external control part 129 possesses: image spreading handling part 142, its picture signal after to the compression that sends over from device outside 128 are expanded and are outputed to display device 131; Locality calculating part (locality data processing division) 143, its according to the induced signal that sends over from device outside 128 calculate capsule medical instrument 101 the position and towards etc., and output to display device 131; And operating portion 144, its make the operator according to the position of image that is presented at the body cavity inner face in the display device 131 and capsule medical instrument 101 and towards, indicate the direct of travel and/or the gait of march of capsule medical instrument 101.
Prime in position direction calculating portion 143 is provided with: FFT handling part 143a, and it carries out Fourier transformation to the induced signal that sends over; And frequency selection portion 143b, it extracts the position probing magnetic field M that is produced with magnetic field generating unit 140 with position probing according to the result of FFT handling part 143a from above-mentioned induced signal 2The set specific frequency signal of the roughly the same frequency of frequency.Locality calculating part 143 according to the set specific frequency signal that extracts like this calculate capsule medical instrument 101 the position and towards at least any.In the present embodiment, use FFT to extract set specific frequency signal, but do not use FFT and use digital filter circuit can extract characteristic frequency too.In addition, similarly, can not select FFT to handle and signal processing methods such as selection wavelet transformation.
Above-mentioned guide possesses with magnetic field generating unit 130: guide is with magnetic field control part 145, its according to from 129 outputs of said external control part from the position of operator's action command signal and capsule medical instrument 101 and towards etc. information produce guide and use magnetic field M 1Control signal; A plurality of guide coils 146, these a plurality of guide coils 146 are according to using magnetic field M from this guide with the control signal generation guide of magnetic field control part 145 1And guide coil actuator 147, it provides electric current to these guide coils 146.
At this, the effect of above-mentioned wave filter 108 is described.
For example use the magnetic field conduct of the brute force of 1mT～1T to use the guide that produces in the magnetic field generating unit 130 to use magnetic field M above-mentioned guide 1In addition, for to the position of capsule medical instrument 101 with towards controlling, use magnetic field M with the change of the frequency below 100Hz guide 1Generation direction, magnetic field intensity.
Therewith relatively, use and to have the magnetic field intensity about 0.01 μ T～100 μ T on the position of capsule medical instrument 101 and to have the magnetic field M that the magnetic field of the frequency of several kHz～number 100kHz is used as position probing 1
Wanting to use magnetic field M by guide 1Change under the situation of direction of capsule medical instrument 101, the direction of magnetization and the guide of the permanent magnet 112 by making capsule medical instrument 101 inside are used magnetic field M 1Towards between exist angle to produce magnetic torque.The direction of magnetization and guide at permanent magnet 112 are used magnetic field M 1Towards between angle when being 90 °, magnetic torque is maximum.
Coil 107 in the capsule medical instrument 101 is accepted magnetic field and is produced induction (voltage) signal.If this induced signal is made as V, then,
V＝2πfBSNcosθ。
At this, f is the frequency in magnetic field, and B is the intensity in magnetic field, and S is the area of section of coil, and N is the volume number of coil 107, θ be magnetic direction with the opening direction of coil 107 between the angle that become.
For example ought be made as guide and use magnetic field M 1Intensity be that 100mT, frequency are 10Hz, position probing magnetic field M 2Intensity be that 1 μ T, frequency are that angle that the opening direction of 10kHz, coil 107 is become with magnetic direction is that 60 °, the area of section of coil 107 are 10 * 10 -6m 2, coil 107 the volume number be 400 when obtaining the induced signal V that produces by coil 107, guide is used magnetic field M 1The intensity of induced signal be about 100mV, position probing magnetic field M 2The intensity of induced signal be about 2mV.
Detected in this state signal such as Fig. 7.
