DE102006014045B4 - Method and device for the wireless remote control of the capsule functions of a locating coils having working capsule - Google Patents

Abstract

Method for wireless remote control of the capsule functions of a working capsule (110), which has at least three mutually orthogonal locating coils (124) in a patient, in which: - a first magnetic field (120) that can be received by the locating coils (124) is generated, - an electromagnetic locating device (112 ) on the basis of the first magnetic field (120) received by the locating coils (124), the position (116) and orientation (118) of the working capsule (110) relative (114) to a magnetic coil system having several, in particular fourteen, excitation coils (102a-n) ( 100) outside the patient, - the magnetic coil system (100) based on the position (116) and orientation (118) generates a navigation magnetic field (111) for exerting force (122) on the working capsule (110), in which: - a second, from at least one of the locating coils (124) receivable magnetic field (8) for remote control of the capsule functions of the working capsule (110) is generated.

Description

The invention relates to a method and a device for wireless remote control of at least three mutually orthogonal locating coils having working capsule of a magnetic coil system.

In medicine, it is often necessary to perform inside a usually living human or animal as a patient a medical measure, the z. B. may be a diagnosis or treatment. The target of such a medical procedure is often a hollow organ in the patient concerned, in particular its gastrointestinal tract. For a long time, the medical procedures were performed with the help of catheter endoscopes, which were introduced non-invasively or minimally invasively from outside the patient. Conventional catheter endoscopes here have several disadvantages, for. For example, they cause pain to the patient or make it difficult or impossible for them to reach distant internal organs.

For catheter-free or wireless endoscopy therefore z. B. video capsules Fa. Given Imaging known which the patient swallows. The video capsule moves through the patient's digestive tract due to peristalsis, taking up a series of video images. These are transmitted to the outside of the patient by radio. The patient is able to move freely throughout the body during the capsule stay lasting several hours, since he has corresponding receiving antennas and a recorder for recording the video images on the body. Orientation of the capsule and thus viewing direction of the video images and residence time in the body of the patient are random or not influenced. Apart from image acquisition, the capsule has no active functionality. Diagnostic functions, such as targeted viewing, cleaning, biopsy are just as impossible as targeted treatments inside the patient, eg. B. medication. For a complete diagnosis, this is unacceptable or unsatisfactory.

Recently, it is therefore, for. B. from the DE 103 40 925 B3 or the patent DE 10 2005 010 489 B4 known to move using a magnetic coil system magnetic body through hollow organs of a patient by means of magnetic, non-contact power transmission. The exercise of force is thus targeted, non-contact and controlled from the outside.

A magnetic body is in this case z. B. a permanent magnet containing working capsule, also called endocapsule or Endoroboter. The working capsules have functionalities of a conventional endoscope, e.g. As video recording, biopsy or clips. With such a work capsule such a medical measure can be self-sufficient, d. H. be carried out wirelessly or catheter-free, so there is no cable or mechanical connection from the working capsule to the outside. During the medical procedure, the patient is at least temporarily completely or partially within the magnetic coil system.

5 the drawings shows a corresponding, from the DE 103 40 925 B3 known magnetic coil system 100 , which is briefly described below. For a further, more detailed description of the magnetic coil system 100 or its functioning is on the DE 103 40 925 B3 directed. The magnet coil system 100 includes fourteen excitation coils 102 -N, of which in 5 only the excitation coils 102 c, 102e , and 102g -N are visible. The six excitation coils 102 -F are rectangular and form the edges of a cuboid. The remaining eight excitation coils 102g -N together form the lateral surface of a cylinder embedded in the cuboid just described.

Each one of the exciting coils 102 -N is over a supply line 104a -N on a power supply 106 connected. In 5 For clarity, only the supply lines 104a -C and 104e shown. about the power supply 106 each one of the excitation coils 102 -N independently of each other a certain current with a certain time course, of course, within the performance of the power supply 106 , impressed.

