JP2007195961A - Introducing system into subject - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an introducing system into a subject by which a series of images showing a desired region in a desired digestive tract can be easily picked up without serially grasping the imaging field of view in the digestive tract. <P>SOLUTION: The introducing system into the subject comprises: a capsule endoscope 1 in which an imaging means for picking up the image within the subject 100 and a magnet are arranged in its casing and which transmits a wireless signal containing the image within the subject 100 to the outside; a permanent magnet 3 which generates a magnetic field to the capsule endoscope 1 in a liquid Lq1 introduced into the subject 100, and changes at least one of the position and attitude of the capsule endoscope 1 by the magnetic field; and a position indication sheet 2 which indicates the proximity position of the permanent magnet 3 coming close to the subject 100 and generating the magnetic field with respect to the subject 100. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an in-subject introduction system that introduces a capsule-type in-subject introduction device into a subject and acquires an image in the subject imaged by the in-subject introduction device.

  In recent years, in the field of endoscopes, capsule-type in-subject introduction apparatuses (for example, capsule-type endoscopes) provided with an imaging function and a wireless communication function have been proposed. Intra-subject introduction systems have been developed that acquire images inside the subject. In order to observe (examine) the inside of a subject, a capsule endoscope is swallowed from the subject's mouth and then spontaneously discharged, and then inside the body cavity, for example, inside an organ such as the stomach or small intestine. Is moved according to the peristaltic movement, and functions to capture images in the subject at intervals of 0.5 seconds, for example.

  While the capsule endoscope moves within the subject, an image captured by the capsule endoscope is received by an external image display device via an antenna disposed on the body surface of the subject. This image display device has a wireless communication function and an image memory function for the capsule endoscope, and sequentially stores images received from the capsule endoscope in the subject in the memory. The doctor or nurse can observe (examine) the inside of the subject and make a diagnosis by displaying the image accumulated in the image display device, that is, the image in the digestive tract of the subject on the display.

  As such an in-subject introduction system, for example, a capsule endoscope in which a protruding member is spirally formed on the outer surface of a casing and a magnet is fixed inside the casing is introduced into the subject. There is a medical device guidance system for guiding a capsule endoscope to a desired site in a subject by forming a rotating magnetic field from outside the subject with respect to the type endoscope and controlling the rotating magnetic field. In such a medical device guidance system, the capsule endoscope introduced into the subject changes its position and direction in the subject by a rotating magnetic field applied from outside the subject (see Patent Document 1).

JP 2004-255174 A

  By the way, a doctor observes a desired digestive tract of a subject by sequentially displaying a series of images captured over a desired region in the digestive tract, which is an observation site, on a display. In this case, the doctor guides the capsule endoscope introduced into the digestive tract to change the imaging visual field in the digestive tract, and causes the capsule endoscope to capture an image over a desired region in the digestive tract. There is a need.

  However, in the above-described conventional intra-subject introduction system, in order to change the imaging field of view of the capsule endoscope introduced into the desired gastrointestinal tract over a desired area in the gastrointestinal tract, (I.e., an image captured by a capsule endoscope introduced into the digestive tract), while constantly grasping the current position of the capsule endoscope at the time of capturing the image in the digestive tract This capsule endoscope must be guided. For this reason, the guidance operation of such a capsule endoscope requires a high level of skill and experience. For example, if the doctor is not a skilled doctor, the capsule endoscope can be used to change the imaging field of view over a desired region in the digestive tract. It was difficult to guide the endoscope. This consumes a great deal of time and labor until a series of images over a desired region in the digestive tract, which is a desired observation site, and is a doctor skilled in guiding the capsule endoscope. Etc. will be restrained for a long time.

  The present invention has been made in view of the above circumstances, and it is possible to easily capture a series of images over a desired region in a desired gastrointestinal tract without sequentially grasping an imaging field of view in the gastrointestinal tract. The purpose is to provide.

  In order to solve the above-described problems and achieve the object, an in-subject introduction system according to claim 1 includes an imaging means for capturing an image in the subject and a magnet arranged in a casing, and the subject An in-subject introduction device that transmits a radio signal including an image inside to the outside, and a magnetic field generated in the in-subject introduction device in the liquid introduced into the subject. Magnetic field generating means for changing at least one of the position and orientation of the introducing device, and position display means for indicating the proximity position of the magnetic field generating means for generating the magnetic field in proximity to the subject to the subject. It is characterized by that.

  According to a second aspect of the present invention, the in-subject introduction system is characterized in that, in the above invention, the position display means indicates a plurality of the proximity positions.

  According to a third aspect of the present invention, the in-subject introduction system is characterized in that, in the above invention, the position display means is a sheet-like member on which a marker indicating the proximity position is formed.

  According to a fourth aspect of the present invention, in the in-subject introduction system according to the above invention, the marker is formed in a different shape for each body position of the subject.

  Further, in the in-subject introduction system according to claim 5, in the above invention, the position display means indicates information for selecting the magnetic field generation means to be brought close to the proximity position, corresponding to the proximity position, The magnetic field generating means is a permanent magnet selected from a plurality of permanent magnets based on the information.

  According to a sixth aspect of the present invention, in the in-subject introduction system according to the present invention, the position display means includes an information recording medium on which information for determining a magnetic field strength of the magnetic field generation means to be brought close to the proximity position is recorded. The magnetic field generation means is provided for each proximity position, and the magnetic field generation means is read by the electromagnet that generates the magnetic field for the in-subject introduction apparatus, reading means for reading information recorded on the information recording medium, and the reading means. Magnetic field control means for controlling the magnetic field strength of the electromagnet based on the information.

  The in-subject introduction system according to claim 7 has the antenna for receiving the radio signal transmitted by the in-subject introduction apparatus in the above invention, and the radio signal received through the antenna. And an image display device for displaying an image in the subject.

  According to an eighth aspect of the present invention, there is provided the intra-subject introduction system according to the present invention, wherein the antenna includes a plurality of antennas and is provided in the position display unit corresponding to the plurality of proximity positions.

  The in-subject introduction system according to claim 9 is the above-described invention, wherein the image display device includes input means for inputting desired designated position information designated from images in the subject, Detecting means for detecting the position and orientation of the in-subject introduction apparatus and the surface position of the position display means, and detecting a positional relationship between the in-subject introduction apparatus and the position display means; the designated position information; Based on the positional relationship, a specifying unit that specifies a proximity position corresponding to the specified position information from a plurality of the proximity positions, and a specific position display unit that indicates the proximity position specified by the specifying unit, It is characterized by having.

  In the in-subject introduction system according to claim 10, in the above invention, the specific position display means is provided for each of the proximity positions with respect to the position display means, and the proximity position specified by the specification means It is a light emission means which shows this by predetermined visible light.

  According to the present invention, a series of images over a desired region in a desired digestive tract can be easily captured without sequentially grasping the imaging field of view of the capsule endoscope with respect to the digestive tract based on the image displayed on the display. It is possible to achieve an in-subject introduction system that can easily acquire an image necessary for observation in a desired digestive tract in a short time.

  Hereinafter, with reference to the drawings, a preferred embodiment of an in-subject introduction system according to the present invention will be described in detail. The present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 is a schematic diagram schematically showing a configuration example of an in-subject introduction system according to Embodiment 1 of the present invention. As shown in FIG. 1, the in-subject introduction system according to the first embodiment includes a capsule endoscope 1 that is introduced into the subject 100 and captures an image in the digestive tract of the subject 100, and a capsule. Permanent for controlling at least one of the position and posture of the supply device Lp for introducing the liquid Lq1 for levitating the endoscope 1 into the subject 100 and the capsule endoscope 1 levitating in the liquid Lq1. A magnet 3, a position display sheet 2 indicating a position on the body surface where the permanent magnet 3 is brought close to the subject 100, and a workstation 4 that displays an image captured by the capsule endoscope 1 on a display. Have.

  The capsule endoscope 1 has an imaging function for imaging the inside of the subject 100 and a wireless communication function for transmitting various information such as captured images to the workstation 4. Further, the capsule endoscope 1 is formed in a size that can be easily introduced into the subject 100, and has a specific gravity equal to or less than that of the liquid Lq1. When the capsule endoscope 1 is swallowed by the subject 100, the capsule endoscope 1 moves in the digestive tract by the peristaltic motion of the subject 100, and images in the digestive tract at a predetermined interval, for example, every 0.5 seconds. Are sequentially imaged. In addition, the capsule endoscope 1 transmits the image in the digestive tract thus captured to the workstation 4.

  The supply device Lp is for supplying the liquid Lq1 that floats the capsule endoscope 1 into the subject 100. Specifically, the supply device Lp contains a desired liquid Lq1 such as water or physiological saline, and supplies the liquid Lq1 from the mouth of the subject 100 into the body. The liquid Lq1 supplied by the supply device Lp is introduced into, for example, the stomach of the subject 100, and the capsule endoscope 1 is floated inside the subject 100.

  The permanent magnet 3 functions as a magnetic field generating unit that changes at least one of the position and posture of the capsule endoscope 1 in the subject 100. Specifically, the permanent magnet 3 generates a magnetic field with respect to the capsule endoscope 1 introduced into the subject 100 (for example, inside the stomach), and in the liquid Lq1 by the magnetic force of the magnetic field. The operation of the capsule endoscope 1 (that is, the movement of the casing) is controlled. The permanent magnet 3 controls at least one of the position and posture of the capsule endoscope 1 in the subject 100 by controlling the operation of the capsule endoscope 1, and the capsule endoscope 1. At least one of the position and posture of 1 is changed. In this case, the capsule endoscope 1 incorporates a magnet that operates the casing in response to the magnetic force applied by the permanent magnet 3.

  The permanent magnet 3 may be a single permanent magnet having a predetermined magnetic force, but a plurality of permanent magnets having different magnetic forces are prepared, and a permanent magnet selected from the plurality of permanent magnets is used. Is desirable. In this case, the permanent magnet 3 is appropriate for the body shape of the subject 100 (for example, height, weight, waist circumference, etc.) or for the operation of the capsule endoscope 1 to be controlled (for example, movement, swinging, or both operations). What is necessary is just to select what produces a magnetic field.

  The position display sheet 2 functions as a position display unit that indicates a position where the permanent magnet 3 is brought close to the subject 100 (hereinafter referred to as a close position) to an examiner such as a doctor or a nurse. Specifically, when the position indicating sheet 2 is attached to the subject 100, the position indicating sheet 2 indicates the close position of the permanent magnet 3 on the body surface of the subject 100 to the examiner. The permanent magnet 3 brought close to the close position generates a magnetic field for the capsule endoscope 1 in the digestive tract, and at least one of the position and posture of the capsule endoscope 1 can be controlled by magnetic force. That is, when the examiner uses the permanent magnet 3 to change at least one of the position and posture of the capsule endoscope 1 in the subject 100, the permanent magnet 3 is located at a close position indicated by the position display sheet 2. To control the operation of the capsule endoscope 1 in the subject 100. The operation of the permanent magnet 3 that changes at least one of the position and posture of the capsule endoscope 1 in the subject 100 will be described later.