Then, when this signal was directly carried out the A/D conversion, the major part of the dynamic range of A/D changer 119 all was wasted in by guide and uses magnetic field M 1On the induced signal that produces, and can't pinpoint accuracy ground detection position detection magnetic field M 2Induced signal.
In the present embodiment, by on coil 107, connecting the high pass filter 108 that cut-off frequency is about 1kHz, can make guide use magnetic field M 1Frequency 10Hz in induced signal decay-40dB.Thus, as shown in Figure 8, can magnetic field M will be used by guide 1The induced signal that produces decays to about 1mV, thereby makes by position probing magnetic field M 2The induced signal that produces can pass through with the state of about 2mV.Like this, by on coil 107, connecting wave filter 108, can reduce guide and use magnetic field M 1Influence, thereby pinpoint accuracy ground detects by position probing magnetic field M 2The induced signal that produces.
The following describes the related capsule medical instrument 101 of the present embodiment of such formation and the effect of capsule medical instrument system 102.
In order to use the related capsule medical instrument system 102 of present embodiment to obtain those who are investigated's endoceliac image, at first, those who are investigated are configured in the space S, and the guide that is produced by the guide coil of arranging as shown in Figure 13 146 in this space S is used magnetic field M 1Work.
Then, utilize not shown infrared ray generator to penetrate infrared ray, start the power supply of capsule medical instrument 101 to the infrared ray sensor 126a of capsule medical instrument 101.Then, oral area or the anus of capsule medical instrument 101 from those who are investigated dropped in the body cavity.In addition, externally install and also the on and off switch 149 of device outside 128 is moved in 103 power supply unit 151 to be switched to starting state, provide power supply to each unit thus by battery 150.
In being put to endoceliac capsule medical instrument 101, begin the action of image pickup part 105 after at the appointed time, obtain by image by imageing sensor 115 from the body cavity inner face of the illumination light illumination of LED117.The picture signal that gets access to is sent to A/D convertor controls portion 120 by control part 111, the timing of setting in the clock signal C lock that is generated according to control part 111 by timing generative circuit 121 and triggering signal (for example vertical synchronizing signal V-Sync) is passed to wireless transmitter 110, and is sent to external by wireless transmitter 110.
Receive the picture signal that is sent out by wireless receiver 133 by the antenna element 132 that is arranged on the device outside 128.The picture signal that receives is imported into position probing with magnetic field generating unit 138, detects the such triggering signal of vertical synchronizing signal V-Sync.Then, according to detected triggering signal, position probing is activated with signal generator 140, and signal produces coil 141 by excitation, thereby produces position probing magnetic field M in disposing those who are investigated's space S 2
As the position probing magnetic field M that produces 2Capsule medical instrument 101 is done the time spent, position probing magnetic field M 2In the coil 107 in the capsule medical instrument 101, in coil 107, induce induced signal thus.Induced signal is imported into induced signal handling part 109 by wave filter 108, carries out being stored in the memorizer 122 after the A/D conversion according to the timing of being set by timing generative circuit 121.Then, induced signal (is expressed as MUX via the multiplex adapter that switches in the timing of being set by timing generative circuit 121 among the figure.) 123 be passed to wireless transmitter 110, and be sent to external by wireless transmitter 110.
Receive the induced signal that is sent out by wireless receiver 133 by the antenna element 132 that is arranged on the device outside 128.From picture signal, isolate the induced signal that receives by data separating unit 134.The induced signal of separating in statu quo is sent to external control portion 129, and picture signal is sent to external control portion 129 after being compressed and handling in Image Data Compression portion 135.In addition, the picture signal after induced signal and the compression is synthesized in the synthetic portion 136 of data and is corresponding mutually form, and is stored in the memorizer 137.