Each of the excitation coils 102 In this way, -n generates a magnetic field for itself. In the interior 108 of the magnetic coil system 100 Thus, almost any magnetic field distribution in terms of strength, direction and geometry can be generated. In this interior 108 there is a patient, not shown, and in the interior of the body, a work capsule 110 , which is an unillustrated magnetic element, for. B. contains a permanent magnet.

The magnetic coil system 100 is a location device 112 assigned, which position and orientation of the work capsule 110 in a magnetic coil system 100 assigned coordinate system 114 detected. The location or the place 116 the work capsule 110 , or the position of the geometric center of this, is in 5 indicated by the dashed lines. The orientation 118 the work capsule 110 is in 5 represented by an arrow and is from the location device 112 in terms of the coordinate system 114 detected. The working capsule can be any, z. B. elongated or rotationally symmetrical, geometric shape exhibit. The orientation would then correspond z. B. the direction of the unit vector in the longitudinal direction of the working capsule 110 , The entire situation of the work capsule 110 , ie in particular the center of gravity coordinates and the longitudinal axis direction, is thus in the coordinate system 114 fully described and known.

The location device 112 is an electromagnetic location device. For this includes the work capsule 110 three (shown) to six mutually orthogonal locating coils 124 , These work with a carrier frequency of z. B. 12 kHz in the "Aurora" system from the company NDI.

The location device 112 generated by means of an integrated coil arrangement 125 an electromagnetic field, in particular at the capsule location, represented by the field lines 120 , The working capsule takes the field through the locating coils 124 and sends the received field strength back to the location device 120 , It calculates the location from the received field strength transmitted by the working capsule 116 and the orientation 118 ,

The location device 112 transmitted place 116 and orientation 118 the work capsule 110 to the power supply 106 , This then energizes the excitation coils 102 -N such that at the place of work capsule 110 an unillustrated navigation magnetic field 111 established. This magnetic field is designed to work with the permanent magnet in the working capsule 110 interacts such that a desired force 122 and / or a desired, not shown torque on the working capsule 110 attacks. In this way, the working capsule 110 moved, aligned and / or rotated in the patient.

The entire energy, which requires the work capsule itself while performing the medical procedure is z. B. not shown batteries or capacitors inside the working capsule or by wireless energy transmission (not shown) provided to the capsule. The latter is particularly favorable for performance-intensive medical measures, such. B. hollow organ illumination, Biopsienahme, thermal coagulation or laser applications. The inductive energy coupling into the working capsule 110 requires an induction coil, not shown in the capsule and operates at frequencies of about 500 Hz to about 500 kHz. The size of the working capsule is z. B. for use in the upper gastrointestinal tract including the small intestine limited to about 25 mm in length and about 10 mm in diameter; with pure use in the large intestine a little more. As a result, the space for installations is generally limited.

To perform the intended tasks, the capsule requires control signals from outside the patient, e.g. B. to trigger a Biopsienahme, for recording video images, targeted medication, etc. A remote control ranges from simple commands, such as "extend biopsy forceps", z. Example, by transmitting a two-digit number code until the transmission of modified program code in the capsule, z. B. for a modified image preprocessing when recording video. Depending on whether a low or high frequency carrier signal for remote control with low or high bandwidth for data transmission is needed.

In 5 is for communication in the capsule 110 a receiver coil, not shown, and a remote control unit outside the patient 126 provided to a capsule control 128 is connected for the capsule functions. The remote control unit 126 is used to send the control commands to the capsule, but also optionally to receive feedback signals, eg. B. to confirm one of the work capsule 110 received command. The communication along the arrow 130 So always goes to the capsule and optionally also from this back.

Furthermore, for data transmission from the working capsule 110 externally used a high frequency carrier signal in the range 430 MHz to z. B. sensor data or live video images from the patient to transmit. For this purpose, an additional, not shown, transmitting coil is provided in the capsule interior.

In addition to the magnetic coil system for the application of force to the capsule so are a number of other coil arrangements or systems inside and outside the capsule necessary or available with full system expansion and maximum capsule functionality. But the more individual coils are needed, the more complex, voluminous and expensive the overall system becomes.

