JP2005052502A - Capsule type medical device and capsule type medical device guiding system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a capsule type medical device and a capsule type medical device guiding system for guiding the medical device to a target section along a lumen organ in a short period of time by rotating the device. <P>SOLUTION: A spiral projection 43 is formed on the cylindrical outer surface of a capsule 3 inserted into the lumen organ in the body cavity, and an end 43a of the projection extends close to the border of the visual field angle near the tip of a tip cover 39 to be contracted in the shape of a hemisphereric plane to make a spiral structure. Accordingly, the speed of propulsion is further increased by rotating the capsule 3 in a rotating magnetic field, etc., and the capsule 3 can be more smoothly propelled along the bending lumen. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a capsule medical device and a capsule medical device guidance system suitable for being inserted into a body cavity and propelled while being rotated.

JP-A-2001-179700 and JP-A-2002-187100 are conventional examples in which the inside of a subject is propelled by a rotating magnetic field. In these conventional examples, a magnetic field generator that generates a rotating magnetic field, a robot body that receives the rotating magnetic field and rotates to obtain thrust, a position detector that detects the position of the robot body, and a position detector Disclosed is a movable micromachine movement control system comprising magnetic field changing means for changing the direction of a rotating magnetic field by a magnetic field generation unit to direct the robot main body in a direction to reach a destination based on the detected position of the robot main body. ing.
JP 2001-179700 A JP 2002-187100 A

  The above-described conventional example is of a type that advances while forming a hole with a drill, and cannot be applied to advance along a lumen in a luminal organ such as an esophagus in a body cavity.

(Object of invention)
The present invention has been made in view of the foregoing points, and provides a capsule medical device and a capsule medical device guidance system that can be guided to a target site in a short time along a hollow organ by rotating. The purpose is to do.
It is another object of the present invention to provide a capsule medical device and a capsule medical device guidance system that can be smoothly propelled even in the case of a bent luminal organ.

In a capsule medical device that performs medical acts such as examinations or treatments within a luminal organ of a subject,
The main body is composed of a rotationally symmetric body having a traveling direction as the axis of symmetry, and at least one of the front part or the rear part of the main body in the traveling direction is composed of a reduced diameter portion whose diameter becomes narrower toward the end, An electromagnetic field response unit that is acted upon by rotation of an electromagnetic field applied from the outside, a helical structure for converting rotational motion by the electromagnetic field response unit into propulsive force on the outer surface of the main body, and an end of the helical structure Is formed so as to reach the vicinity of the end of the main body, so that a large propulsion speed can be obtained, for example, so that it can be guided to the target site side in a short time along the hollow organ.

  According to the present invention, by rotating the capsule medical device, it can be guided to the target site in a short time.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 to 9 relate to a first embodiment of the present invention, FIG. 1 is an overall configuration diagram showing a schematic configuration of a capsule medical device guidance system including the first embodiment of the present invention, and FIG. 2 is a more detailed diagram of FIG. FIG. 3 is a schematic configuration diagram showing a schematic configuration of the magnetic field generator, FIG. 4 is a side view showing the appearance of the capsule medical device, and FIG. 5 is a cross-sectional view showing the internal configuration of FIG. FIG. 6 is a side view showing a water tank in which a capsule of a sample is inserted into a silicon tube in order to measure the propulsion speed by applying a rotating magnetic field, and FIG. 7 shows a sample used for measurement by providing a spiral projection at the end. FIG. 8 is a diagram showing the measurement result of the propulsion speed, and FIG. 9 is an explanatory diagram of the action when propelling the inside of the bent pipe.

  As shown in FIGS. 1, 2 and 3, a capsule medical device guidance system (hereinafter abbreviated as “capsule guidance system”) 1 is inserted into a body cavity of a patient 2 (shown in FIG. 1) to inspect the body cavity. Capsule-shaped capsule medical device (hereinafter simply abbreviated as “capsule”) 3 and the patient 2 are arranged outside the patient 2 to transmit / receive radio waves to / from the capsule 3 to control the operation of the capsule 3, A capsule control device (hereinafter simply abbreviated as a control device) 4 configured by a personal computer or the like that receives information transmitted from the device, and a direction in which the capsule 3 is to be propelled by controlling the direction of the rotating magnetic field applied to the capsule 3 A magnetic field generating device (schematically shown in FIG. 1) 5 and an AC power supply device 6 for supplying an alternating current power for generating a rotating magnetic field (more broadly, an electromagnetic field) to the magnetic field generating device 5 It is.

  As shown in FIG. 2, the magnetic field generator 5 is formed of, for example, three electromagnets 5a, 5b, and 5c, and controls the AC power supplied from the AC power supply 6 so that a rotating magnetic field can be generated in three axial directions. ing. In FIG. 3, the magnetic field generator 5 is schematically shown as a three-axis Helmholtz coil (having a hollow cubic shape) formed in the three-axis direction.