The picture signal that is sent to external control portion 129 is carried out extension process in image spreading handling part 142, and is sent to display device 131 and shows.The induced signal that is sent to external control portion 129 is sent to locality calculating part 143 via FFT handling part 143a and frequency selection portion 143b, be used to calculate capsule medical instrument 101 the position and towards.The position of the capsule medical instrument 101 of calculating and towards being sent to display device 131 and showing is sent to guide on the other hand with magnetic field generating unit 130, is used to calculate the guide that should produce and uses magnetic field M 1
To the position of the image of the body cavity inner face that in display device 131, shows and capsule medical instrument 101 and towards the information operator that carried out confirming operate by operating portion 144 outside control part 129, the direct of travel of capsule medical instrument 101 and gait of march are input to guide with magnetic field generating unit 130.Guide with magnetic field generating unit 130 according to from the command signal of the direct of travel of operating portion 144 inputs and gait of march and from the position of the capsule medical instrument 101 of locality calculating part 143 inputs and towards information guide coil actuator 147 is moved, make that obtaining the guide that should produce uses magnetic field M 1Intensity and direction.Thus, guide coil 146 is used magnetic field M by excitation thereby produce desirable guide in the existing space S of those who are investigated 1
Act as a guide and use magnetic field M 1Capsule medical instrument 101 is done the time spent, and the permanent magnet 112 that is configured in the capsule medical instrument 101 produces the driving force that makes capsule medical instrument 101 rotations, makes its direction of magnetization and guide use magnetic field M 1The direction unanimity.Use magnetic field M when on the direction that the fore and aft axis R of capsule medical instrument 101 tilts, producing guide in the direction of magnetization with respect to permanent magnet 112 1The time, produce the driving force that makes capsule medical instrument 101 towards the generation change.On the other hand, when tilting and when producing driving force, produce the driving force that capsule medical instrument 101 is rotated around fore and aft axis R to the circumferencial direction of capsule medical instrument 101 with respect to the direction of magnetization of permanent magnet 112.
The outer peripheral face of the outer package of capsule medical instrument 101 is provided with screw mechanism 113, therefore when capsule medical instrument 101 is rotated around its fore and aft axis R by above-mentioned driving force, by the propulsive force of screw mechanism 113 generations along fore and aft axis R direction.Thus, on fore and aft axis R direction, advance capsule medical instrument 101.
In this case, guide is used magnetic field M 1With position probing magnetic field M 2The both is incided the coil 107 that is configured in the capsule medical instrument 101, thereby produces and its magnetic field M respectively 1, M 2Corresponding induced signal such as intensity, but capsule medical instrument 101 and the capsule medical instrument system 102 related according to present embodiment is connected with wave filter 108 on coil 107, so induced signal is used magnetic field M making by guide 1Be carried out the A/D conversion and be sent to external device (ED) 103 under the state of the induced signal decay that produces.Thereby, externally install in 103, as mentioned above, can reduce guide and use magnetic field M 1Influence, thereby pinpoint accuracy ground detects by position probing magnetic field M 2The induced signal that produces.
Thereby, detect with using such pinpoint accuracy induced signal that position probing uses come pinpoint accuracy ground calculate capsule medical instrument 101 the position and towards, so guide can subtend loop driver 147 drives the correct guide of instruction generation that makes according to from the operator with magnetic field control part 145 and uses magnetic field M 1Its result, have can pinpoint accuracy ground guide capsule medical treatment device 101 obtain the effect of the image at endoceliac desirable position.
In addition, in the related capsule medical instrument system 102 of present embodiment, according to the timing that generates based on the vertical synchronizing signal V-Sync that from picture signal, extracts, horizontal-drive signal H-Sync capsule medical instrument 101 and external device (ED) 103 are synchronously moved, therefore can only produce position probing magnetic field M from device outside 128 2The time, 101 pairs of induced signals from coil 107 of capsule medical instrument carry out the A/D conversion.Therefore, position probing magnetic field M can not produced 2During stop the processing to be undertaken by 109 pairs of induced signals of induced signal handling part, thereby can realize power saving.