Especially in the work capsule 110 the installation space is extremely limited, so there is very little space for the actual medical components available due to the large number of required coils or communication components. However, this space is needed to z. B. to build a capsule with the widest possible range of functions, which is then universally applicable for a variety of medical purposes.

From the unpublished patent application DE 10 2005 012 387.2 It is known to realize by means of a common or single extracorporeal coil system, the exercise of force and the position of the capsule together. On the capsule side, a combination of both subtasks does not make sense, since the permanent magnet would have to be replaced by a coil to be supplied with energy. This energy could be in the capsule neither stored nor supplied. Ohmic losses in the capsule would be too high.

From the patent DE 10 2005 053 759 B4 It is known, by means of a common or single extracorporeal coil system to realize the exercise of force and wireless energy transfer to the capsule together. Again, because of the same reasons as above, a capsule-side combination does not make sense.

From the US 2004 0215083 A1 is a both transmitter-side and capsule-side combination of inductive energy coupling and remote control of the capsule known.

A combination of inductive energy coupling and position detection is on the other hand US 2004 0225184 A1 known.

US 2004 / 0181127A1 discloses a working capsule having magnetic coils which are energized to generate a magnetic field. This magnetic field is detected for position detection outside the capsule.

DE 10359981 A1 shows a coil assembly with which a work capsule can be located.

DE 103 41 092 A1 has the position of a working capsule in a magnetic coil system to the object.

All known measures reduce the individual modules or components, and thus the cost and complexity of the overall system of magnetic coil system and endoscopy capsule. Nevertheless, a still complex and expensive system remains.

Object of the present invention is to further simplify the overall system or components and thus save space.

With regard to the method, the object is achieved by a method according to claim 1.

In this case, the invention uses the following knowledge: For determining the position with the electromagnetic locating system, the capsule contains at least three receiver coils or locating coils oriented orthogonally to one another. These are usually for receiving fields of z. B. 12 kHz designed. The reception of alternating fields in this or a slightly different frequency range, z. B. 15 kHz is possible.

The required remote control signals for the capsule are usually low frequency. Such signals are in the range of a carrier frequency of approximately 10 kHz. This is sufficient for most remote control tasks, since the amount of information to be transmitted is rather small compared to e.g. B. with an image transmission of a camera signal. The above-mentioned frequency range of the location system is therefore sufficient for ordinary remote control tasks.

Therefore, therefore, the remote control signals in the form of the second magnetic field can also be received by the locating coils. A separate receiver coil for the remote control in the capsule is superfluous and there is more space for the remaining internals. This makes the overall system simpler and less expensive. Components are saved.

As a rule, the locating coils are symmetrical. In addition, since they are orthogonal to each other, they cover the entire three-dimensional electromagnetic field reception range with respect to the field orientation. The second magnetic field can thus be generated in any direction.

However, it may also be that due to the coil geometry, the locating coils have a preferred direction for the second magnetic field.

The position and orientation of the working capsule must be known anyway for the navigation, that is to say the exercise of force on the working capsule. The relative position and orientation of the locating coils in the stationary coordinate system are therefore known. Of course, the location of the locator coils in the capsule must be known. In the simplest case, therefore, the locating coils are rigidly installed in the capsule.

Thus, the instantaneous orientation of the locating coils in the magnet coil system is known. The second magnetic field can then always be generated in such a way that it is optimally aligned with respect to the preferred direction of the locating coils, that is, it couples into them in the best possible manner, for B. is aligned exactly along the coil axis of a particular locating coil. Given the field strength of the remote control field, the power received in that locating coil and thus the signal quality are thus maximal.

First and second magnetic fields can be generated in mutually different first and second frequency ranges. The frequency ranges can then be performed in particular not overlapping, so that location and remote control are assigned to separate frequency ranges. A mutual interference is thus excluded.

The frequency range of 500 Hz to 500 kHz is particularly suitable for transmission through human body tissue to the capsule at the given distances of about 20 to 60 cm between the transmitters for first and second magnetic field and the working capsule.