  The workstation 4 has a wireless communication function for receiving various information such as an image captured by the capsule endoscope 1 and a display function for displaying an image received from the capsule endoscope 1 on a display. Specifically, the workstation 4 includes an antenna 5 a that transmits and receives radio signals to and from the capsule endoscope 1. For example, the workstation 4 has a capsule endoscope via the antenna 5 a disposed on the body surface of the subject 100. Various information from the mirror 1 is acquired. In this case, the workstation 4 functions as an image display device that displays an image in the subject 100 captured by the capsule endoscope 1 on a display. The workstation 4 also uses the antenna 5a to control the drive of the capsule endoscope 1 (for example, a control signal for controlling the start or stop of the imaging operation of the capsule endoscope 1). ) Can be sent.

  The antenna 5 a is realized by using, for example, a loop antenna, and transmits and receives radio signals between the capsule endoscope 1 and the workstation 4. Specifically, as illustrated in FIG. 1, the antenna 5 a is disposed at a predetermined position on the body surface of the subject 100, for example, a position near the stomach of the subject 100. In this case, the antenna 5 a enables wireless communication between the capsule endoscope 1 introduced into the stomach of the subject 100 and the workstation 4. The antenna 5a may be disposed on the body surface of the subject 100 corresponding to the passage route of the capsule endoscope 1 in the subject 100. The number of antennas 5a arranged is not particularly limited to one, and may be plural.

  Next, the configuration of the capsule endoscope 1 as an example of the intra-subject introduction apparatus according to the present invention will be described in detail. FIG. 2 is a schematic diagram illustrating a configuration example of the capsule endoscope 1. As shown in FIG. 2, the capsule endoscope 1 includes a capsule-type housing 10 that is formed in a size that can be easily introduced into the subject 100, and the magnetic force of the permanent magnet 3 described above. And a permanent magnet 11 that operates. In addition, the capsule endoscope 1 includes an imaging unit 12 for imaging the inside of the subject 100, an angular velocity sensor 13 that detects an angular velocity when the housing 10 swings, and a case 10 moves. An acceleration sensor 14 that detects the acceleration of the capsule endoscope 1 and a magnetic sensor 15 that detects the intensity of the magnetic field applied to the capsule endoscope 1. Furthermore, the capsule endoscope 1 includes a signal processing unit 16 that generates an image signal corresponding to an image captured by the imaging unit 12, an antenna 17a that transmits and receives radio signals between the external antenna 5a, and an external A communication processing unit 17 that modulates various signals such as an image signal to be transmitted to the workstation 4 into a radio signal or demodulates a radio signal received through the antenna 17a. The capsule endoscope 1 includes a control unit 18 that controls driving of each component of the capsule endoscope 1, and a power supply unit that supplies driving power to each component of the capsule endoscope 1. 19.

  The casing 10 is a capsule-type member that is formed in a size that can be easily introduced into the subject 100. This is realized by the dome member 10b forming the part. For example, as shown in FIG. 2, the case main body 10 a has a permanent magnet 11 and a power supply unit 19 on the rear end side as compared to the center portion of the housing 10, and an imaging unit 12 on the front end portion. The dome member 10b is a light-transmitting, substantially transparent dome-shaped member, and is attached to the front end portion of the case main body 10a so as to cover the imaging unit 12. In this case, the dome member 10b forms a space region 10c surrounded by the inner wall and the front end portion of the case body 10a. The casing 10 formed by the case main body 10a and the dome member 10b has a specific gravity equal to or less than that of the liquid Lq1, and has a center of gravity on the rear end side.

  The permanent magnet 11 is for operating the housing 10 by the magnetic force of the magnetic field generated outside. Specifically, the permanent magnet 11 is magnetized in the longitudinal direction of the housing 10. For example, when the external permanent magnet 3 generates a magnetic field to the permanent magnet 11, the permanent magnet 11 is liquid based on the magnetic force applied by the magnetic field. Move or swing the housing 10 in Lq1. Thereby, the permanent magnet 11 can change at least one of the posture and position of the capsule endoscope 1 in the liquid Lq1 by the magnetic force.

  The posture of the capsule endoscope 1 here is the posture of the housing 10 in a predetermined spatial coordinate system xyz. Specifically, the posture of the capsule endoscope 1 is determined by a spatial coordinate system when a long axis C1 in the direction from the rear end portion to the front end portion is set as an axis vector on the central axis in the longitudinal direction of the housing 10. It is determined by the direction of the major axis C1 at xyz. The position of the capsule endoscope 1 here is determined by the position coordinates of the housing 10 in the space coordinate system xyz. That is, when the capsule endoscope 1 is introduced into the subject 100, the posture of the capsule endoscope 1 in the subject 100 is determined by the direction of the long axis C1 in the spatial coordinate system xyz, The position of the capsule endoscope 1 in the subject 100 is determined by the position coordinates of the housing 10 in the space coordinate system xyz.

  The imaging unit 12 is for capturing an image in the digestive tract of the subject 100, for example. Specifically, the imaging unit 12 forms an image of an image sensor such as a CCD or CMOS, a light emitting element such as an LED that illuminates the imaging field of the image sensor, and reflected light from the imaging field on the image sensor. And an optical system such as a lens. As described above, the imaging unit 12 is fixed to the front end portion of the case body 10a and forms an image of reflected light from an imaging field received through the dome member 10b, for example, an image in the digestive tract of the subject 100 is captured. . The imaging unit 12 transmits the obtained image information to the signal processing unit 16. The optical system of the imaging unit 12 is desirably a wide angle one. Thereby, the imaging unit 12 can have a viewing angle of, for example, about 100 to 140 degrees, and can widen the imaging field of view. The in-subject introduction system according to the first embodiment of the present invention can improve the observability in the subject 100 by using the capsule endoscope 1 having such a wide imaging field of view.

  Here, the direction of the imaging field of the imaging unit 12 fixedly arranged inside the housing 10 is determined by the direction of the housing 10 in the spatial coordinate system xyz. That is, the light receiving surface of the imaging unit 12 is arranged perpendicular to a predetermined direction with respect to the housing 10, for example, the long axis C1. In this case, the center axis (that is, the optical axis) of the imaging field of the imaging unit 12 substantially coincides with the long axis C1, and the light receiving surface of the imaging unit 12 has two diameters that are axis vectors perpendicular to the long axis C1. It is parallel to the axes C2a and C2b. The radial axes C2a and C2b are axial vectors in the radial direction of the housing 10, and the long axis C1 and the radial axes C2a and C2b are orthogonal to each other. In such an imaging unit 12, the normal direction of the light receiving surface, that is, the direction of the imaging field of view is determined by the direction of the long axis C1 in the spatial coordinate system xyz, and the rotation angle of the radial axis C2a with the long axis C1 as the rotation center. The rotation angle of the light receiving surface, that is, the rotation angle of the imaging field of view with the major axis C1 as the rotation center is determined.

  The angular velocity sensor 13 is for detecting the angular velocity of the housing 10 when the posture of the capsule endoscope 1 changes. Specifically, the angular velocity sensor 13 is realized using a MEMS gyro or the like, and detects an angular velocity when the casing 10 swings, that is, an angular velocity of the long axis C1 whose direction changes in the spatial coordinate system xyz. Moreover, the angular velocity sensor 13 detects the angular velocity of the housing 10 when rotating around the major axis C1. In this case, the angular velocity sensor 13 detects the angular velocity of the radial axis C2a that rotates about the major axis C1. The angular velocity sensor 13 transmits each detection result of the angular velocity to the control unit 18.

  The acceleration sensor 14 is for detecting the acceleration of the housing 10 when the capsule endoscope 1 is displaced. Specifically, the acceleration sensor 14 detects the acceleration when the casing 10 moves, that is, the acceleration of the casing 10 whose position coordinates change in the spatial coordinate system xyz. In this case, the acceleration sensor 14 detects the magnitude and direction of the acceleration of the casing 10. The acceleration sensor 14 transmits such an acceleration detection result to the control unit 18.

  The magnetic sensor 15 is for detecting an external magnetic field strength acting on the capsule endoscope 1. Specifically, for example, when the external permanent magnet 3 generates a magnetic field with respect to the capsule endoscope 1, the magnetic sensor 15 has a strength of the magnetic field applied to the capsule endoscope 1 by the permanent magnet 3. Is detected. The magnetic sensor 15 transmits such a detection result of the magnetic field strength to the control unit 18.

  The signal processing unit 16 is for generating an image signal corresponding to the image captured by the imaging unit 12. Specifically, the signal processing unit 16 generates an image signal including the image information received from the imaging unit 12. Furthermore, the signal processing unit 16 includes the movement information (described later) of the housing 10 received from the control unit 18 in the blanking period of the image signal. Thereby, the signal processing unit 16 associates the image captured by the imaging unit 12 with the motion information of the housing 10 at the time of imaging. The signal processing unit 16 transmits an image signal including such image information and motion information to the communication processing unit 17.

  The communication processing unit 17 performs predetermined modulation processing or the like on the image signal received from the signal processing unit 16 and modulates the image signal into a radio signal. In substantially the same manner, the communication processing unit 17 modulates a magnetic field detection signal (described later) received from the control unit 18 into a radio signal. The communication processing unit 17 outputs the generated radio signal to the antenna 17a. The antenna 17a is, for example, a coil antenna, and transmits a radio signal received from the communication processing unit 17 to, for example, the external antenna 5a. In this case, this wireless signal is received by the workstation 4 via the antenna 5a. On the other hand, the communication processing unit 17 receives a radio signal from, for example, the workstation 4 via the antenna 17a. In this case, the communication processing unit 17 performs predetermined demodulation processing or the like on the radio signal received via the antenna 17a, and demodulates the radio signal to a control signal from the workstation 4, for example. Thereafter, the communication processing unit 17 transmits the obtained control signal and the like to the control unit 18.