Specifically, as shown in figure 19, the control device 111 of capsule medical instrument 101 time delay (capsule delays) that the photography from beginning image pickup part 105 is provided with regulation afterwards, A/D changer 119 is moved, processing is once finishing that A/D changer 119 is stopped.Set this capsule postpone to make till the radio communication that plays view data from the photography of image pickup part 105 zero hour finishes during the processing of A/D changer 119 finish.Thus, the radio communication of view data detects the transmission of using data once finishing to carry out locality, and be Min. the movement time that makes wireless transmitter 110, thereby can realize power saving.
Whenever the photography of carrying out an image pickup part 105 afterwards just repeats once this action.
Thus, in capsule medical instrument 101, A/D changer 119 only moves during minimal required, thereby realizes power saving.
On the other hand, externally install in 103, the time delay (external delay) that regulation is set in the moment of the synchronizing signal that comprises from detected the received signal of wireless receiver 133 by detection trigger portion 139, position probing produced position probing magnetic field M with magnetic field generating unit 138 afterwards 2Setting this external delay makes and is considering that send synchronizing signal plays the basis of the time lag till detecting synchronizing signal by detection trigger portion 139 and make position probing produce position probing magnetic field M with magnetic field generating unit 138 from wireless transmitter 110 2During with A/D changer 119 move during overlapping.
Whenever the photography of carrying out an image pickup part 105 afterwards just repeats once this action.
Thus, in device outside 103, position probing is only moved during minimal required with magnetic field generating unit 138, thereby realizes power saving.In addition, because signal receiving device Re can be known the position probing magnetic field M that is produced with magnetic field generating unit 138 by position probing in advance 2The state of signal messages such as phase place under move, therefore can be suppressed movement time also can realize power saving thus for minimum.
At this, in the present embodiment, use the signal be included in advance in the picture signal that image pickup part 105 exported as synchronizing signal, therefore only capsule medical instrument is in the past revised a little and just can be accessed capsule medical instrument 101 of the present invention.
In addition, in this capsule medical instrument 101, be made as A/D changer 119 with the action of image pickup part 105 during move during different, the reduction that voltage is provided of the power supply unit 106 of the capsule medical instrument 101 in the time of therefore can suppressing these devices and move, thereby the influence that reduction caused that voltage is provided that can alleviate each device that capsule medical instrument 101 is loaded.
In addition, in this capsule medical instrument system 102, by FFT handling part 143a the received signal of the radio receiver of external device (ED) 103 is handled, according to this result, frequency selection portion 143b extracts and the position probing corresponding frequency content of signal.
Promptly, from the received signal of the wireless receiving of external device (ED) 103, extract the signal that wireless base station apparatus sent (comprising the signal of the received a plurality of position probing of signal receiving device Re) of capsule medical instrument, remove unwanted compositions such as denoising with signals.
Thus, can reduce the data processing amount of locality calculating part 143.In addition, in the memorizer 137 that wireless receiver 133 received signals are preserved only storage calculate the position of capsule medical instrument 101 and get final product towards required minimal information, so can reduce the memory capacity of memorizer 137.In addition, also can not make the signal processing circuit of the signal receiving device Re of capsule medical instrument 101 inside carry out complicated frequency selection processing, therefore can realize the power saving of capsule medical instrument 101.
In addition, in the present embodiment, being made as according to the timing that generates based on the vertical synchronizing signal V-Sync that extracts from picture signal makes capsule medical instrument 101 and external device (ED) 103 synchronous, but be not limited thereto, also can be made as according to the timing that generates based on other triggering signal such as the horizontal-drive signal that from picture signal, extracts and carry out synchronously.
For example, have at capsule medical instrument 101 under the situation of the data compression device that image pickup part 105 taken image informations is compressed and generate compressing image signal, the vertical synchronizing signal of picture signal, the horizontal-drive signal of picture signal also are compressed, and can't directly detect these synchronizing signals from compressing image signal itself.In this case, also can from compressing image signal, detect can determine the position data (for example data block of the beginning of compressing image signal) with it as the synchronizing signal utilization.