By differentiating the frequency ranges for the first and second magnetic fields for location and remote control, these hardly influence each other. For example, the second magnetic field for remote control high-frequency and the first for locating low frequency can be selected.

First and second magnetic field can therefore be superimposed. As a result, a remote control of the capsule takes place simultaneously during locating. Thus, a constant control of the capsule functions, so a control at any time, possible.

This z. B. the remote control signal, ie the second magnetic field z. B. amplitude modulated on the locating signal, so the first magnetic field to be modulated.

Alternatively, the second magnetic field can be generated in temporal multiplex to the first magnetic field. First and second field are thus temporally in the change, and not generated simultaneously. As a result, the respective maximum power of the transmitted first and second field is available both for determining the position and for the remote control, which enables a trouble-free signal transmission.

During the remote control then no location takes place. However, this does not bother if z. B. while the capsule rests in the patient without power. By correspondingly short time intervals between two remote controls so still a quasi-continuous location can be done. The work capsule can then be used so that it only performs actively controlled medical measures in the dormant state. Since the capsule movement anyway happens rather slowly, z. B. at a rate of 1 cm per minute, a non-permanent location is sufficient because the capsule does not change their location abruptly.

Since the locating coils for their function hardly need to absorb energy from an external magnetic field to perform the position detection, they can be designed small in relation to the capsule size and thus require little space in the capsule.

First and second magnetic field can be generated by a single or common coil system. Thus, outside of the capsule, the complexity of the overall system, in contrast to separate coils for location and remote control with the above-mentioned advantages. A corresponding holder and cooling for the common coil system thus needs to be provided only once.

The bobbins of the coil system are thus used together for location and remote control. A common control is done here. This reduces the effort of the entire system.

In particular, the common coil arrangement may be the magnet system for applying force to the capsule. Thus, in addition to this no additional external component for location and remote control is provided. The overall system is further simplified, the magnetic coil system thus performs three tasks, namely the capsule navigation, ie force using the navigation magnetic fields, the location of the capsule and the remote control, so transmission of control signals to the capsule, each as described above, in temporal change or simultaneously.

In order to be able to control the excitation coils of the common coil arrangement or of the magnet coil system particularly well for generating the first and second magnetic fields, these excitation coils can have a plurality of taps and can be operated via different taps. Thus, an exciter coil can be operated in different modes to have each favorable condition for the specific field generation, z. For example, certain impedance, number of turns or resistance.

In order to generate the first and second magnetic fields, it is also possible to use other partial coils from the common coil arrangement or the magnet coil system which are better suited than others for this purpose. The field generation for first and second magnetic field is optimized in each case.

In some cases, it may be advantageous not only to transmit remote control commands from the solenoid system to the capsule, but also to send out feedback from the capsule to the outside. This is in the simplest case, a feedback that the remote control command has been received, z. As a so-called Acknowledge signal. But it can also be simple sensor data, z. As a temperature or pH or other information can be sent from the capsule. In this case, the feedback signal from the common coil system or the magnetic coil system can be received. The relevant transmission coils for first and second magnetic field then also work as a receiving antenna. A separate receiving antenna will superfluous. The feedback signal can then be decoupled via a filter in the coil system from this and forwarded for further processing, for. B. to the above-mentioned capsule control.

Since the locating signal and the remote control signal so first and second magnetic field, are received in the capsule respectively on the same component, namely the locating coil, the combined electrical output signal of the locating coil can be divided into separate, each correlated to the first and second magnetic field electrical signals. This can be z. B. happen at modulation on bandpass filter for different carrier frequencies or the like. The capsule-side components for location and remote control can then each be supplied with the already separate remote control and location signals. Thus, these arrangements need not be modified from the solution with separate receiving antennas.

In particular, the common electrical signal coming from the locating coil is pre-amplified prior to the division.

With regard to the device, the object of the invention is achieved by a device according to claim 13.

The advantages resulting from the device according to the invention have already been explained in connection with the method according to the invention.