  The control unit 18 controls each drive of the imaging unit 12, the angular velocity sensor 13, the acceleration sensor 14, the magnetic sensor 15, the signal processing unit 16, and the communication processing unit 17, and performs input / output control of signals in these components. In this case, the control unit 18 controls the operation timing of the imaging unit 12, the angular velocity sensor 13, and the acceleration sensor 14 so as to detect the angular velocity and acceleration of the housing 10 when the imaging unit 12 captures an image. When the control unit 18 receives a control signal from the workstation 4 from the communication processing unit 17, the control unit 18 starts or stops driving the imaging unit 12 based on the control signal. In this case, the control unit 18 controls the driving of the imaging unit 12 so as to capture images in the subject 100 at predetermined intervals, for example, 0.5 second intervals, based on the imaging start control signal, and stops imaging. Based on the control signal, the driving of the imaging unit 12 is stopped. Further, the control unit 18 grasps the external magnetic field strength based on the detection result received from the magnetic sensor 15 and transmits a magnetic field detection signal corresponding to the magnetic field strength to the communication processing unit 17.

  The control unit 18 may control the driving of the imaging unit 12 based on the control signal from the workstation 4 as described above, or a predetermined time elapses after the driving power is supplied by the power supply unit 19. In such a case, drive control of the imaging unit 12 may be started.

  In addition, the control unit 18 includes a movement amount detection unit 18a that detects a movement amount of the housing 10 when the capsule endoscope 1 is displaced, and a housing 10 when the posture of the capsule endoscope 1 changes. And an angle detection unit 18b for detecting the rotation angle. The movement amount detection unit 18a performs a predetermined integration process on the acceleration detected by the acceleration sensor 14, and calculates the movement amount of the housing 10 in the spatial coordinate system xyz. The movement amount calculated by the movement amount detection unit 18a is a vector amount indicating the movement distance and movement direction of the housing 10 in the spatial coordinate system xyz. On the other hand, the angle detection unit 18b performs a predetermined integration process on the angular velocity detected by the angular velocity sensor 13, and calculates the rotation angle of the major axis C1 and the rotation angle of the radial axis C2a in the spatial coordinate system xyz. The control unit 18 transmits the movement amount detected by the movement amount detection unit 18 a and each rotation angle detected by the angle detection unit 18 b to the signal processing unit 16 as movement information of the housing 10.

  Next, the position display sheet 2 of the in-subject introduction system according to the first embodiment of the present invention will be described in detail. FIG. 3 is a schematic diagram schematically illustrating a configuration example of the position display sheet 2. As shown in FIG. 3, the position display sheet 2 is a sheet-like member on which a plurality of markers for indicating the proximity position described above to the examiner is formed. Specifically, the position display sheet 2 is a bendable sheet-like member formed of cloth, paper, resin, or the like. For example, as shown in FIG. M18 is formed. In addition, the proximity position shown by the position display sheet 2 should just be one or more places, and is not specifically limited to 18 places.

  The markers M <b> 1 to M <b> 18 are for indicating the close position on the body surface where the permanent magnet 3 is close to the subject 100, for example, to the examiner. Specifically, the markers M <b> 1 to M <b> 18 are formed in a desired shape such as a circle, and when the position display sheet 2 is attached to the subject 100, the markers M <b> 1 to M <b> 18 indicate the proximity positions on the body surface of the subject 100. Such markers M <b> 1 to M <b> 18 are grouped for each body position of the subject 100 such as the supine position, and indicate different proximity positions for each body position of the subject 100. In this case, the markers M1 to M18 are divided into, for example, three groups of a supine position marker group MG1, a left side position marker group MG2, and a right side position marker group MG3.

  The supine position marker group MG1 indicates a proximity position when the permanent magnet 3 is brought close to the subject 100 in the supine position, and includes, for example, markers M1 to M8. The left-side position marker group MG2 indicates a proximity position when the permanent magnet 3 is brought close to the subject 100 whose body position is the left-side position, and includes, for example, markers M9 to M13. The right lateral position marker group MG3 indicates a proximity position when the permanent magnet 3 is brought close to the subject 100 whose body position is the right lateral position, and includes, for example, markers M14 to M18. The examiner moves the permanent magnet 3 all the way to the proximity positions indicated by the markers M1 to M18, so that the inspector 100 in the liquid Lq1 introduced into the desired digestive tract (for example, stomach) in the subject 100 At least one of the position and posture of the capsule endoscope 1 is changed to change the imaging field of view over substantially the entire area of the digestive tract, and a series of images covering substantially the entire area of the digestive tract is displayed. Can be imaged.

  Moreover, as shown in FIG. 3, for example, the position display sheet 2 is provided with a magnet number in the vicinity of each of the markers M1 to M18. Such a magnet number is a number for identifying each of the plurality of permanent magnets, and is an example of selection information for selecting the permanent magnet 3 to be brought close to the subject 100 from the plurality of permanent magnets. Specifically, when the inspector brings the permanent magnet 3 close to the proximity position indicated by any of the markers M1 to M18, a plurality of permanent magnets specified by the magnet number assigned in the vicinity of the marker at the proximity position are provided. Choose from permanent magnets. For example, when the inspector brings the permanent magnet close to the proximity position indicated by the marker M9, the inspector selects the permanent magnet specified by the magnet number (3) from the plurality of permanent magnets prepared in advance, and this magnet number (3 ) Is brought close to the marker M9.

  It should be noted that the selection information attached in the vicinity of such a marker is not limited to the magnet number as described above, but may be information of another aspect that identifies a permanent magnet such as a symbol or a figure, or is generated. It may be information indicating the strength or magnetic force of the magnetic field. In this case, the inspector may select a permanent magnet having a magnetic force or a magnetic field strength indicated by the selection information from a plurality of permanent magnets. Further, as such selection information, the shape of each marker exemplified in the markers M1 to M18 is different for each permanent magnet, and each such marker itself indicates a proximity position and is brought close to this proximity position. You may make it show the selection information of a permanent magnet by a shape.

  On the other hand, the position display sheet 2 is provided with projecting portions 2a to 2c and fitting portions 2d to 2f in the vicinity of opposite ends. The protrusions 2a to 2c and the fitting portions 2d to 2f form a pair of connection portions for connecting both end portions of the position display sheet 2, respectively. Specifically, the protruding portion 2a and the fitting portion 2d form a pair of connecting portions, the protruding portion 2b and the fitting portion 2e form a pair of connecting portions, and the protruding portion 2c and the fitting portion 2f Forms a pair of connections. In this case, the projections 2a to 2c are respectively fitted to the fitting portions 2d to 2f, so that the position display sheet 2 connects both opposing end portions and forms a cylindrical shape. For example, as shown in FIG. 4, such a position display sheet 2 is wound around the body of the subject 100, and the subject is connected by connecting the protrusions 2 a to 2 c and the fitting portions 2 d to 2 f described above. 100 is attached. Thus, the position display sheet 2 mounted on the subject 100 indicates the proximity position of the permanent magnet 3 to the subject 100 to the examiner, for example, by turning the markers M1 to M18 outward.

  Next, the workstation 4 of the in-subject introduction system according to the first embodiment of the present invention will be described in detail. FIG. 5 is a block diagram schematically illustrating a configuration example of the workstation 4. As shown in FIG. 5, the workstation 4 includes a communication unit 5 that performs wireless communication with the capsule endoscope 1 using an antenna 5a, an input unit 6 that inputs various instruction information to the workstation 4, and a capsule. A display unit 7 that displays an image captured by the endoscope 1, a storage unit 8 that stores various information such as image information, and a control unit 9 that controls driving of each component of the workstation 4. Have.

  The communication unit 5 is connected to the above-described antenna 5a via a cable, performs predetermined demodulation processing on a radio signal received via the antenna 5a, and acquires various types of information transmitted from the capsule endoscope 1 To do. In this case, the communication unit 5 acquires the image information obtained by the imaging unit 12 and the motion information of the housing 10, and transmits the acquired image information and motion information to the control unit 9. Further, the communication unit 5 acquires a magnetic field detection signal corresponding to the detection result of the magnetic field intensity by the magnetic sensor 15 described above, and transmits the acquired magnetic field detection signal to the control unit 9. On the other hand, the communication unit 5 performs predetermined modulation processing or the like on the control signal for the capsule endoscope 1 received from the control unit 9, and modulates the control signal into a radio signal. In this case, the communication unit 5 transmits the generated radio signal to the antenna 5a, and transmits the radio signal to the capsule endoscope 1 via the antenna 5a. As a result, the communication unit 5 can transmit, for example, a control signal instructing the capsule endoscope 1 to start driving the imaging unit 12.

  The input unit 6 is realized using a keyboard, a mouse, or the like, and inputs various information to the control unit 9 by an input operation by an inspector. In this case, the input unit 6 inputs, for example, various instruction information to be instructed to the control unit 9 or patient information regarding the subject 100. The instruction information includes, for example, instruction information for displaying an image acquired from the capsule endoscope 1 on the display unit 7, instruction information for processing the image acquired from the capsule endoscope 1, and the like. Can be mentioned. Further, as this patient information, for example, information for specifying the subject 100 such as the name (patient name), sex, date of birth, and patient ID of the subject 100, height, weight, waist circumference, etc. of the subject 100, etc. Physical information etc. are mentioned.

  The display unit 7 is realized using a display such as a CRT display or a liquid crystal display, and displays various types of information instructed to be displayed by the control unit 9. In this case, the display unit 7 displays various information necessary for observing and diagnosing the inside of the subject 100 such as an image captured by the capsule endoscope 1 and patient information of the subject 100, for example. The display unit 7 displays an image that has been subjected to a predetermined processing by the control unit 9.

  The storage unit 8 stores various information instructed to be written by the control unit 9. Specifically, the storage unit 8 stores, for example, various types of information received from the capsule endoscope 1, various types of information input by the input unit 6, and image information that has been subjected to predetermined processing by the control unit 9. save. In this case, the storage unit 8 stores the above-described image information and motion information in association with each other. In addition, the storage unit 8 transmits the information instructed to be read by the control unit 9 to the control unit 9.

  The control unit 9 performs drive control of each component of the workstation 4, for example, the communication unit 5, the input unit 6, the display unit 7, and the storage unit 8. Information processing for inputting / outputting various types of information to / from components is performed. Further, the control unit 9 outputs various control signals for the capsule endoscope 1 to the communication unit 5 based on the instruction information input from the input unit 6. In this case, a control signal for the capsule endoscope 1 is transmitted to the capsule endoscope 1 via the antenna 5a. That is, the workstation 4 functions as a control unit that controls driving of the capsule endoscope 1.

  Such a control unit 9 includes a display control unit 9 a that controls the display operation of various information by the display unit 7, and a communication control unit 9 b that controls driving of the communication unit 5 described above. The control unit 9 also includes a magnet selection unit 9c that selects a permanent magnet that generates a magnetic field sufficient to move the capsule endoscope 1 in the liquid Lq1, and an image signal received from the capsule endoscope 1. And an image processing unit 9d for generating an image in the subject 100, for example. Further, the control unit 9 combines the common portions of the plurality of images generated by the image processing unit 9d, and combines the plurality of images in the subject 100 with the capsule endoscope 1 and the image combining unit 9e, for example. A position / orientation detection unit 9f that detects the position and orientation, and a state determination unit 9g that determines whether the movement of the capsule endoscope 1 is controllable by the magnetic field of the permanent magnet 3 are included.