As shown in FIG. 2, a magnetic field generator 5 that generates a rotating magnetic field is arranged around the patient 2, and the AC power supply device 6 is controlled from the control device 4 side, and the capsule is inserted into the body cavity line of the patient 2. The capsule 3 is smoothly and efficiently applied by applying a rotating magnetic field in the direction of propelling the capsule 3 to the magnet 8 (as a magnetic field response unit) in which a force acts in response to the magnetic field disposed inside the capsule 3. It can be promoted (guided).
The direction of the rotating magnetic field generated by the magnetic field generator 5 can be controlled by operating an operation input device 9 connected to the control device 4.

  As shown in FIG. 1, the control device 4 is connected to the personal computer main body 11 having a function of controlling the capsule 3 and the magnetic field generating device 5 (the AC power source 7), and inputs commands, data, and the like. Connected to the personal computer main body 11 and a monitor 13 as a display means for displaying images and the like, and connected to the personal computer main body 11 to transmit control signals for controlling the capsule 3 and receive signals from the capsule 3 And an operation input device 9 that is connected to the personal computer main body 11 and inputs the direction of the rotating magnetic field.

  The control device 4 includes a CPU 15 as shown in FIG. 2, and the CPU 15 inputs a control signal for controlling the capsule 3 and the magnetic field generator 5 from the keyboard 12 and the operation input device 9 or in the personal computer main body 11. It is generated based on a control program stored in the hard disk 16 (see FIG. 2) or the like.

  A control signal for controlling the magnetic field generation device 5 is transmitted from the personal computer main body 11 to the AC power supply device 6 through the connection cable. A rotating magnetic field is generated based on the control signal. The capsule 3 is magnetically acted on the internal magnet 8 by the rotating magnetic field generated by the magnetic field generating device 5 by the rotating magnetic field, and is propelled by a thrust generating structure section described later by rotating the capsule 3. It is comprised so that the motive power of can be obtained.

On the other hand, a control signal for controlling the capsule 3 is modulated by a carrier wave having a predetermined frequency via an oscillation circuit in the personal computer main body 11 and oscillated as a radio wave from the external antenna 14.
The capsule 3 receives radio waves with an antenna 27 (to be described later), demodulates the control signal, and outputs it to each component circuit or the like.
Further, the control device 4 receives an information (data) signal such as a video signal transmitted from the wireless antenna 27 of the capsule 3 by the external antenna 14 and displays it on the monitor 13.

  As shown in FIG. 2, in the capsule 3, an objective optical system 21 for connecting an optical image, an imaging element 22 disposed at the imaging position, an illumination element 23 disposed around the objective optical system 21, In addition to the magnet 8, a signal processing circuit 24 that performs signal processing on a signal imaged by the image sensor 22, a memory 25 that temporarily stores a digital video signal generated by the signal processing circuit 24, and an image read from the memory 25 A radio circuit 26 that modulates a signal with a high-frequency signal and converts it into a signal that is transmitted wirelessly, a demodulation circuit that demodulates a control signal transmitted from the control device 4, an antenna 27 that transmits and receives radio waves to and from the extracorporeal antenna 14, A capsule control circuit 28 that controls the capsule 3 such as the circuit 24 and a battery 29 that supplies power for operation to the electrical system inside the capsule 3 such as the signal processing circuit 24 are housed.

  The personal computer main body 11 constituting the control device 4 that performs wireless communication with the capsule 3 is connected to the external antenna 14, a wireless circuit 31 that performs wireless communication with the wireless circuit 26 (on the capsule 3 side), and the wireless circuit 31. A data processing circuit 32 that performs data processing such as image display on the image data sent from the capsule 3, a CPU 15 as a control means for controlling the data processing circuit 32, the AC power supply device 6 and the like, a program, The CPU 15 is connected to an operation input device 9 for performing an operation for setting the direction of the rotating magnetic field and a keyboard 12 for inputting commands and data.

  The monitor 13 is connected to the data processing circuit 32, and an image or the like captured by the image sensor 22 and processed by the data processing circuit 32 via the wireless circuits 26 and 31 is displayed. Further, since the data processing circuit 32 captures an image while the capsule 3 is rotated, the data processing circuit 32 performs processing for correcting the orientation of the image displayed on the monitor 13 in a certain direction, and can display an image that is easy for the operator to view. As described above, image processing is performed.