In addition, in capsule medical instrument 101, be provided with like this under the situation of data compression device, omitting the Image Data Compression portion 135 of external device (ED) 103.
In addition, in the present embodiment, adopted cut-off frequency be the high pass filter of 1kHz as wave filter 108, but also can adopt band filter with its replacement.
In addition, in the present embodiment, with built-in permanent magnet 112 in capsule medical instrument 101 and the capsule medical instrument system by the external magnetic field channeling conduct is that the basis is illustrated, but be not limited to this, apply the present invention to through the oral cavity import in the person's of being verified the body cavity and the wriggling of digestive tube by the person of being verified and in digestive tube, advance, at the capsule medical instrument that obtains during this period endoceliac Biont information, be retained in endoceliac capsule medical instrument and also can access identical result.

Claims (35)

1. capsule medical instrument possesses:
Bioinformation detecting device, it detects endoceliac Biont information;
Magnet, its acceptance is used magnetic field from the guide of interaction in vitro, produces driving force;
Coil, its acceptance is used magnetic field from the position probing of interaction in vitro, produces the position probing signal;
Filter, it is connected on this coil, makes the induced signal composition decay that is produced with magnetic field by the above-mentioned guide of inciding in this coil; And
Wireless base station apparatus, its position probing that will pass through this filter sends to the outside with signal and by the detected Biont information of above-mentioned bioinformation detecting device.
2. capsule medical instrument according to claim 1 is characterized in that,
The direction in the opening direction of above-mentioned coil and the magnetic field that is formed on the position of this coil by above-mentioned Magnet is quadrature roughly.
3. capsule medical instrument according to claim 2 is characterized in that,
Possesses plural above-mentioned coil, the opening direction difference of each coil.
4. capsule medical instrument according to claim 3 is characterized in that,
Above-mentioned plural coil is configured on the same position.
5. according to each the described capsule medical instrument in the claim 1 to 4, it is characterized in that,
Maintenance according to above-mentioned position probing with signal come the detection position and towards in any required identifying information at least,
Above-mentioned wireless base station apparatus sends to the outside with this identifying information.
6. capsule medical instrument according to claim 5 is characterized in that,
Possess plural above-mentioned coil, above-mentioned identifying information comprises the relative position of this coil and the relative angle of opening direction.
7. capsule medical instrument according to claim 5 is characterized in that,
Possess plural above-mentioned coil, above-mentioned identifying information comprises the relative angle between the direction of magnetization of the opening direction of the relative position of relative position, relative angle, above-mentioned coil and above-mentioned Magnet of this coil and above-mentioned coil and above-mentioned Magnet.
8. capsule medical instrument according to claim 3 is characterized in that,
Possess the switching device shifter that switches that is connected between above-mentioned plural coil and the above-mentioned filter.
9. according to each the described capsule medical instrument in the claim 1 to 4, it is characterized in that,
Possesses the position probing signal processing apparatus, this position probing is handled with signal the above-mentioned position probing of having passed through above-mentioned filter with signal processing apparatus and is input to above-mentioned wireless base station apparatus, and this position probing is synchronously moved with signal processing apparatus and above-mentioned bioinformation detecting device.
10. capsule medical instrument according to claim 8 is characterized in that,
Above-mentioned switching device shifter and above-mentioned bioinformation detecting device are synchronously moved.
11. a capsule medical instrument system possesses:
The described capsule medical instrument of in the claim 1 to 10 each; And
Be configured in external external device (ED),
Wherein, this external device (ED) possesses:
Radio receiver, it receives the signal that sends over from above-mentioned wireless base station apparatus;
The position probing signal extracting device, it extracts above-mentioned position probing signal from the signal that is received by this radio receiver;
The locality calculating apparatus, its according to the position probing that extracts with signal extracting device by this position probing with signal calculate above-mentioned capsule medical instrument the position and towards at least any;
Guide is used magnetic field generation device, and it produces above-mentioned guide and uses magnetic field; And
The position probing magnetic field generation device, it produces above-mentioned position probing and uses magnetic field.