  The magnet selection unit 9c selects a permanent magnet that generates a magnetic field sufficient to move the capsule endoscope 1 in the liquid Lq1 based on the determination result of the state determination unit 9g. In this case, the state determination unit 9g detects the magnetic field strength of the permanent magnet 3 with respect to the capsule endoscope 1 based on the magnetic field detection signal received from the capsule endoscope 1, and the detected magnetic field strength and a predetermined value are detected. A comparison process for comparing the magnetic field strength range is performed. The state determination unit 9g determines whether the movement of the capsule endoscope 1 is controllable by the magnetic field of the permanent magnet 3 based on the result of the comparison process. That is, the state determination unit 9g determines that the magnetic field strength of the permanent magnet 3 is sufficient to control the movement of the capsule endoscope 1 when the detected magnetic field strength is within a predetermined magnetic field strength range. . Further, the state determination unit 9g determines that the magnetic field strength of the permanent magnet 3 is insufficient when the detected magnetic field strength is lower than the predetermined magnetic field strength range. If the detected magnetic field strength is higher than the predetermined magnetic field strength range, the magnetic field of the permanent magnet 3 is determined. Judge that the strength is excessive. The magnet selection unit 9c selects a permanent magnet that has been determined by the state determination unit 9g to have sufficient magnetic field strength. In addition, when the state determination unit 9g determines that the magnetic field strength is insufficient, the magnet selection unit 9c selects a permanent magnet that generates a stronger magnetic field than the current permanent magnet, and the magnetic field strength is excessive. If it is determined that there is, a permanent magnet that generates a weak magnetic field compared to the current permanent magnet is selected. The display control unit 9a causes the display unit 7 to display the permanent magnet selection result by the magnet selection unit 9c. In this case, the inspector can easily find a permanent magnet suitable for controlling the movement of the capsule endoscope 1 from among a plurality of permanent magnets by visually recognizing the selection result of the permanent magnet displayed on the display unit 7. Can be selected.

  The image processing unit 9 d generates an image captured by the capsule endoscope 1 based on the image signal from the capsule endoscope 1. In this case, the display control unit 9a sequentially displays the images generated by the image processing unit 9d on the display unit 7 in time series. The image combining unit 9e performs an image combining process for combining a plurality of images generated by the image processing unit 9d into one image. The display control unit 9a causes the display unit 7 to display a processed image (for example, a panoramic image representing the inside of the digestive tract of the subject 100) combined by the image combining unit 9e. The image combining process of the image combining unit 9e will be described later.

  The position / orientation detection unit 9f detects the position and orientation of the capsule endoscope 1 in the spatial coordinate system xyz based on the motion information received from the capsule endoscope 1. Specifically, the position and orientation detection unit 9 f first sets a spatial coordinate system xyz that determines the position and orientation of the capsule endoscope 1. Here, the capsule endoscope 1 is configured such that, for example, the radial axis C2b, the long axis C1, and the radial axis C2a are respectively combined with the x axis, the y axis, and the z axis of the spatial coordinate system xyz. Arranged at the origin O. The position and orientation detection unit 9f grasps the position and orientation of the capsule endoscope 1 arranged in the spatial coordinate system xyz as an initial state in this way. Next, the position / orientation detection unit 9f moves or swings starting from the origin O (that is, changes sequentially from the initial state) and the position coordinates (x, y, z) of the capsule endoscope 1 and the long axis C1. Are sequentially detected. In this case, the position / orientation detection unit 9f is based on the movement information sequentially received from the capsule endoscope 1, and the position of the casing 10 when the capsule endoscope 1 moves or swings in the spatial coordinate system xyz. The movement amount (vector amount), the rotation angle of the long axis C1, and the rotation angle of the radial axis C2a are sequentially acquired.

  Based on the movement amount of the casing 10, the rotation angle of the major axis C1, and the rotation angle of the radial axis C2a sequentially acquired in this way, the position / orientation detection unit 9f has a relative position of the casing 10 with respect to the origin O, that is, The position coordinate (x, y, z) of the housing 10 in the spatial coordinate system xyz and the vector direction of the long axis C1 in the spatial coordinate system xyz are detected. The position coordinates (x, y, z) of the casing 10 and the vector direction of the long axis C1 detected by the position and orientation detection unit 9f correspond to the position and orientation of the capsule endoscope 1 in the spatial coordinate system xyz, respectively. To do.

  Further, the position / orientation detection unit 9f detects the inclination of the radial axis C2a with respect to the z axis of the spatial coordinate system xyz based on the rotation angle of the radial axis C2a described above. Here, the radial axis C2a is an axis vector that determines the upward direction of the light receiving surface of the imaging unit 12, and is an axis vector that determines the upward direction of the image captured by the imaging unit 12. Therefore, the position / orientation detection unit 9f detects the inclination of the radial axis C2a with respect to the z-axis, thereby detecting the z-axis of the image having the long axis C1 as a normal vector (that is, the image captured by the imaging unit 12). Can be detected.

  The control unit 9 stores the position and orientation of the capsule endoscope 1 detected by the position and orientation detection unit 9f and the inclination of the image captured by the imaging unit 12 with respect to the z axis in the storage unit 8 as position and orientation information. save. In this case, the control unit 9 acquires position and orientation information for each image information received from the capsule endoscope 1, and sequentially stores the image information and the position and orientation information in the storage unit 8 in association with each other.

  Next, a processing procedure for observing the inside of the digestive tract (for example, the stomach interior) of the subject 100 based on the image captured by the capsule endoscope 1 will be described. FIG. 6 is a flowchart for explaining a processing procedure for observing the inside of the digestive tract of the subject 100 based on the image inside the digestive tract by the capsule endoscope 1 introduced into the subject 100.

  In FIG. 6, first, the examiner starts the imaging operation of the capsule endoscope 1 using the workstation 4 or a predetermined starter, introduces the capsule endoscope 1 into the subject 100, Further, the liquid Lq1 is introduced into the subject 100 using the supply device Lp (step S101). Then, the examiner attaches the position display sheet 2 to the subject 100, and determines the position of the position display sheet 2 with respect to the subject 100 (step S102). Specifically, for example, when the inside of the stomach of the subject 100 is observed, the examiner is positioned on the trunk of the subject 100 so as to cover the body surface near the stomach of the subject 100 as illustrated in FIG. The display sheet 2 is wound and mounted, and the positional relationship between the subject 100 and the position display sheet 2 is determined. Note that the capsule endoscope 1 and the liquid Lq1 may be introduced into the subject 100 to which the position display sheet 2 is first attached.

  Thus, the capsule endoscope 1 and the liquid Lq1 introduced into the subject 100 are swallowed from, for example, the mouth of the subject 100, and then reach the desired digestive tract to be observed in the subject 100. The examiner displays an image captured by the capsule endoscope 1 on the workstation 4 and visually recognizes this image, thereby reaching the capsule endoscope 1 in the subject 100 (for example, the stomach). To figure out. Note that the examiner may start the imaging operation of the capsule endoscope 1 by operating the workstation 4 after introducing the capsule endoscope 1 into the subject 100.

  Next, the examiner introduces a foaming agent into the subject 100 together with an appropriate amount of water (step S103), and extends a desired digestive tract in which the capsule endoscope 1 is introduced. As a result, the capsule endoscope 1 can easily capture the inside of the digestive tract, which is the observation site, in the imaging field of view, and can easily capture an image in the digestive tract. Thus, after ensuring the imaging field of view of the capsule endoscope 1 in the digestive tract, the examiner introduces an antifoaming agent into the digestive tract in the subject 100 into which the foaming agent has been introduced (step S104). ) This eliminates bubbles generated on the surface of the liquid Lq1 by the foaming agent. Thereby, the capsule endoscope 1 can capture an image in the digestive tract without the imaging visual field being blocked by the bubbles generated by the foaming agent.

  Thereafter, the examiner brings the permanent magnet 3 close to the position display sheet 2 attached to the subject 100 into which the capsule endoscope 1 has been introduced (step S105), and the capsule endoscope 1 in the subject 100 is moved. To generate a magnetic field. Specifically, the inspector brings the permanent magnet 3 close to the proximity position indicated by the marker on the position display sheet 2. In this case, the permanent magnet 3 is close to the body surface of the subject 100 in the vicinity of the digestive tract where the capsule endoscope 1 is introduced, and applies a magnetic field to the capsule endoscope 1 in the digestive tract. Can be applied.

  Here, the permanent magnet 3 for generating a magnetic field with respect to the capsule endoscope 1 may be a single permanent magnet having a predetermined magnetic force, but from among a plurality of permanent magnets having different magnetic forces. It is desirable to be selected. In this case, the inspector selects the permanent magnet 3 to be brought close to the proximity position based on the selection information (for example, magnet number) of the permanent magnet shown together with the proximity position by the position display sheet 2. Thereafter, the examiner refers to the selection result of the permanent magnet displayed on the workstation 4 and reselects the permanent magnet 3 based on the selection result, or the strength of the magnetic field applied to the capsule endoscope 1. Adjust. Accordingly, the examiner can select a permanent magnet that generates a magnetic field having an appropriate magnetic field strength for the capsule endoscope 1. When adjusting the strength of the magnetic field applied to the capsule endoscope 1, the inspector may perform a technique such as adjusting the distance between the permanent magnet 3 and the position display sheet 2.

  When the permanent magnet 3 is brought close to the proximity position indicated by the position display sheet 2, the inspector operates the permanent magnet 3 to adjust the strength and direction of the magnetic field with respect to the capsule endoscope 1, and the permanent magnet 3. At least one of the position and posture of the capsule endoscope 1 is controlled by the magnetic force (step S106). In this case, for example, the inspector swings the permanent magnet 3 around a desired marker (that is, a desired proximity position) of the position display sheet 2 or passes through the permanent magnet 3 with respect to the plurality of markers on the position display sheet 2. Move closer. The permanent magnet 11 of the capsule endoscope 1 to which the magnetic field of the permanent magnet 3 is applied moves the housing 10 in response to the magnetic force of the permanent magnet 3. Due to the action of the permanent magnet 11, the capsule endoscope 1 moves or swings in the liquid Lq1 in the horizontal direction, for example, and changes at least one of the position and posture in the digestive tract as the observation site. Thus, the capsule endoscope 1 sequentially captures images in the digestive tract while changing the direction of the imaging visual field with respect to the digestive tract along with the movement of the housing 10.