FIG. 4 shows the outer shape of the capsule 3, and FIG. 5 shows its internal structure.
As shown in FIGS. 4 and 5, the capsule 3 is hermetically covered by, for example, a hemispherical transparent tip cover 39 and a cylindrical main body exterior member 40 to which the tip cover 39 is hermetically connected. A substantially cylindrical capsule main body 41 whose inside is sealed is formed. The rear end of the main body exterior member 40 has a substantially hemispherical shape. As shown in FIG. 5, the capsule body 41 has a rotationally symmetric outer shape rotated around a central axis C in the longitudinal direction, which is also the traveling direction.

  A helical structure for generating propulsion that converts rotational motion into propulsive force is provided on the outer surface of the rotationally symmetric capsule body 41. This helical structure protrudes from the cylindrical outer peripheral surface (base surface) 41a of the capsule body 41 in a spiral shape, and is provided with a helical projection 43 that contacts the inner wall of the body cavity and converts rotational motion into propulsive force. Yes. In addition, a spiral groove is formed between adjacent spiral protrusions 43 through which fluid such as gas and body fluid in the body cavity can communicate in the front-rear direction.

Inside the capsule body 41, built-in objects such as the objective lens 21 and the illumination element 23 described above are accommodated.
Specifically, the objective lens 21 is disposed in the center of the capsule body 41 inside the distal end cover 39 with the objective lens 21 attached to the cylindrical lens frame 44, and the imaging element 22 is placed at the imaging position of the objective lens 21. The mounted image sensor substrate 45 is disposed, and a plurality of illumination elements 23 are disposed around the lens frame 44.

  A control board 46 that performs signal processing and control adjacent to the image pickup element board 45 and a communication board 47 having a function of the wireless circuit 26 and the like are arranged so as to be stacked, and the antenna 27 is connected to the communication board 47. Yes. In addition, the illumination element 23, the imaging element substrate 45, and the like are electrically connected by a flexible substrate 48.

Further, a magnet 8 is arranged on the central axis C in the longitudinal direction of the capsule 3 so that the direction orthogonal to the central axis C is the longitudinal direction at a substantially central position of the length, and an adhesive or the like (not shown) It is fixed with.
Further, a battery 29 is accommodated adjacent to the magnet 8 and connected to the flexible substrate 48 via a switch circuit 49.

  The capsule 3 is generated by the magnetic field generator 5 by arranging the magnet 8 at a central position on the central axis C of the capsule body 41 and having a magnetization direction perpendicular to the central axis C. A rotating magnetic field acts on the magnet 8, and the capsule 3 is rotated by the rotational force received by the magnet 8.

The magnet (magnet) 8 used here is a permanent magnet such as a neodymium magnet, a samarium cobalt magnet, a ferrite magnet, an iron / chromium / cobalt magnet, a platinum magnet, or an AlNiCo magnet.
Rare earth magnets such as neodymium magnets and samarium cobalt magnets have a strong magnetic force and are advantageous in that the magnets built into the capsule can be made smaller. On the other hand, ferrite magnets have the advantage of being inexpensive. Furthermore, platinum magnets have excellent corrosion resistance.

  Further, in this embodiment, as shown in FIG. 4, the spiral protrusion 43 formed on the outer surface of the capsule body 41 extends to the side where the diameter is reduced to a hemispherical shape through the outer peripheral surface of the cylinder. The end 43a is formed in the middle of the hemispherical shape, specifically, at a position that does not fall within the viewing angle of the objective lens 21. Further, the rear end 43b of the spiral projection 43 is extended to the vicinity of the boundary where the diameter is reduced in a hemispherical shape. In the example shown in FIG. 4, the spiral protrusion 43 is formed in a double shape (two strips) by further providing the spiral protrusion 43 at an intermediate position between the one spiral protrusion 43.

  As described above, in this embodiment, the spiral protrusion 43 is provided on the outer surface of the capsule 3, and one end 43a is formed to reach a position near the end of the reduced diameter portion. In other words, the spiral projection 43 is also formed on the outer peripheral surface of the cylinder of the capsule body 41, but the other end 43a extends to, for example, a spherical portion whose diameter is smaller than the radius of the cylinder. It is characterized by being formed so as to reach a boundary position that does not fall within the viewing angle.

Thus, by providing the helical protrusion 43 near the end of the capsule body 41, the propulsion function is improved as described below.
FIG. 6 shows a water tank for measuring the propulsion speed by using the one provided with the spiral protrusion 43 in the vicinity of the end of the capsule body 41 in this way. In this water tank, a sample (having the outer shape of the capsule 3 of the present embodiment) (referred to as a first sample) is inserted in a silicon tube that simulates a luminal organ. Was put into a state in which water pressure was applied to the tube (for example, the water level was 20 cm), a rotating magnetic field was applied from the outside and the tube was moved, for example, 2 cm, and the propulsion speed was measured.