For a further description of the invention reference is made to the embodiments of the drawings. They show, in each case in a schematic outline sketch:

1 a magnetic coil system for magnetic navigation and remote control of a working capsule,

2 Coil currents of an excitation coil from 1 for navigation and remote control (a) separated, (b) modulated on each other and (c) in time division,

3 an alternative control of the magnetic coil system in detail,

4 the work capsule in detail,

5 a magnetic coil system for moving a magnetic body in a patient according to the prior art.

1 again shows the known magnetic coil system 100 out 5 according to the prior art, but modified according to the invention. A force control 2 receives from the locator 112 current position data 4 the work capsule 110 in the coordinate system 114 and from a control device, not shown, setpoint data for a new position and speed of the working capsule 110 , The position data 4 are place 116 and orientation 118 the work capsule 110 in the coordinate system 114 as related to 5 explained in detail.

Because the location of the locating coils 124 in the work capsule 110 fixed and thus as described in the coordinate system 114 is known deliver the position data 4 the evaluation and control unit 2 as well position and orientation of the locating coils 124 ,

The capsule control 128 , which is responsible for the control of the capsule functions, sends, indicated by the arrow 6 , a control signal that the working capsule 110 should reach the locating device 112 , This sends via the coil arrangement 125 , which according to the prior art only serves to generate the locating signal, in the form of the field 8th the control signal to the capsule 110 , The field 8th thus represents the second magnetic field according to the invention. The field 8th which the locating coils 124 interspersed, received by these, and in the working capsule 110 decoded as a remote control command.

The location device 112 calculated from the position data 4 the currents I _A (t) in the coil arrangement 125 ,

The currents I _A (t) to I _N (t) generate at the location of the locating coils 124 a magnetic field strength for locating and remote control of the capsule 110 ,

2a shows two temporal currents I _location (t) and I _st (t), the sum of the current intensity I _A (t) in the coil assembly 125 from 1 is. I _location (t) here is an exemplary temporal current intensity profile for locating the work capsule 110 according to the prior art. The frequency f ₁ of _location (t) lies in the range of 0-50 Hz. I _st (t) shows a temporal current profile for I _A (t) for transmitting a remote control command to the locating coils 124 , The operating frequency f ₂ of I _st (t) is approximately 10 kHz.

For the actual energization of the coil arrangement 125 are in the 2 B and 2c presented two alternatives. 2a shows a current distribution I _A (t) in which the currents I _location (t) and I _st (t) from 2a are superimposed, indicated by the mixer or summer 12 ,

The energization or wiring of the coil assembly 125 This is done via the taps 18a and 18b , which are arranged at this end, ie the entire coil assembly 125 is traversed by the current I _A (t). In 1 are the taps 18a , b and c, as described below, only by way of example for the coil arrangement 125 shown.

In such an energizing finds in 1 the location, the work capsule 110 as well as the remote control of the work capsule 110 occur simultaneously, as well as both current patterns I _location (t) and I _st (t) simultaneously in the corresponding coil arrangement 125 flow.

2c shows in contrast a time course of the current I _A (t), in which the currents I _location (t) and I _st (t) off 2a in time division as current I _A (t) on the coil arrangement 125 be switched.

From time t1 to t2 there flows the current I _location (t), between t2 and t3 the current I _st (t), between t3 and t4 again I _location (t), etc. locating the working capsule 110 thus takes place only in the periods t1 to t2, t3 to t4 and after t5. In the periods from t2 to t3 and t4 to t5, however, no locating the working capsule 110 , but their remote control takes place, which then does not take place for the first-mentioned periods.

The energization or wiring of the coil assembly 125 takes place now, as described above, only for the current I _place (t) on the taps 18a and 18b , The current supply with I _st (t) takes place via the taps 18a and 18c , The tap 18c is here approximately in the middle in the coil arrangement 125 arranged. Only part of the turns of the coil assembly 125 Thus, the current I _st (t) is traversed. The coil arrangement 125 then has a more suitable inductance or resistance for this current pattern.

Due to the different frequency ranges of the currents I _location (t) and I _st (t), localization and remote control influence the capsule 110 not each other.