  Further, the examiner additionally introduces the liquid Lq1 into the subject 100 (step S107), and increases the amount of the liquid Lq1 in the digestive tract that is the observation site. Here, as described above, the capsule endoscope 1 has a specific gravity equal to or less than that of the liquid Lq1, and has a center of gravity on the rear end side of the housing 10. For this reason, the capsule endoscope 1 floats on the surface of the liquid Lq1 in a state where the imaging field of view is directed substantially vertically upward, and the vertical increases as the liquid Lq1 increases in the digestive tract (that is, the water level increases). Move upward. In this case, the capsule endoscope 1 can capture an image in a state of being closer to the inside of the digestive tract that is an observation site.

  Thereafter, the examiner maintains the current posture without changing the posture of the subject 100 to another posture (step S108, No), and continues imaging in the digestive tract as the observation site (step S110, step S110). No), the processing procedure after step S105 described above is repeated. In this case, the examiner increases or decreases the amount of the liquid Lq1 in the digestive tract while referring to the image in the digestive tract displayed on the workstation 4, and moves the capsule endoscope 1 in the vertical direction in the digestive tract. Control the position as desired.

  On the other hand, when the examiner converts the posture of the subject 100 to another posture and continues imaging in the digestive tract (Yes in step S108), the examiner 100 changes the current posture of the subject 100 (for example, supine position) to a desired posture. (For example, right side position) is converted (step S109). Thereafter, the inspector repeats the processing procedure after step S105 described above.

  As described above, the permanent magnet 3 is brought close to the proximity position indicated by the position display sheet 2 and the movement of the capsule endoscope 1 is magnetically operated, so that the capsule endoscope in the digestive tract as the observation site is obtained. At least one of the position and posture of the mirror 1 can be controlled. As a result, the capsule endoscope 1 can take a series of images over substantially the entire area of the digestive tract. The examiner can observe the inside of the digestive tract, which is a desired observation site in the subject 100, by displaying a series of images captured by the capsule endoscope 1 on the workstation 4.

  Thereafter, the examiner completes observation in the digestive tract, which is the observation site, and when imaging in the digestive tract is completed (step S110, Yes), guides the capsule endoscope 1 to the exit side of the digestive tract. (Step S111). In this case, the capsule endoscope 1 is guided to the exit side by the peristalsis of the digestive tract or the flow of the liquid Lq1, or the exit of the digestive tract by the magnetic force of the permanent magnet 3 close to the body surface of the subject 100. To the next digestive tract. Thereby, the capsule endoscope 1 completes imaging in the digestive tract, which is the observation site. Thereafter, the capsule endoscope 1 captures an image in the digestive tract while moving in the subject 100 by the peristalsis of each digestive tract, the flow of the liquid Lq1, or the magnetic force of the permanent magnet 3, and the like. To be discharged.

  Note that the examiner can display the image captured by the capsule endoscope 1 on the workstation 4 and observe the inside of each digestive tract of the subject 100. On the other hand, the examiner may operate the workstation 4 to transmit a control signal for stopping the imaging operation to stop the imaging operation of the capsule endoscope 1 that has finished imaging the desired observation site.

  Further, the above-described foaming agent in step S103 and the antifoaming agent in step S104 may be introduced into the subject 100 as necessary. Specifically, when the examiner observes the image in the subject 100 displayed on the workstation 4 and determines that the inside of the digestive tract should be observed in more detail, for example, as described above, the foaming agent and the defoaming agent are used. The agent may be sequentially introduced into the subject 100.

  Next, the operation of controlling at least one of the position and posture of the capsule endoscope 1 introduced into the stomach, which is the observation site, will be concretely illustrated by exemplifying the case where the examiner observes the stomach of the subject 100. Explained. FIG. 7 is a schematic diagram for explaining the operation of the permanent magnet 3 that controls at least one of the position and posture of the capsule endoscope 1 introduced into the subject 100.

  The capsule endoscope 1 and the liquid Lq1 swallowed from the mouth of the subject 100 pass through the esophagus, and then reach, for example, the stomach that is the observation site, as illustrated in FIG. Here, as described above, the capsule endoscope 1 has a specific gravity equal to or less than that of the liquid Lq1, and has a center of gravity on the rear end side of the housing 10. For this reason, as shown in FIG. 7, the capsule endoscope 1 in the liquid Lq1 floats on the surface of the liquid Lq1 in a state where the imaging field of view is directed substantially vertically upward.

  On the other hand, the examiner attaches the position display sheet 2 to the subject 100 so that the position display sheet 2 is positioned in the vicinity of the stomach as the observation site. In this case, the position display sheet 2 indicates the close position on the body surface of the subject 100 to the examiner with the plurality of markers described above. Further, the inspector, for example, based on the selection information (for example, the magnet number) of the permanent magnet indicated by the position display sheet 2 or the selection result of the permanent magnet displayed on the workstation 4, for example, six permanent having different magnetic forces. The permanent magnet 3 to be brought close to the close position of the subject 100 is selected from the magnets 3a to 3f. The inspector operates the permanent magnet 3 selected in this way close to a plurality of markers on the position display sheet 2. Specifically, for example, when the posture of the subject 100 is the supine position, the examiner brings the permanent magnet 3 close to the markers M1 to M8 of the supine position marker group MG1 of the position display sheet 2. Further, the examiner swings the permanent magnet 3 around a desired marker (for example, the marker M3). Thereafter, the inspector repeats the operation of the permanent magnet 3 as necessary.

  The permanent magnet 3 operated by the examiner in this way applies a magnetic field to the capsule endoscope 1 in the liquid Lq1 inside the stomach to magnetically capture the capsule endoscope 1, and this capsule type The movement of the capsule endoscope 1 is controlled by changing the position and direction of the magnetic field with respect to the endoscope 1. In this case, the capsule endoscope 1 moves or swings in the liquid Lq1 following the operation of the permanent magnet 3, and changes at least one of the position and posture in the stomach. Thus, the permanent magnet 3 changes at least one of the position and posture of the capsule endoscope 1 in the liquid Lq1 by the magnetic force. The capsule endoscope 1 moved by the permanent magnet 3 sequentially captures images inside the stomach while changing the position or direction of the imaging visual field inside the stomach.

  Thereafter, the examiner increases or decreases the amount of the liquid Lq1 in the stomach as necessary, or changes the position of the subject 100 to another position, for example, the left-side position or the right-side position. Then, the examiner brings the permanent magnet 3 close to each marker of the left lateral marker group MG2 or the right lateral marker group MG3 corresponding to the posture of the subject 100. In this case, the examiner operates the permanent magnet 3 in substantially the same manner as in the supine position marker group MG1 described above. The permanent magnet 3 operated in this manner changes at least one of the position and posture of the capsule endoscope 1 in substantially the same manner as in the above-described subject 100 in the supine position.

  As described above, the permanent magnet 3 controls at least one of the position and posture of the capsule endoscope 1 by the magnetic force, so that the capsule endoscope 1 has, for example, a stomach wall vertically above the liquid Lq1, That is, the stomach wall stretched by the above-described foaming agent can be imaged without any wrinkles. Thus, the capsule endoscope 1 can capture a series of images over substantially the entire area of the stomach wall, and can reliably capture an image of the affected area 101 of the stomach wall, for example. The same applies to the case where the amount of the liquid Lq1 that floats the capsule endoscope 1 is increased or decreased. That is, the capsule endoscope 1 is displaced in the vertical direction as the water level of the liquid Lq1 changes, and can take an enlarged image of the stomach wall, for example, close to the stomach wall. In this case, the capsule endoscope 1 can be brought close to the affected area 101 of the stomach wall, for example, and an enlarged image of the affected area 101 can be taken.

  The capsule endoscope 1 that floats on the surface of the liquid Lq1 has a center of gravity in the vicinity of the central portion of the housing 10 or on the front end side, and vertically above the liquid Lq1 by the magnetic force applied from the permanent magnet 3. However, it is desirable that the center of gravity is located on the rear end side of the housing 10 as described above. In this case, since the imaging field of view of the capsule endoscope 1 can be directed vertically upward by the buoyancy of the liquid Lq1, the movement of the capsule endoscope 1 can be controlled using a permanent magnet with weaker magnetic force. The permanent magnet 3 that controls the movement of the capsule endoscope 1 can be reduced in size.

  On the other hand, the capsule endoscope 1 that has finished imaging the inside of the stomach, which is a desired observation site, moves to the next digestive tract (for example, the duodenum) by the processing procedure of step S111 described above. Specifically, the capsule endoscope 1 moves from the stomach to the pylorus by the magnetic force applied from the permanent magnet 3 close to the vicinity of the pylorus of the subject 100. In this case, for example, the examiner converts the posture of the subject 100 to the right-side-down position, and then moves the permanent magnet 3 toward the body surface of the subject 100 in the vicinity of the pylorus, and applies from the permanent magnet 3. The capsule endoscope 1 may be guided to the pylorus by the applied magnetic force. Alternatively, the capsule endoscope 1 may be guided to the pylorus by the liquid Lq1 flowing from the stomach to the duodenum.

  Next, an image combining process for combining a plurality of images in the subject 100 imaged by the capsule endoscope 1 will be described in detail. FIG. 8 is a flowchart illustrating the processing procedure of the image combining process performed by the control unit 9 of the workstation 4. FIG. 9 is a schematic diagram for explaining the operation of the control unit 9 that connects a plurality of images.

The control unit 9 of the workstation 4 uses the capsule endoscope 1 based on the plurality of pieces of image information acquired from the capsule endoscope 1 and the position and orientation information respectively associated with the pieces of image information. The relative positions and the relative directions of the plurality of images taken by the above are grasped, and the plurality of images are combined based on the epipolar geometry. That is, in FIG. 8, the control unit 9 first inputs two images to be combined (step S201). In this case, the input unit 6 inputs information specifying two images to be combined to the control unit 9 in accordance with the input operation of the examiner. The control unit 9 reads the two images P _n and P _n−1 to be combined from the storage unit 8 based on the input information from the input unit 6. At the same time, the control unit 9 reads out the position and orientation information associated with the images P _n and P _n−1 from the storage unit 8. Based on the position and orientation information of the images P _n and P _n−1 , the image combining unit 9e determines the position and orientation of the capsule endoscope 1 and z when the images P _n and P _n−1 are captured. Know the tilt of the image relative to the axis.

Next, the control unit 9 corrects the distortion aberration of the two read images P _n and P _n−1 (step S202). In this case, the image combining unit 9e corrects each distortion aberration of the images P _n and P _n−1 . As a result, when a common subject is captured in both the images P _n and P _n−1 , the image combining unit 9e combines the pixel regions representing the common subject (that is, a high degree of similarity) to both the images P _n and P _n−1. The images P _n and P _n-1 can be combined.