12. capsule medical instrument according to claim 11 system is characterized in that,
Above-mentioned locality calculating apparatus is to being handled with signal with the position probing that signal extracting device extracts by above-mentioned position probing, extract frequency and above-mentioned position probing with position probing that magnetic field generation device produced the roughly the same set specific frequency signal of frequency with magnetic field, according to the set specific frequency signal that extracts calculate above-mentioned capsule medical instrument the position and towards at least any.
13. a capsule medical instrument system possesses:
The described capsule medical instrument of in the claim 5 to 7 each; And
Be configured in external external device (ED),
Wherein, this external device (ED) possesses:
Radio receiver, it receives the signal that sends over from above-mentioned wireless base station apparatus;
Information extracting device, it extracts above-mentioned position probing signal and above-mentioned identifying information from the signal that is received by this radio receiver;
The locality calculating apparatus, its according to the position probing that extracts by this information extracting device with signal and identifying information calculate above-mentioned capsule medical instrument the position, towards and the direction of magnetization of Magnet;
Guide is used magnetic field generation device, and it produces above-mentioned guide and uses magnetic field; And
The position probing magnetic field generation device, it produces above-mentioned position probing and uses magnetic field.
14. a capsule medical instrument system possesses:
The described capsule medical instrument of claim 3; And
Be configured in external external device (ED),
Wherein, this external device (ED) possesses:
Radio receiver, it receives the signal that sends over from above-mentioned wireless base station apparatus;
Information extracting device, it extracts above-mentioned position probing signal from the signal that is received by this radio receiver;
Identifying information holding device, its maintenance comprise the identifying information of the relative angle of the relative position of plural coil of above-mentioned capsule medical instrument and opening direction;
The locality calculating apparatus, it is according to the identifying information read from this identifying information holding device with by the position probing signal that above-mentioned information extracting device extracts, calculate above-mentioned capsule medical instrument the position, towards and the direction of magnetization of Magnet;
Guide is used magnetic field generation device, and it produces above-mentioned guide and uses magnetic field; And
The position probing magnetic field generation device, it produces above-mentioned position probing and uses magnetic field.
15. according to the described capsule medical instrument of in the claim 11 to 14 each system, it is characterized in that,
According to the position of the capsule medical instrument of calculating by above-mentioned locality calculating apparatus, towards and the direction of magnetization of Magnet above-mentioned guide is controlled with magnetic field generation device.
16. a capsule medical instrument possesses:
Bioinformation detecting device, it is imported in the subject, detects the Biont information of this subject;
Magnet, its acceptance is used magnetic field from the guide of above-mentioned tested interaction in vitro, produces driving force;
Coil, its acceptance is used magnetic field from the position probing of above-mentioned tested interaction in vitro, produces the position probing signal;
Filter, it is connected on this coil, makes the induced signal composition decay that is produced with magnetic field by the above-mentioned guide of inciding in this coil; And
Wireless base station apparatus, its above-mentioned position probing that will pass through this filter sends to the outside with signal and by the detected Biont information of above-mentioned bioinformation detecting device,
This capsule medical instrument has signal receiving device, and the reception action of above-mentioned position probing with signal synchronously carried out in the action of this signal receiving device and this bioinformation detecting device,
Above-mentioned wireless base station apparatus sends the position probing that receives by the detected above-mentioned Biont information of above-mentioned bioinformation detecting device, by above-mentioned signal receiving device with the information of signal and the synchronizing signal synchronous with the action of this signal receiving device.