The propulsion speed was also measured under the same conditions in a comparative sample (referred to as a second sample) in which the spiral protrusions in the first sample were only the cylindrical surface portion.
FIG. 7 shows the outer shape of the first sample. In addition, the 2nd sample is a 1st sample shown in FIG. 7, and provides a helical protrusion only in the cylindrical part.

The measurement results obtained using these samples are shown in FIG. The measurement results shown in FIG. 8 are performed 10 times, and the average value is shown under the plot. The frequency of the rotating magnetic field was 0.5 Hz, 1 Hz, and 5 Hz.
In addition, assuming that the propulsion speed is proportional to the frequency, a line approximated by a least square method is drawn.

  FIG. 8A and FIG. 8B show the same experimental results while changing the frequency and speed scales. The data indicated by a circle is obtained from a sample having no spiral protrusion at the tip (in FIG. 8, simplified, abbreviated as “no tip”), and the data indicated by a triangle indicates a spiral protrusion at the tip. It is provided. 8A shows the case of frequency and speed up to 5 Hz, and FIG. 8B shows the measurement result up to 1 Hz in an enlarged manner.

  From these measurement data, it can be said that the propulsion speed is approximately 1.4 times higher when the spiral protrusion is provided to the end than when the spiral protrusion is not provided near the end. It can be said that this represents that the spiral protrusion at the end contributes to the driving force.

Further, another characteristic action of the capsule 3 of this embodiment will be described with reference to FIG.
As shown in FIGS. 9A and 9B, for example, when propelled in a bent lumen organ 55 in the bent direction, as shown in FIG. 9B, only the cylindrical portion is spiraled. In the case of the capsule 3 ′ provided with the protrusions, even if the capsule 3 ′ is rotated, the spiral protrusions are difficult to engage with the uneven parts such as the folds on the inner wall surface of the luminal organ, and are difficult to be smoothly pushed.

  Even in such a state, in this embodiment, as shown in FIG. 9 (A), the spiral protrusion 43 is formed near the end of the further reduced diameter. The capsule 3 can be more smoothly propelled by being engaged with the concavo-convex portion of the inner wall surface of the luminal organ by the helical projection 43 formed to the vicinity of the end portion.

  As described above, in this embodiment, the propulsive force can be improved by providing the spiral structure 43, more specifically, the spiral protrusion 43 near the end portion where the diameter is reduced, and rotating the capsule 3 to rotate. In addition to being able to reach the target site side in a short time, even in the case of a bent pipe line, the spiral protrusion 43 formed in the vicinity of the end portion makes it possible to follow the pipe line more smoothly. The feature is that it can also be promoted.

  Next, the operation of the capsule guiding system 1 provided with the spiral protrusion 43 will be described below. As shown in FIG. 1, when it is necessary to observe the inside of a body cavity such as the duodenum 51 side or the small intestine side of the patient 2, the operator swallows the capsule 3 from the oral cavity 52 into the patient 2.

  At this time, the operator turns on the switch circuit 49 of the capsule 3 in advance immediately before the patient 2 swallows it so that the power of the battery 29 is transmitted to the illumination element 23 and the like. At the same time, the operator activates (turns on) the magnetic field generator 5 and magnetically controls the capsule 3 so as to easily reach the target site in the body cavity by the rotating magnetic field generated by the magnetic field generator 5. .

As described above, in the capsule 3, when the magnet 8 acts on the rotating magnetic field generated by the magnetic field generator 5, the capsule body 41 is rotated by the action received by the magnet 8. When the capsule body 41 comes into contact with the inner wall of the body cavity, the capsule 3 moves forward and backward because the frictional force between the mucous membrane of the inner wall of the body cavity and the spiral protrusion 43 is converted into a large driving force. Further, as the capsule 3 rotates, the traveling direction (orientation) is changed while the capsule body 41 rotates so that the rotation plane of the magnet 8 and the rotation plane of the rotation magnetic field coincide with each other.
At this time, the capsule 3 can be smoothly pushed toward the target site in the lumen duct without causing the capsule body 41 to move unnecessarily such as eccentric movement.

When the capsule 3 is swallowed by the patient 2, the capsule 3 passes through the esophagus 53 from the oral cavity 52 and reaches the stomach 54.
When it is necessary to observe the inside of the stomach 54, the operator performs key input corresponding to an observation start command from the control device 4, for example, the keyboard 12. Then, the control signal by this key input is radiated | emitted with an electromagnetic wave through the external antenna 14 of the control apparatus 4, and is transmitted to the capsule 3 side.

  The capsule 3 detects an operation start signal based on a signal received by the antenna 27, and the illumination element 23, the imaging element 22, the signal processing circuit 24, and the like are in a driving state.