Thereafter, the control unit 9 sets a search range of pattern matching processing for searching for a pixel region having a high degree of similarity between the images P _n and P _n−1 (step S203). In this case, the image combining unit 9e calculates a plurality of reference points on the image P _n-1 and a plurality of epipolar lines on the image P _n respectively corresponding to the plurality of reference points based on the epipolar geometry. .

Here, the images P _n and P _n-1 are images taken before and after the capsule endoscope 1 changes at least one of the position and the posture. Specifically, for example, as shown in FIG. 9, the image P _n-1 is an image obtained by imaging the inside of the subject 100 with the capsule endoscope 1, and the image P _n is the capsule endoscope. Reference numeral 1 denotes an image obtained by imaging the inside of the subject 100 after changing the position and posture. When such images P _n and P _n-1 are images including the same subject, the images P _n and P _n-1 have pixel regions having high similarity. The image combining unit 9e sets a plurality (for example, six or more) of reference points corresponding to the pixel regions having a high degree of similarity on the image P _n−1 and a plurality of epipolars respectively corresponding to the plurality of reference points. A line is set on the image P _n .

For example, as shown in FIG. 9, the image combining unit 9e sets a reference point R ₀ on the image P _n−1 and sets an epipolar line E _P corresponding to the reference point R ₀ on the image P _n. . When the reference point R ₀ indicates the position coordinates of the pixel region having a high similarity between the images P _n and P _n−1 , the image combining unit 9e displays the epipolar line E _P on the image P _n , for example, It can be set between two opposing vertices of the image P _n . On such an epipolar line E _P , a corresponding point R ₁ corresponding to the reference point R ₀ is included. The corresponding point R ₁ indicates the position coordinate of the pixel region on the image P _n having a higher degree of similarity than the pixel region on the image P _n−1 where the position coordinate is set by the reference point R ₀ . .

In this way, the image combining unit 9e sets a plurality of (for example, six or more) reference points on the image P _n−1 , and further displays a plurality of epipolar lines respectively corresponding to the plurality of reference points in the image P. Set on _n . In this case, the image combining unit 9e sets each pixel region adjacent to each of the plurality of epipolar lines as a search range for pattern matching processing.

Next, the control unit 9 detects a plurality of pixel regions (template images) serving as a reference for pattern matching processing based on the image P _n−1 (step S204). In this case, the image combining unit 9e detects a plurality of (for example, six or more) template images respectively corresponding to the plurality of reference points exemplified by the above-described reference point _R0 .

After that, the control unit 9 executes a pattern patching process for detecting a plurality of pixel regions on the image P _n having a higher degree of similarity than the plurality of template images detected in this way (step S205). In this case, the image combining unit 9e uses, for example, a pixel region on the image P _{n in the} vicinity of the epipolar line E _{P as} a search range for pattern matching processing, and has a higher degree of similarity than the template image corresponding to the reference point R _0. A pixel area on P _n is detected. Then, the image combining unit 9e calculates a corresponding point R ₁ to determine the position coordinates on the image P _n of the high pixel area of this similarity. The image combining unit 9e repeats such pattern matching processing for a plurality of template images and epipolar lines, and detects, for example, six or more pixel regions on the image P _n corresponding to six or more template images. The image combining unit 9e corresponds to each of six or more coordinate points that determine the position coordinates of the six or more pixel regions, that is, six or more reference points exemplified by the above-described reference point _R0. Six or more corresponding points on the image P _n are calculated.

When, for example, six or more reference points and corresponding points on the images P _n and P _n−1 are calculated, the control unit 9 executes an affine transformation process for both the images P _n and P _n−1 (step S206). ). In this case, the image combining unit 9e calculates affine parameters based on the least square method using the calculated six or more reference points and corresponding points. Image combining unit 9e, based on the calculated affine parameters, for example to convert the coordinate system on the image P _n-1 into the coordinate system on the image P _n, according the images P _n, the affine transformation of the P _n-1 Achieve processing.

Next, the control unit 9 combines the two images P _n and P _n−1 that have been subjected to the affine transformation process (step S207), and combines the two images P _n and P _n−1 into one processed image (for example, a panorama). Image). In this case, the image combining unit 9e combines pixel regions (that is, pixel regions having a high degree of similarity) that represent subjects common to both images P _n and P _n−1 on which affine transformation processing has been performed, and both the images P A processed image in which _n and P _n-1 are combined is generated.

  Thereafter, when such an image combining process is continuously performed (No at Step S208), the control unit 9 repeats the processing procedure after Step S201 described above. In this case, the image combining unit 9e can sequentially combine a plurality of images captured by the capsule endoscope 1 (for example, a series of images over substantially the entire area inside the stomach), and the observation site in the subject 100 For example, a panoramic image representing the entire image of the stomach wall can be generated. On the other hand, when the information for instructing the completion of processing is input from the input unit 6, the control unit 9 completes the image combining process (Yes in step S208). In this case, the control unit 9 stores the processed image generated by the image combining process in the storage unit 8.

  Here, the control unit 9 generates a columnar processed image that represents the inside of the digestive tract in the subject 100 substantially three-dimensionally based on the processed image generated by the above-described image combination processing, for example, a band-like panoramic image. can do. In this case, the image combining unit 9e converts the orthogonal coordinate system of the band-like panoramic image into a cylindrical coordinate system, and combines both ends in the longitudinal direction of the band-like panoramic image to generate a cylindrical processed image. The control unit 9 stores such a cylindrical processed image in the storage unit 8.

  Next, a storage device that stores a plurality of permanent magnets prepared for selecting the permanent magnet 3 that controls the movement of the capsule endoscope 1 described above will be described. FIG. 10 is a schematic diagram schematically illustrating a configuration example of a storage device that stores a plurality of permanent magnets. Below, the storage apparatus which accommodates six permanent magnets 3a-3f prepared in order to select the permanent magnet 3 is illustrated. The number of permanent magnets may be two or more and does not limit the configuration of the storage device.

  As shown in FIG. 10, the storage device 110 includes six storage units 111 to 116 that store the permanent magnets 3 a to 3 f, a base 117 that integrally connects the storage units 111 to 116, and the storage units 111 to 111, respectively. And a control unit 118 that controls each of the opening / closing drives 116. The permanent magnets 3a to 3f are assigned, for example, magnet numbers 1 to 6 for specifying the permanent magnets 3a to 3f, respectively. In this case, the permanent magnets 3a to 3f have stronger magnetic force as the magnet number increases.

  The storage part 111 is for storing the permanent magnet 3 a having magnet number 1. Specifically, the storage unit 111 includes a box member 111a that stores the permanent magnet 3a, a lid 111b that opens and closes the opening end of the box member 111a, and a magnet detection unit that detects the permanent magnet 3a stored in the box member 111a. 111c and a lock part 111d for locking the lid 111b. The box member 111a is a member having a concave side cross section, for example, and a lid 111b is rotatably provided in the vicinity of the opening end. Although not shown, an open / closed state detection unit 111e is provided for detecting whether the lid 111b is open or closed. The permanent magnet 3a accommodated in the box member 111a is put in and out by opening and closing the lid 111b. When the permanent magnet 3a is housed in the box member 111a, the magnet detector 111c detects the magnetic field or weight of the permanent magnet 3a, and based on the detection result, the presence or absence of the permanent magnet 3a in the box member 111a is detected. To detect. The magnet detection unit 111c notifies the control unit 118 of the detection result of the permanent magnet 3a. The lock unit 111d locks the lid 111b based on the control of the control unit 118, or releases the lock of the lid 111b. Further, the open / close state detection unit 111e detects whether the lid 111b is open or closed, and notifies the control unit 118 of the detection result.

  Moreover, the accommodating parts 112-116 are for accommodating the permanent magnets 3b-3f of the magnet numbers 2-6, respectively, and have a structure and a function substantially the same as the accommodating part 111 mentioned above. That is, the storage portions 112 to 116 include box members 112a to 116a that individually store the permanent magnets 3b to 3f, lids 112b to 116b that open and close the opening ends of the box members 112a to 116a, and box members 112a to 116a, respectively. The magnet detection units 112c to 116c that individually detect the permanent magnets 3b to 3f that are housed respectively in the magnets, the lock portions 112d to 116d that lock the lids 112b to 116b, and the open / closed states of the lids 112b to 116b, respectively. Open / closed state detectors 112e to 116e (not shown). In this case, the box members 112 a to 116 a have substantially the same function as the box member 111 a of the storage unit 111, and the lids 112 b to 116 b have substantially the same function as the lid 111 b of the storage unit 111. In addition, the magnet detection units 112c to 116c have substantially the same function as the magnet detection unit 111c of the storage unit 111, and the lock units 112d to 116d have substantially the same function as the lock unit 111d of the storage unit 111. The detection units 112e to 116e have substantially the same function as the open / close state detection unit 111e of the storage unit 111. Further, although not shown in the drawing, permanent magnet selection for selecting a lid to be opened and closed (permanent magnet to be taken out) according to permanent magnet selection information (for example, magnet number or intensity of generated magnetic field) indicated together with the proximity position by the position display sheet 2. Provide a part.

  The control unit 118 is provided on the table 117, for example, and controls each drive of the magnet detection units 111c to 116c and the lock units 111d to 116d described above. Specifically, the control unit 118 detects the detection results of the permanent magnets 3a to 3f from the magnet detection units 111c to 116c, the detection results of the open / closed states of the lids 111b to 116b from the open / closed state detection units 111e to 116e, and the permanent magnet selection. The input information to the unit is acquired, and each drive of the lock units 111d to 116d is controlled based on the acquired input information and each detection result. In this case, if the control part 118 acquires the detection result with a permanent magnet from all the magnet detection parts 111c-116c, it will perform the drive control which locks with respect to the lock parts 111d-116d. Further, when the selection result selected by the permanent magnet selection unit is input, the control unit 118 locks the drive control for unlocking the selected permanent magnet lid (any one of the lids 111b to 116b). Any one of the lock portions 111d to 116d corresponding to the lid to be unlocked). At this time, the other lock portions (the lock portions corresponding to the lids not to be unlocked) maintain the locked state.