17. capsule medical instrument according to claim 16 is characterized in that,
Above-mentioned bioinformation detecting device periodically detects the Biont information of above-mentioned subject,
The action of above-mentioned signal receiving device and above-mentioned bioinformation detecting device synchronously receives action repeatedly and action is ended.
18. according to claim 16 or 17 described capsule medical instruments, it is characterized in that,
Above-mentioned bioinformation detecting device is to take the image pickup part that comes output image signal in the above-mentioned subject,
Above-mentioned synchronizing signal is the signal that is included in advance in the above-mentioned picture signal that above-mentioned image pickup part exports.
19. capsule medical instrument according to claim 18 is characterized in that,
Above-mentioned synchronizing signal is the vertical synchronizing signal of above-mentioned picture signal.
20. capsule medical instrument according to claim 18 is characterized in that,
Above-mentioned synchronizing signal is the horizontal-drive signal of above-mentioned picture signal.
21. according to claim 16 or 17 described capsule medical instruments, it is characterized in that,
Above-mentioned signal receiving device with the action of above-mentioned bioinformation detecting device during move during different.
22. a capsule medical instrument system has:
The described capsule medical instrument of in the claim 16 to 21 each, it is imported in the subject, obtains the Biont information of this subject, and this Biont information of wireless transmission; And
External device (ED), it is set at outside the above-mentioned subject, receives the above-mentioned Biont information that above-mentioned capsule medical instrument sends,
Wherein, the said external device has:
The position probing signal generation device, its wireless transmission position probing signal;
Radio receiver, it receives the signal that above-mentioned wireless base station apparatus sent of above-mentioned capsule medical instrument;
Device for extracting synchronizing signal, it extracts above-mentioned synchronizing signal from the received signal of this radio receiver; And
Synchronizer, its basis makes above-mentioned position probing regularly synchronous with the action of the signal receiving device of above-mentioned capsule medical instrument with the generation timing of signal with the above-mentioned position probing of signal generation device by the above-mentioned synchronizing signal that this device for extracting synchronizing signal extracts.
23. capsule medical instrument according to claim 22 system is characterized in that,
The above-mentioned signal receiving device of above-mentioned capsule medical instrument constitutes repeatedly to move at interval across regular time and receives a plurality of above-mentioned position probing signals,
The said external device have the position of calculating above-mentioned capsule medical instrument or towards the locality accountant, this locality accountant has:
The frequency selection portion, it extracts the above-mentioned position probing signal corresponding frequency content received with above-mentioned radio receiver; And
The locality data processing division, its according to the frequency content of selecting by this frequency selection portion calculate above-mentioned capsule medical instrument the position and towards at least any.
24. capsule medical instrument according to claim 23 system is characterized in that,
Above-mentioned locality accountant has the FFT handling part, and this FFT handling part carries out Fourier transformation to the signal that is received by above-mentioned radio receiver,
The said frequencies selection portion is accepted the result of above-mentioned FFT handling part, extracts and the above-mentioned position probing corresponding frequency content of signal.
25. capsule medical instrument according to claim 23 system is characterized in that,
The said external device has guide and uses magnetic field generation device, and this guide produces the above-mentioned Magnet that acts on above-mentioned capsule medical instrument inside with magnetic field generation device and guides the guide of above-mentioned capsule medical instrument to use magnetic field,
The above-mentioned filter that above-mentioned signal receiving device had of above-mentioned capsule medical instrument is removed above-mentioned guide with frequency content that magnetic field had.
26. a capsule medical instrument, it is imported in the subject, obtains the Biont information of this subject, and receives the position probing signal that the external device (ED) outside being arranged on above-mentioned subject sends, and this capsule medical instrument has:
The Biont information deriving means, it obtains the Biont information of above-mentioned subject;
Signal receiving device, the action of itself and this Biont information deriving means synchronously carry out the reception action of above-mentioned position probing with signal; And
Wireless base station apparatus, the position probing that it sends the above-mentioned Biont information that obtained by above-mentioned Biont information deriving means, received by above-mentioned signal receiving device is with the information of signal and the synchronizing signal synchronous with the action of this signal receiving device.