  The illumination element 23 emits illumination light in the visual field direction of the objective lens 21, and an optical image of the illuminated portion in the visual field range is imaged on the image sensor 22 arranged at the imaging position of the objective lens 21 and subjected to photoelectric conversion. Then, after A / D conversion and digital signal processing are performed by the signal processing circuit 24, compression processing is performed, the data is stored in the memory 25, modulated by the radio circuit 26, and radiated by radio waves from the antenna 27.

  This radio wave is received by the external antenna 14 of the control device 4, demodulated by the radio circuit 31 in the personal computer main body 11, further A / D converted and converted into a digital video signal by the data processing circuit 32, and the data processing circuit The optical image stored in the memory 32 and the hard disk 16 and read out at a predetermined speed and captured by the image sensor 22 is displayed in color on the monitor 13.

  The operator can observe the inside of the stomach 54 of the patient 2 and the like by observing this image. While observing this observation image, it is possible to easily control how to apply the external magnetic force so that the entire region of the stomach 54 can be observed using an operation means such as a joystick of the operation input device 9.

  Further, after the observation in the stomach 54 is completed, the direction of the rotating magnetic field generated by the magnetic field generator 5 with respect to the capsule 3 is controlled to be magnetically guided and moved from the stomach 54 to the duodenum 51 side. Can do. The capsule 3 can be smoothly promoted by controlling the direction of the rotating magnetic field so that the duodenum 51 also advances in the direction of the lumen. In addition, even when advancing in a bent duct like the small intestine, as described in FIG. 9A, the spiral protrusion 43 is formed up to the vicinity of the spherical end of the capsule body 41. The capsule 3 can be smoothly advanced even in a bent pipe.

Thus, according to the present embodiment, since the capsule 3 can be smoothly promoted, the time required for the examination can be shortened, and the burden on the operator and the patient, fatigue, and the like can be reduced.
In addition, the capsule 3 according to the present embodiment has an effect that the magnetic field induction efficiency is improved because there is no useless movement, and the magnet 8 inside the capsule body 41 and the electromagnets 5a to 5c outside the body can be downsized.

  Next, a second embodiment of the present invention will be described with reference to FIG. FIG. 10 shows a capsule 3B according to the second embodiment of the present invention. In this capsule 3B, the capsule 3 according to the first embodiment extends further rearward from the position where the rear end 43b of the spiral projection 43 reaches the rear end of the capsule body 3, and extends to the end of the capsule body 41. It is formed in the vicinity of the part.

Other configurations are the same as those of the capsule 3 of the first embodiment.
As an effect | action and effect of a present Example, while moving to back side, while being able to move efficiently, also when moving to the bent back side, it can be moved smoothly.

FIG. 11 shows a capsule 3C of the first modification. In contrast to the outer shape of the capsule 3B shown in FIG. 10, the outer diameter of the capsule 3C smoothly changes from the front end to the rear end, like a cigar shape.
This capsule 3C has an action and an effect with good insertability since the outer diameter smoothly changes from the front end to the rear end.

FIG. 12 shows a capsule 3D of a second modification. A capsule 3D shown in FIG. 13 is formed with a taper portion 61 in which the outer shape of the capsule body 41 is reduced in diameter so that both ends of the central cylindrical portion are tapered (conical shape). And the front end side and the rear end side are made flat as if they were cut.
Since the front cover side and the rear end side are tapered in diameter, the insertability is good. Moreover, since it has a cut shape, it can be miniaturized.

  FIG. 13 shows a capsule 3E of the third modification. A capsule 3E shown in FIG. 13 is the same as the capsule 3D shown in FIG. 12, except that the front end portion and the rear end portion are rounded into a substantially spherical shape instead of being flat.

That is, in the capsule 3E, the outer shape of the capsule body 41 is formed with a tapered portion 61 in which both ends of the central cylindrical portion are tapered (conical shape). And the edge part of the front end side and the rear-end side is made into the substantially spherical shape.
In this modification, the front end cover side and the rear end side are tapered so that the insertability is good.

  FIG. 14 shows a capsule 3F of a fourth modification. In the capsule 3F shown in FIG. 14, the pitch b at which the spiral projection 43 formed on the outer surface of the caxel body 41 is formed in a spiral shape in the portion having the largest outer diameter at the central portion, for example, is larger than this. The pitch is set to the same pitch as the pitches a and c of the projections 43 formed in the portion where the outer diameter is reduced on the front end side and the rear end side, that is, a = b = c.

When the pitch of the spiral projections 43 formed on the outer surface of the capsule 3F is formed constant in this way, the capsule 3F rotates and engages with the unevenness of the inner wall surface of the luminal organ, and is pushed out. Since the unevenness of the inner wall surface of the organ is considered to be substantially constant, the capsule 3 can be efficiently promoted.
Further, since the pitch is constant, machining can be easily performed by making the feed amount constant with respect to the rotation of the lathe during machining, and manufacturing can be performed at low cost.