  Next, the selected permanent magnet is taken out, and the capsule endoscope 1 in the subject 100 is guided using the taken out permanent magnet. At this time, if the control unit 118 acquires the detection result without permanent magnet from one of the magnet detection units 111c to 116c, the storage unit having the magnet detection unit that has notified the detection result without permanent magnet, that is, The lock part (any of the lock parts 111d to 116d) of the storage part from which the permanent magnet is taken out is maintained in the unlocked state, and at the same time, the control unit 118 displays the detection result that there is a permanent magnet. The storage unit having the notified remaining magnet detection unit, that is, the lock unit (any one of the lock units 111d to 116d) of each storage unit in which the permanent magnet is stored is kept in a locked state. After the guidance of the capsule endoscope 1 is finished, the taken-out permanent magnet is returned to the storage unit (any of the storage units 111 to 116), and the magnet detection unit corresponding to the storage unit detects the presence of the permanent magnet. To do. Further, the lid of the storage unit is closed, and the open / close state detection units 111e to 116e detect that the lids 111b to 116b are closed. When these detection results are notified to the control unit 118, the control unit 118 performs drive control for locking the lock units 111d to 116d of all the lids 111b to 116b. At this time, the lid of the storage unit may be manually closed, or may be automatically closed based on the detection result of the magnet detection unit. The control unit 118, the magnet detection units 111c to 116c, the lock units 111d to 116d, and the open / close state detection units 111e to 116e may be detected or controlled electrically, or detected or controlled by a mechanical mechanism. May be performed. When performing electrical detection, the weight of the permanent magnet may be detected, the magnetic field of the permanent magnet may be detected, or an RFID tag is provided on the permanent magnet, and a reading unit that reads information on the RFID tag May be provided in the magnet detectors 111c to 116c. Further, the storage device 110 may be provided with a shield for reducing a magnetic field leaking to the outside. Such a shield is made of a ferromagnetic material. Furthermore, the means for preventing the permanent magnet from being taken out is not limited to the combination of the lid and the lock portion described above. For example, such means may be any means (constraint part) for restraining the permanent magnet in the housing part, and a ferromagnetic body is provided in the housing part, and the permanent magnet is restrained by the attractive force between the ferromagnetic body and the permanent magnet. The restriction state of the permanent magnet may be controlled by using a ferromagnetic distance changing unit that changes the distance between the ferromagnetic material and the permanent magnet. Further, the restraining portion may be an electromagnet provided in the housing portion, and the restraining state of the permanent magnet may be controlled by a current flowing through the electromagnet, or the permanent magnet is mechanically fixed in the housing portion. It may be a fixed part.

  Such a control unit 118 performs drive control so that any one of the permanent magnets 3a to 3f stored in the storage units 111 to 116 can be taken out, and prevents a plurality of permanent magnets from being taken out at the same time. For example, as shown in FIG. 10, when the inspector takes out the permanent magnet 3a from the permanent magnets 3a to 3f, the control unit 118 acquires the detection result of no permanent magnet from the magnet detection unit 111c, and the remaining The detection result with a permanent magnet is acquired from the magnet detection parts 112c-116c. In this case, the control unit 118 performs drive control for unlocking the lid on the lock unit 111d and performs drive control for locking the lid on the remaining lock units 112d to 116d. Thus, the examiner can take out only the necessary permanent magnets from the storage device 110. For example, the examiner unintentionally brings a plurality of permanent magnets close to the subject 100 into which the capsule endoscope 1 is introduced. This makes it possible to observe the inside of the subject 100 more safely.

  In the position display sheet 2 according to the first embodiment of the present invention, a plurality of markers having one shape such as a circle are formed as markers indicating the proximity position on the body surface of the subject 100. However, the present invention is not limited to this, and the plurality of markers formed on the position display sheet 2 may have different shapes for each body position of the subject 100, for example. In this case, as shown in FIG. 11, for example, the position display sheet 2 includes a plurality of markers M1 such that the supine position marker group MG1, the left position position marker group MG2, and the right position position marker group MG3 have different shapes. ~ M18 is formed.

  As described above, the position display sheet 2 on which the markers M1 to M18 having different shapes for each body position of the subject 100 are formed can clearly indicate the proximity position described above for each body position of the subject 100. For example, when the posture of the subject 100 is the left-side position, as shown in FIG. 12, the position display sheet 2 indicates the proximity position where the permanent magnet 3 is brought close to the left-side position subject 100 as shown in FIG. It can be clearly indicated by MG2. As a result, the position display sheet 2 can suppress useless movements of the examiner such as bringing the permanent magnet 3 unnecessarily close to the proximity position to be shown to the examiner when the subject 100 is in another posture.

  In the first embodiment of the present invention, the plurality of markers indicating the proximity position are formed on the position display sheet 2, but the present invention is not limited to this, and the position display sheet 2 has the proximity One or more markers indicating the position may be formed, and the number of the markers is not particularly limited to 18. Specifically, the optical system constituting the imaging unit of the capsule endoscope has a wider angle, for example, the viewing angle is about 100 to 140 degrees, and the imaging field of view of the capsule endoscope is wider. By doing so, the number of markers formed on the position display sheet 2 can be reduced. For example, in the case of using the position display sheet 2 on which one marker is formed, the permanent magnet which makes the imaging field of view of the capsule endoscope introduced into the digestive tract wide range and close to the marker of the position display sheet 2 Etc. can be swung in the vicinity of the marker, a series of images over almost the entire area of the digestive tract can be captured by the capsule endoscope.

  As described above, in Embodiment 1 of the present invention, a position where a permanent magnet is brought close to the body surface of the subject, that is, a position display sheet indicating the proximity position to the examiner is attached to the subject, A permanent magnet is brought close to the proximity position indicated by the position display sheet, and at least one of the position and posture of the capsule endoscope in the liquid introduced into the digestive tract of the subject is changed by the magnetic force of the permanent magnet. Configured. For this reason, even if the image in the digestive tract imaged by the capsule endoscope is visually recognized on the display and the imaging field of view of the capsule endoscope with respect to the digestive tract is not sequentially grasped, the entire area in the digestive tract is covered. A series of images can be captured by a capsule endoscope, and an in-subject introduction system that can easily acquire images necessary for observation in a desired digestive tract in a short time can be realized.

  By using such an in-subject introduction system, not only a doctor but also a medical worker other than a doctor such as a nurse, at least the position and posture of the capsule endoscope in the digestive tract that is the observation site One can be easily changed, and a series of images over almost the entire area of the digestive tract can be easily acquired in the workstation, and the capsule endoscope in the digestive tract is magnetically guided. It is possible to prevent a doctor from being bound for a long time by the operation of the permanent magnet (that is, the guidance operation of the capsule endoscope).

  Furthermore, since at least one of the position and posture of the capsule endoscope in the digestive tract can be actively changed by a magnetic force, an image of the desired position in the digestive tract can be easily captured on the capsule endoscope. Thus, the inside of the digestive tract, which is a desired observation site, can be observed in a short time. In particular, when the digestive tract having a relatively simple shape such as the stomach is observed, the above-described effects are remarkable.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. In the first embodiment described above, at least one of the position and posture of the capsule endoscope 1 in the liquid Lq1 is changed by bringing the permanent magnet 3 closer to the proximity position. However, in the second embodiment, driving is performed. An electromagnet capable of controlling the magnetic field intensity by controlling the electric power is brought close to the proximity position to change at least one of the position and posture of the capsule endoscope 1 in the liquid Lq1.

  FIG. 13 is a schematic diagram showing a configuration example of the in-subject introduction system according to the second embodiment of the present invention. As shown in FIG. 13, the in-subject introduction system according to the second embodiment has a position display sheet 22 instead of the position display sheet 2 of the in-subject introduction system according to the first embodiment described above. A magnetic field generator 33 is provided instead of the permanent magnet 3, and a workstation 44 is provided instead of the workstation 4. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The position display sheet 22 has substantially the same function as the position display sheet 2 according to the first embodiment described above. In this case, the position display sheet 22 indicates a plurality of close positions of the magnetic field generator 33 on the body surface of the subject 100 to the examiner. For example, the inspector brings the magnetic field generator 33 close to the plurality of close positions. Further, the position display sheet 22 has an information recording medium such as an RFID tag in which information for determining the magnetic field strength of the magnetic field generator 33 is recorded for each such proximity position. Such an information recording medium is arranged at each proximity position indicated by the position display sheet 22.

  The magnetic field generator 33 generates a magnetic field for the capsule endoscope 1 introduced into the digestive tract of the subject 100 and changes at least one of the position and posture of the capsule endoscope 1 by this magnetic field. Functions as a magnetic field generating means. Specifically, the magnetic field generator 33 includes a magnetic field generator 33a that generates a magnetic field for the capsule endoscope 1 introduced into the digestive tract of the subject 100, and an arm that connects the magnetic field generator 33a to one end. Part 33b and an operation part 33c for operating the magnetic field generation part 33a via the arm part 33b. The magnetic field generation unit 33 a includes a reading unit 33 d that reads information from an information recording medium provided on the position display sheet 22 via a predetermined radio wave. The operation unit 33c includes a control unit 33e that controls each drive of the magnetic field generation unit 33a and the reading unit 33d. Such a magnetic field generator 33 is electrically connected to the workstation 44 via a cable or the like, and is controlled by the workstation 44.

  Next, the configuration of the position display sheet 22 according to the second embodiment of the present invention will be described in detail. FIG. 14 is a schematic diagram showing a configuration example of the position display sheet 22 according to the second embodiment of the present invention. As shown in FIG. 14, the position display sheet 22 has RFID tags 22 a to 22 t for each proximity position instead of the magnet number which is an example of the selection information of the permanent magnet 3 described above. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The RFID tags 22a to 22t are an example of an information recording medium on which information (hereinafter referred to as magnetic field determination information) for determining the magnetic field strength of the magnetic field generation device 33 that is brought close to the proximity position indicated by the position display sheet 22 is recorded. . Specifically, the RFID tags 22a to 22t are arranged in the vicinity of the markers M1 to M18, for example, and magnetic field determination information for determining the magnetic field strength for each proximity position of the magnetic field generation unit 33a to be close to the markers M1 to M18, respectively. save. Such magnetic field determination information of the RFID tags 22a to 22t is read by the reading unit 33d of the magnetic field generation unit 33a.

  Note that the RFID tags 22a to 22t are adjacent to each other even when the supine position marker group MG1, the left position position marker group MG2, and the right position position marker group MG3 have different markers. Arranged for each position. Further, as the magnetic field determination information recorded in the RFID tags 22a to 22t, the magnetic field generation unit such as information indicating the value of the drive current supplied to the magnetic field generation unit 33a, patient information of the subject 100, and information indicating the body position, etc. The information which determines the drive electric power supplied to 33a is illustrated.