Optionally, the capsule feedback signals, indicated by the arrows 22a , b, to the magnet coil system 100 or the coil assembly 125 send. The signals are then collected by the corresponding coils, and sent to the capsule control 128 directed. There is a filter 20 integrated, which derives the received feedback signals and along the arrow 22a or 22b to the capsule control 128 for further processing. The receiver coil 124 then works simultaneously as a transmission coil.

Alternatively, an external antenna can also be used 24 be present, the feedback signals along the arrow 26 fields and capsule control 128 passes.

3 again shows the control of the coil assembly 125 in detail or in an alternative embodiment. Each of the unillustrated individual coils in the coil system 125 Here is a power amplifier 30a Upstream, which generates the actual respective coil currents I _A (t).

The control of the power amplifier 30a In this case, -n takes place in each case by the locating device 112 and the capsule control 128 for remote control. Unlike in 1 Thus, the navigation and remote control signals are not in the capsule control 128 mixed. The output signals of both units are therefore separated by separate signal lines 32a , b each via preamplifier 34 to combiners or mixers 36 guided. Only there are the signals according to the alternatives in 2 mixed or multiplexed and then to the power amplifiers 30a -N guided.

4 shows the work capsule 110 in detail. The locating coils 124 receive the magnetic field 120 to the location and the field 8th for remote control, in 4 indicated by a single arrow as a whole field, either simultaneously or in temporal multiplex, as explained above. The total magnetic field is in this embodiment of the locating coils 124 in an electrical signal 38 that converts to a circulator 40 is forwarded, so passes to a signal divider 42 and equally applies to two bandpass filters 44a , b forwarded.

The bandpass filter 44a extracted from the signal 38 that with the field 120 for locating correlated locating signal 46 , The bandpass filter 44b on the other hand, the remote control signal accordingly extracts 48 that with the field 8th is correlated to the remote control. About preamp 50 Both signals are each to the position detection 52 and the function control 54 the capsule 110 managed and processed there.

The function control 54 operates the capsule fixtures, not shown, such. As biopsy forceps, drug reservoir, video camera or lighting.

The position detection 52 detects the from the locating coils 124 received field strength of the field 120 ,

From the return unit 56 be z. B. feedback of the capsule internals, such as "light is on" or "camera is running" sent outside the patient, not shown. Feedback can also be from the position detection 52 come. For example, a number representing the field strength measured in the capsule is sent out from the capsule.

The return unit 56 transmits a corresponding command in the form of a feedback signal 58 to a mixer 60 for modulation on a carrier signal 61 an oscillator 62 , About the circulator 40 the resulting return signal reaches the coil arrangement 124 which it uses as an electromagnetic field on the in 1 shown way 22a or 22c or 26 back to capsule control 128 or location device 112 ,

Claims (19)