Moreover, you may make it like the following 5th modifications.
Each of the capsules 3B and the like described above is a non-wireless type having no line or tube at the rear, but a flexible tube is rotatably attached to the rear end (the opposite side of the tip cover 39) of the capsule 3B or the like. A cable-type capsule medical device may be used.

  In this case, by combining the propulsion by the spiral structure and the push / pull by the tube, there is an effect that the capsule medical device can be propelled or retracted more effectively.

  Next, Embodiment 3 of the present invention will be described with reference to FIG. FIG. 15A shows a capsule 3G of Embodiment 3 of the present invention, and FIG. 15B shows an example of an acquired image obtained by this capsule 3G.

  A capsule 3G shown in FIG. 15A has, for example, a hollow structure in which a hollow portion 62 is provided in the spiral projection 43 along the longitudinal direction in the capsule 3B of FIG. In addition to the opening end 62a that opens, the end 43a extends to a position that is inside the viewing angle so that the end 43a can be observed (by an acquired image) as shown in FIG. .

  In the capsule 3G, a hollow portion is provided in the capsule body 41 to form a storage portion 64 that can store the medicine 63, and a tube 65 that connects the storage portion 64 and the hollow portion 62 of the spiral protrusion 43 is formed. A micropump 66 that is driven (release drive) or suction drive is provided between them, and the medicine 63 stored in the storage part 64 is discharged from the open end 62a of the distal end through the hollow part 62 of the spiral projection 43, and the affected part or the like. Therefore, it is possible to perform therapeutic treatment by drug administration.

  Further, the micropump 66 is rotated in the reverse direction so that a body substance such as a body fluid can be sucked from the opening end 62a and stored in the storage portion 64. For example, in the affected part or the like, the medicine 63 stored in the storage part 64 is first released from the open end 62a, and then the micropump 65 is rotated in the reverse direction to store the body substance such as body fluid in the storage part 64, and the capsule 3G After the body is discharged from the body, the substance in the storage section 64 can be taken out of the capsule 3G and inspected in detail.

According to the present embodiment, since the spiral projection 43 as the spiral structure is used for the release of the drug 63, the spiral structure can be used for both the propulsion and the release of the drug 63. Thus, it is possible to realize a capsule 3G having a function of imaging the body cavity and a function of releasing a drug for treatment.
Furthermore, a capsule 3G having a function of collecting body fluid in the body cavity and other substances in the body cavity can also be realized.

Further, by extending the end 43a of the spiral projection 43 to a position that is inside the viewing angle, the propulsive force can be further improved, and the medicine 63 is released from the open end 62a provided in the end 43a. In the case of sucking in-vivo substances, the operation can be confirmed by the acquired image.
Note that the capsule 3G of FIG. 15 may be used only for the release of the medicine 63, or may be used only for aspiration collection of a substance in the body.

  Various sensors such as a pressure sensor, a pH sensor, a temperature sensor, and a blood sensor may be provided at the hollow opening end 62 a of the spiral protrusion 43, and the sensor wiring may be disposed along the hollow portion 62. A different type of sensor may be provided for each of the plurality of spiral protrusions 43, or the same type of sensor may be used. In this case, since the site | part and position currently measured with the sensor can be confirmed with an image simultaneously with discharge | release of the chemical | medical agent 63 or collection | recovery of a bodily fluid, it is more convenient.

  FIG. 16 shows a modified capsule 3H. This capsule 3H is the same as the capsule 3G in FIG. 15A, but does not include the storage section 64 inside the capsule 3 and is provided with two spiral shapes in which the micropump 65 provided inside the capsule 3H is provided in a double manner via the tube 65. The projection 43 is connected to the hollow portion 62.

  When the micropump 65 is rotated, for example, in the clockwise direction, the micropump 65 performs an operation of performing suction from the upper side to the lower side in FIG. 17, and the hollow portion 62 of the spiral protrusion 43 shown in cross section in FIG. Body fluids can be sucked and stored.

Further, by rotating the micropump 65 in the reverse direction, body fluid or the like can be sucked and stored in the hollow portion 62 of the other spiral projection 43.
That is, in this modified example, in-vivo substances such as bodily fluids and substances to be examined can be collected by sucking into the hollow portions 62 of the double spiral projections 43, for example, at different sites. This modification has substantially the same effect as the capsule 3H of FIG.