27. capsule medical instrument according to claim 26 is characterized in that,
Above-mentioned Biont information deriving means periodically obtains the Biont information of above-mentioned subject,
The action of above-mentioned signal receiving device and above-mentioned Biont information deriving means synchronously receives action repeatedly and action is ended.
28. according to claim 26 or 27 described capsule medical instruments, it is characterized in that,
Above-mentioned Biont information deriving means is to take the image pickup part that comes output image signal in the above-mentioned subject,
Above-mentioned synchronizing signal is the signal that is included in advance in the above-mentioned picture signal that above-mentioned image pickup part exports.
29. capsule medical instrument according to claim 28 is characterized in that,
Above-mentioned synchronizing signal is the vertical synchronizing signal of above-mentioned picture signal.
30. capsule medical instrument according to claim 28 is characterized in that,
Above-mentioned synchronizing signal is the horizontal-drive signal of above-mentioned picture signal.
31. according to claim 26 or 27 described capsule medical instruments, it is characterized in that,
Above-mentioned signal receiving device with the action of above-mentioned Biont information deriving means during move during different.
32. a capsule medical instrument system has:
The described capsule medical instrument of in the claim 26 to 31 each, it is imported in the subject, obtains the Biont information of this subject, and this Biont information of wireless transmission; And
External device (ED), it is set at outside the above-mentioned subject, receives the above-mentioned Biont information that above-mentioned capsule medical instrument sends,
Wherein, the said external device has:
The position probing signal generation device, its wireless transmission position probing signal;
Radio receiver, it receives the signal that above-mentioned wireless base station apparatus sent of above-mentioned capsule medical instrument;
Device for extracting synchronizing signal, it extracts above-mentioned synchronizing signal from the received signal of this radio receiver; And
Synchronizer, its basis makes above-mentioned position probing regularly synchronous with the action of the signal receiving device of above-mentioned capsule medical instrument with the generation timing of signal with the above-mentioned position probing of signal generation device by the above-mentioned synchronizing signal that this device for extracting synchronizing signal extracts.
33. capsule medical instrument according to claim 32 system is characterized in that,
The above-mentioned signal receiving device of above-mentioned capsule medical instrument constitutes repeatedly to move at interval across regular time and receives a plurality of above-mentioned position probing signals,
The said external device have the position of calculating above-mentioned capsule medical instrument or towards the locality accountant, this locality accountant has:
The frequency selection portion, it extracts the above-mentioned position probing signal corresponding frequency content received with above-mentioned radio receiver; And
The locality data processing division, its according to the frequency content of selecting by this frequency selection portion calculate above-mentioned capsule medical instrument the position and towards at least any.
34. capsule medical instrument according to claim 33 system is characterized in that,
Above-mentioned locality accountant has the FFT handling part, and this FFT handling part carries out Fourier transformation to the signal that is received by above-mentioned radio receiver,
The said frequencies selection portion is accepted the result of above-mentioned FFT handling part, extracts and the above-mentioned position probing corresponding frequency content of signal.
35. capsule medical instrument according to claim 33 system is characterized in that,
Above-mentioned capsule medical instrument has Magnet in inside,
The said external device has guide and uses magnetic field generation device, and this guide acts on above-mentioned Magnet with the magnetic field generation device generation and guides the guide of above-mentioned capsule medical instrument to use magnetic field,
The above-mentioned signal receiving device of above-mentioned capsule medical instrument has filter, and this filter is removed above-mentioned guide with frequency content that magnetic field had.
CN2007800237087A 2006-06-29 2007-06-27 Capsule medical device and capsule medical device system Expired - Fee Related CN101478910B (en)

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JP2006183424A JP2008011913A (en) 2006-07-03 2006-07-03 Capsule medical care device and capsule medical care device system
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