Method for the wireless remote control of the capsule functions of at least three mutually orthogonal locating coils ( 124 ) working capsule ( 110 ) in a patient, in which: - one of the locating coils ( 124 ) receivable first magnetic field ( 120 ), - an electromagnetic locating device ( 112 ) on the basis of the positioning coils ( 124 ) received first magnetic field ( 120 ) the position ( 116 ) and orientation ( 118 ) of the working capsule ( 110 ) relative ( 114 ) to a plurality, in particular fourteen, exciter coils ( 102 N-magnetic coil system ( 100 ) outside the patient, - the magnet coil system ( 100 ) based on the position ( 116 ) and orientation ( 118 ) a navigation magnetic field ( 111 ) to exercise power ( 122 ) on the working capsule ( 110 ), in which: - a second, of at least one of the locating coils ( 124 ) Receivable magnetic field ( 8th ) for remote control of the capsule functions of the working capsule ( 110 ) is produced. Method according to Claim 1, in which the locating coils ( 124 ) a preferred direction for the second magnetic field ( 8th ), in which the second magnetic field ( 8th ) based on the position ( 116 ) and / or orientation ( 118 ) is generated in a predeterminable orientation with respect to the preferred direction. Method according to Claim 1 or 2, in which the first ( 120 ) and second ( 8th ) Magnetic field in mutually different first (f ₁ ) and second (f ₂ ) frequency ranges are generated. Method according to claim 1, 2 or 3, wherein the first ( 120 ) and second ( 8th Magnetic field superimposed on each other ( 12 ) become. Method according to claim 1, 2 or 3, wherein the first ( 120 ) and second ( 8th ) Magnetic field in time multiplex (t ₁ -t ₅ ) are generated. Method according to one of the preceding claims, in which the first ( 120 ) and second ( 8th ) Magnetic field from a common coil system ( 125 ) be generated. Method according to claim 6, wherein the first ( 120 ) and second ( 8th ) Magnetic field from the magnetic coil system ( 100 ) be generated. Method according to Claim 6 or 7, in which the exciter coils of the coil system ( 100 . 125 ) several taps ( 18a C), in which the coil system ( 125 ) first ( 120 ) and second ( 8th ) Magnetic field over different taps ( 18a -C) is generated. Method according to one of claims 6 to 8, wherein only a part of the excitation coils of the coil system ( 100 . 125 ) for generating the second magnetic field ( 8th ) be used. Method according to one of Claims 6 to 9, in which a feedback signal ( 58 ) of the working capsule ( 110 ) from the coil system ( 125 ) and via a filter ( 20 ) from the coil system ( 125 ) is discharged for further processing. Method according to one of the preceding claims, in which that of the locating coil ( 124 ) received first ( 120 ) and second ( 8th ) Magnetic field as electrical signal ( 38 ) in the working capsule ( 110 ) in separate, each with the first ( 120 ) and second ( 8th ) Magnetic field correlated electrical signals ( 46 . 48 ) is divided. Method according to Claim 11, in which the electrical signal ( 38 . 46 . 48 ) is pre-reinforced in the working capsule before and / or after the division. Device for the wireless remote control of the capsule functions of at least three mutually orthogonal locating coils ( 124 ) working capsule ( 110 ) in a patient, - with a device ( 112 ) for generating one of the locating coils ( 124 ) receivable first magnetic field ( 120 ), - with a plurality, in particular fourteen, exciter coils ( 102 N-magnetic coil system ( 100 ) outside the patient, - with an electromagnetic locating device ( 112 ) for determining position ( 116 ) and orientation ( 118 ) of the working capsule ( 110 ) relative ( 114 ) to the magnet coil system ( 100 ) on the basis of the positioning coils ( 124 ) received first magnetic field ( 120 ), - wherein the magnetic coil system ( 100 ) based on the position ( 116 ) and orientation ( 118 ) a navigation magnetic field ( 111 ) to exercise power ( 122 ) on the working capsule ( 110 ), - with a device ( 128 ) for generating a second, at least one of the locating coils ( 124 ) receivable magnetic field ( 8th ) for remote control of the capsule functions of the working capsule ( 110 ). Device according to Claim 13, in which the means for generating first ( 120 ) and second magnetic field ( 8th ) a common coil arrangement ( 125 ) exhibit. Device according to Claim 14, in which the common coil arrangement ( 125 ) the magnetic coil system ( 100 ). Device according to Claims 14 or 15, in which at least one of the individual coils of the common coil arrangement ( 100 . 125 ) several taps ( 18a -C). Device according to one of Claims 13 to 16, having a receiving device ( 100 . 125 . 24 ) to receive one from the working capsule ( 110 ) transmitted electromagnetic feedback signal ( 58 ). Device according to Claim 17, in which the receiving device ( 100 . 125 . 24 ) a filter ( 20 ) in the magnet coil system ( 100 ) and / or the institution ( 125 ) for the production of the first ( 120 ) and / or second magnetic field ( 8th ), for deriving the acknowledgment signal ( 58 ) contains. Device according to one of Claims 13 to 18, in which the working capsule ( 110 ) a signal divider ( 42 ) and a filter ( 44a , b) for splitting the locating coils ( 124 ) received first ( 120 ) and second ( 8th ) Magnetic field in separate, each with the first ( 120 ) and second ( 8th ) Magnetic fields correlated electrical signals ( 46 . 48 ) contains.

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