Instead of the magnet 8 serving as an electromagnetic field response unit built in the capsule 3 or the like, it may be formed of a ferromagnetic material such as iron or a magnetic material. Further, an electric field may be applied instead of a magnetic field, and a charged body or a dielectric body may be incorporated in the capsule 3 or the like.
It should be noted that embodiments configured by partially combining the above-described embodiments also belong to the present invention.

{Appendix]
1. In a capsule medical device that performs medical acts such as examinations or treatments within a luminal organ of a subject,
The main body is composed of a rotationally symmetric body having a traveling direction as the axis of symmetry, and at least one of the front part or the rear part of the main body in the traveling direction is composed of a reduced diameter portion whose diameter becomes narrower toward the end, An electromagnetic field response unit that is acted upon by rotation of an electromagnetic field applied from the outside, a helical structure for converting rotational motion by the electromagnetic field response unit into propulsive force on the outer surface of the main body, and an end of the helical structure Is a capsule-type medical device, characterized in that it is installed so as to reach the vicinity of the end of the main body.

2. In a capsule medical device that performs medical acts such as examinations or treatments within a luminal organ of a subject,
The main body is composed of a substantially cylindrical portion and a reduced diameter portion in which the diameters at both ends of the main body narrow in the direction of the end, and a magnet that is magnetically acted on a rotating magnetic field applied from outside the subject is provided inside the main body. The outer surface of the main body is provided with a helical structure for converting the rotational movement by the magnet into a propulsive force, and the helical structure is installed in both the substantially cylindrical portion of the main body and the reduced diameter portion. Capsule type medical device.
(Effect of Supplementary Note 2) Compared with the case where the spiral structure is installed only in the substantially cylindrical portion of the main body in the narrowed portion in the luminal organ, propulsion is facilitated. Parts necessary for inspection and treatment can be placed inside the capsule medical device.

3. 3. The capsule medical device according to appendix 1 or 2, wherein the pitch of the spiral structure is the same regardless of the shape of the main body.
(Effect of Supplementary Note 3) Since the propulsive force obtained by rotation is constant on the outer surface of the capsule medical device, smoother and more effective propulsion can be realized.

4). At least one image sensor inside the capsule medical device, a lens system for collecting light taken into the image sensor from the outside, and the lens system as the reduced diameter portion at least at one end of the main body And a light transmitting member for taking in light, and installed on the light transmitting member so that the spiral structure is not reflected on the imaging device. The capsule medical device according to any one of the above.

5). The capsule medical device according to appendix 1, wherein the electromagnetic field response unit is a magnetic body or a magnet.
6). 2. The capsule medical device according to appendix 1, wherein the electromagnetic field response unit is a dielectric.

7). The capsule medical device according to appendix 2, wherein the spiral structure is smoothly connected at a connection portion between the substantially cylindrical portion and the reduced diameter portion of the capsule medical device. (Effect of Supplementary Note 7) Smoother propulsion is possible, and it is suitable for guiding a luminal organ.

8). 8. The capsule medical device according to any one of appendices 1 to 7, wherein the helical structure of the capsule medical device includes a plurality of spirals.
(Effect of Supplementary Note 8) The propulsive force increases as the number of spirals increases.

9. 9. The capsule medical device according to any one of appendices 1 to 8, wherein the reduced diameter portion has a tapered shape.
10. 9. The capsule medical device according to any one of appendices 1 to 8, wherein the reduced diameter portion is hemispherical in the capsule medical device.
11. 9. The capsule medical device according to any one of appendices 1 to 8, wherein a terminal portion of the reduced diameter portion is substantially spherical.
(Effect of Supplementary Note 11) Since the tip shape is substantially spherical, it is suitable for guiding a luminal organ.

12 The capsule medical device according to any one of appendices 1 to 11, wherein the spiral structure has a hollow portion.
(Effect of Supplementary Note 12) Since a storage means for a medicine or a substance in the body can be secured in the spiral structure, the capsule medical device can be miniaturized.

13. The capsule medical device includes at least a storage means for storing a medicine, a medicine stored in the storage means, and a release means for releasing the medicine, and passes through the spiral structure having a hollow structure. 13. The capsule medical device according to appendix 12, wherein the medicine released by the releasing means is released from the end of the helical structure.
(Effect of Supplementary Note 13) Since the spiral structure can be used in combination with the drug release conduit, the capsule medical device can be downsized.

14 The capsule medical device includes at least a body substance inhalation unit and a storage unit for storing the inhalation substance, and an end portion of the spiral structure having a hollow structure is used as an inhalation port for the body substance. The capsule medical device according to appendix 12.

(Effect of Supplementary Note 14) Since the spiral structure can be used together with the extracorporeal substance inhalation conduit, the capsule medical device can be downsized.

15. At least one image sensor inside the capsule medical device, a lens system for collecting light taken into the image sensor from the outside, and the lens system as the reduced diameter portion at least at one end of the main body The capsule type according to appendix 13 or 14, further comprising: a light transmissive member for taking in light, and being installed on the light transmissive member so that the spiral structure is reflected on the image sensor. Medical device.
(Effect of Supplementary Note 15) The release of the drug or the inhalation of the substance in the body can be confirmed in the acquired image.

16. The capsule medical device according to any one of appendices 1 to 15, an electromagnetic field generating unit that generates an electromagnetic field that acts on an electromagnetic field response unit provided in the capsule medical device, and the direction of the electromagnetic field by the electromagnetic field generating unit is controlled Electromagnetic field control means for
A capsule medical device guidance system, wherein the electromagnetic field generating means generates an electromagnetic field in three axial directions to rotate the capsule medical device in a luminal organ.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram of the outline of the capsule medical device guidance system provided with Example 1 of this invention. The block diagram which shows the more detailed structure of FIG. The schematic block diagram which shows the schematic structure of a magnetic field generator. The side view which shows the external appearance of a capsule type medical device. Sectional drawing which shows the internal structure of a capsule type medical device. The side view which shows the water tank which inserted the capsule of the sample in the silicon tube in order to apply a rotating magnetic field and to measure a propulsion speed. The figure which shows the 1st sample which provided the helical protrusion in the edge part. The figure which shows the measurement result of a propulsion speed. Explanatory drawing of an effect | action in the case of propelling the inside of the bent pipe line. The side view which shows the capsule type medical device of Example 2 of this invention. The side view which shows the capsule type medical device of a 1st modification. The side view which shows the capsule type medical device of a 2nd modification. The side view which shows the capsule type medical device of a 3rd modification. The schematic side view which shows the pitch of the helical protrusion of the capsule type medical device of a 4th modification. The figure which shows the capsule type medical device and acquired image of Example 3 of this invention. The side view which cuts off a part and shows the structure of the capsule type medical device of a modification.

Explanation of symbols

1 ... Capsule type medical device guidance system (capsule guidance system)
2 ... Patient 3 ... Capsule type medical device (capsule)
4. Capsule control device (control device)
DESCRIPTION OF SYMBOLS 5 ... Magnetic field generator 6 ... AC power supply device 8 ... Magnet 9 ... Operation input device 11 ... PC main body 13 ... Monitor 14 ... External antenna 15 ... CPU
DESCRIPTION OF SYMBOLS 16 ... Hard disk 21 ... Objective lens system 22 ... Imaging element 23 ... Illumination element 39 ... End cover 40 ... Main body exterior member 41 ... Capsule main body 43 ... Spiral protrusion 43a, 43b ... End agent Patent attorney Susumu Ito

Claims (5)

In a capsule medical device that performs medical acts such as examinations or treatments within a luminal organ of a subject,
The main body is composed of a rotationally symmetric body having a traveling direction as the axis of symmetry, and at least one of the front part or the rear part of the main body in the traveling direction is composed of a reduced diameter portion whose diameter becomes narrower toward the end, An electromagnetic field response unit that is acted upon by rotation of an electromagnetic field applied from the outside, a helical structure for converting rotational motion by the electromagnetic field response unit into propulsive force on the outer surface of the main body, and an end of the helical structure Is a capsule-type medical device, characterized in that it is installed so as to reach the vicinity of the end of the main body. In a capsule medical device that performs medical acts such as examinations or treatments within a luminal organ of a subject,
The main body is composed of a substantially cylindrical portion and a reduced diameter portion in which the diameters at both ends of the main body narrow in the direction of the end, and a magnet that is magnetically acted on a rotating magnetic field applied from outside the subject is provided inside the main body. The outer surface of the main body is provided with a helical structure for converting the rotational movement by the magnet into a propulsive force, and the helical structure is installed in both the substantially cylindrical portion of the main body and the reduced diameter portion. Capsule type medical device. The capsule medical device according to claim 1, wherein the pitch of the spiral structure is equal regardless of the shape of the main body. At least one image sensor inside the capsule medical device, a lens system for collecting light taken into the image sensor from the outside, and the lens system as the reduced diameter portion at least at one end of the main body And a light transmitting member for taking in light, and is installed on the light transmitting member so that the spiral structure is not reflected on the image pickup device. The capsule medical device according to any one of the above. The capsule medical device according to any one of claims 1 to 4, an electromagnetic field generating unit that generates an electromagnetic field that acts on an electromagnetic field response unit provided in the capsule medical device, and a direction of an electromagnetic field by the electromagnetic field generating unit Electromagnetic field control means for controlling,
A capsule medical device guidance system, wherein the electromagnetic field generating means generates an electromagnetic field in three axial directions to rotate the capsule medical device in a luminal organ.