  Next, each configuration of the magnetic field generator 33 and the workstation 44 will be described in detail. FIG. 15 is a block diagram schematically illustrating a configuration example of the magnetic field generator 33 and the workstation 44. As shown in FIG. 15, the magnetic field generation device 33 includes the magnetic field generation unit 33a, the arm unit 33b, the operation unit 33c, the reading unit 33d, and the control unit 33e as described above. On the other hand, the workstation 44 has a control unit 49 instead of the control unit 9 of the workstation 4 of the in-subject introduction system according to the first embodiment described above. The control unit 49 includes a power control unit 49c instead of the magnet selection unit 9c of the control unit 9 of the workstation 4 described above. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The magnetic field generator 33a is for generating a magnetic field for controlling the movement of the capsule endoscope 1 in the liquid Lq1 introduced into the digestive tract of the subject 100. Specifically, the magnetic field generation unit 33a is realized using an electromagnet or the like, and generates a magnetic field based on driving power supplied from the operation unit 33c via the arm unit 33b. In this case, the magnetic field generator 33a is brought close to the close position indicated by the position display sheet 22, and the position of the capsule endoscope 1 that floats on the surface of the liquid Lq1, for example, by the magnetic field generated based on this driving power. And controlling at least one of the postures.

  Further, the magnetic field generator 33a includes the reading unit 33d as described above. The reading unit 33 d is for reading the magnetic field determination information recorded on each of the RFID tags 22 a to 22 t arranged on the position display sheet 22. Specifically, when the magnetic field generation unit 33a is brought close to any of the markers M1 to M18 of the position display sheet 22, the reading unit 33d is an RFID arranged in the vicinity of the marker that brings the magnetic field generation unit 33a closer. Magnetic field determination information is read from a tag (that is, any one of the RFID tags 22a to 22t described above) via a predetermined radio wave. The reading unit 33d transmits the magnetic field determination information read in this way to the control unit 33e of the operation unit 33c.

  The arm portion 33b has one end connected to the magnetic field generating portion 33a and the other end connected to the operating portion 33c, and electrically connects the magnetic field generating portion 33a and the operating portion 33c. In this case, the arm unit 33b electrically connects the electromagnet of the magnetic field generation unit 33a and the control unit 33e, and electrically connects the reading unit 33d and the control unit 33e.

  The operation unit 33c is for operating the magnetic field generation unit 33a and the reading unit 33d provided at the end of the arm unit 33b. Specifically, the operation unit 33c is held by an inspector, and adjusts the positions of the magnetic field generation unit 33a and the reading unit 33d with respect to the position display sheet 22 by the operation of the inspector. The operation unit 33c is supplied with driving power from the control unit 49 of the workstation 44, and supplies the driving power to the magnetic field generation unit 33a or the reading unit 33d while adjusting the driving power. The operation unit 33c includes operation switches (not shown) that operate to start or stop the driving of the magnetic field generation unit 33a and the reading unit 33d described above, and based on input information from the operation switches. It further has a control unit 33e that controls each drive of the magnetic field generation unit 33a and the reading unit 33d.

  The control unit 33e controls the driving of the reading unit 33d based on the input information from the operation switch of the operation unit 33c, and the proximity position marker (that is, any one of the markers M1 to M18) where the magnetic field generation unit 33a is approached. The recorded magnetic field determination information is read by the reading unit 33d, and the magnetic field determination information read by the reading unit 33d is acquired. Further, the control unit 33e controls the driving of the magnetic field generation unit 33a based on the magnetic field determination information acquired in this way. Specifically, the control unit 33e acquires drive power from the control unit 49 of the workstation 44, and adjusts the drive power from the control unit 49 based on the magnetic field determination information. The control unit 33e supplies the drive power adjusted in this way to the magnetic field generation unit 33a, and causes the magnetic field generation unit 33a to generate a magnetic field based on the adjusted drive power. That is, the control unit 33e adjusts the driving power for the magnetic field generation unit 33a based on the magnetic field determination information acquired from the reading unit 33d, and the magnetic field strength of the magnetic field generation unit 33a is adjusted by adjusting the driving power in this way. Control.

  On the other hand, the control unit 49 of the workstation 44 has substantially the same function as the control unit 9 of the workstation 4 described above, and further controls the driving of the magnetic field generator 33. Such a control unit 49 further includes a power control unit 49 c that controls drive power supplied to the magnetic field generator 33. The power control unit 49c controls the driving power supplied to the magnetic field generation device 33 based on the determination result of the magnetic field strength by the state determination unit 9g, and supplies the driving power thus controlled to the magnetic field generation device 33. The drive power controlled by the power control unit 49c is supplied to the control unit 33e described above via a cable or the like. In this case, the state determination unit 9g determines the magnetic field strength of the magnetic field generation unit 33a with respect to the capsule endoscope 1 based on the magnetic field detection signal received from the capsule endoscope 1.

  Here, the control unit 33e of the magnetic field generation device 33 initializes the drive power supplied to the magnetic field generation unit 33a based on the above-described magnetic field determination information, and then the drive power controlled by the power control unit 49c. The magnetic field generator 33a supplies the magnetic field based on this drive power to the magnetic field generator 33a. FIG. 16 is a schematic diagram for explaining the operation of the magnetic field generator 33 that generates a magnetic field based on the magnetic field determination information read from the RFID tag at the close position.

  As shown in FIG. 16, when the magnetic field generator 33a is close to the proximity position indicated by the mark M2, for example, the controller 33e of the magnetic field generator 33 determines the magnetic field from the RFID tag 22b arranged in the vicinity of the mark M2. The reading unit 33d is controlled to read information, and the magnetic field determination information read by the reading unit 33d is acquired. In this case, the control unit 33e supplies the magnetic field generation unit 33a adjacent to the mark M2 based on the obtained magnetic field determination information (for example, information indicating the value of the drive current or patient information of the subject 100). Initialize the drive power to be used. The magnetic field generator 33a to which the initial setting driving power is supplied applies a magnetic field having a magnetic field intensity based on the initial setting driving power to the capsule endoscope 1 in the stomach, for example. At least one of the position and posture of the capsule endoscope 1 is controlled.

  Thereafter, when the drive power controlled by the power control unit 49c described above is supplied from the control unit 49 of the workstation 44, the control unit 33e supplies the drive power controlled by the power control unit 49c to the magnetic field generation unit 33a. Then, the magnetic field generator 33a generates a magnetic field having a magnetic field intensity based on the driving power. In this case, the control unit 33e re-adjusts the above-described initial drive power based on an instruction from the power control unit 49c. The control unit 33e controls the drive power as described above for all close positions indicated by the position display sheet 22.

  The magnetic field generator 33a to which such driving power is supplied can generate a magnetic field sufficient to move the capsule endoscope 1 introduced into the digestive tract of the subject 100 in the liquid Lq1. The inspector can enjoy the same functions and effects as those of the first embodiment described above by performing the processing procedure after step S101 described above using such a magnetic field generator 33.

  In the second embodiment of the present invention, the RFID tag in which the magnetic field determination information is recorded is arranged in the vicinity of each proximity position of the position display sheet 22, and the reading unit 33 d of the magnetic field generation device 33 receives the magnetic field from the RFID tag at the proximity position. The determination information is read, but the present invention is not limited to this, and the optical information recording medium on which the magnetic field strength information is recorded is attached to the position display sheet 22 for each proximity position. The reading unit 33d may emit predetermined light to the recording medium to optically read the optical information recording medium. Further, the shape of each marker of the position display sheet 22 is made different for each magnetic field intensity, and the shape of such a marker is optically read by the reading unit 33d, and the magnetic field generation unit 33a is based on the read shape of the marker. May be determined.

  In the second embodiment of the present invention, the magnetic field strength of the magnetic field generation unit 33a is initially determined based on the magnetic field determination information read from the RFID tag disposed on the position display sheet 22. However, the present invention is not limited to this, and information such as symbols or characters indicating the magnetic field strength or current value is attached to each proximity position of the position display sheet 22, and the magnetic field strength of the magnetic field generating unit 33a is manually determined by visually recognizing such information. You may operate. In this case, the operation unit 33c may be provided with an adjustment switch that adjusts the driving power supplied to the magnetic field generation unit 33a.

  Alternatively, the control unit 49 of the workstation 44 may control the magnetic field intensity of the magnetic field generation unit 33a. In this case, the power control unit 49c initializes the driving power supplied to the magnetic field generation unit 33a based on, for example, patient information of the subject 100 input by the input unit 6, and the control unit 49 applies such power. What is necessary is just to supply the drive electric power initially set by the control part 49c to the magnetic field generator 33. FIG.

  As described above, in the second embodiment of the present invention, at least one of the position and the posture of the capsule endoscope according to the first embodiment described above, in which an electromagnet is brought close to the position display sheet instead of the permanent magnet. The two are controlled by the magnetic field of the adjacent electromagnets. For this reason, while enjoying the effect of Embodiment 1 mentioned above, the magnetic field of the electromagnet applied to the capsule endoscope in the digestive tract can be easily adjusted, and in the liquid of the capsule endoscope in the digestive tract Can be operated more easily.

  In addition, the position display sheet has magnetic field determination information for each proximity position, and when the electromagnet approaches the proximity position, the magnetic field determination information for each proximity position is read each time. In addition, the magnetic field strength of the electromagnet was controlled. Therefore, the magnetic field of the electromagnet can be reliably applied to the capsule endoscope in the digestive tract, and at least one of the position and posture of the capsule endoscope can be reliably controlled by the magnetic field. In the second embodiment, the intensity of the generated magnetic field is changed by controlling the current flowing through the electromagnet. However, the present invention is not limited to this. You may change the intensity | strength of the magnetic field of the permanent magnet generated with respect to a test substance. Although not shown, a mechanism (distance changing unit) that changes the distance between the permanent magnet and the subject may be provided.

(Embodiment 3)
Next, a third embodiment of the present invention will be described. In the first embodiment described above, one antenna 5a is connected to the workstation 4, and the capsule endoscope 1 and the workstation 4 transmit and receive radio signals via the antenna 5a. In Embodiment 3, a plurality of antennas are connected to a workstation, and the capsule endoscope 1 and the workstation transmit and receive radio signals via any of the plurality of antennas.

  FIG. 17 is a schematic diagram showing a configuration example of the in-subject introduction system according to the third embodiment of the present invention. As shown in FIG. 17, the in-subject introduction system according to the third embodiment has a workstation 64 instead of the workstation 4 of the in-subject introduction system according to the first embodiment described above. This workstation 64 has an antenna group 55 instead of one antenna 5a connected to the workstation 4 of the first embodiment described above. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The antenna group 55 is for transmitting and receiving wireless signals between the capsule endoscope 1 introduced into the digestive tract of the subject 100 and the workstation 64. Specifically, each antenna included in the antenna group 55 is disposed on the position display sheet 2 corresponding to each proximity position indicated by the position display sheet 2 and is electrically connected to the workstation 64 via a cable or the like. Is done. At least one of the antennas included in such an antenna group 55 transmits and receives radio signals with high sensitivity to and from the capsule endoscope 1 introduced into the digestive tract of the subject 100, and this capsule endoscope. The image signal from 1 can be received with high sensitivity.

  Next, the configuration of the workstation 64 according to the third embodiment will be described in detail. FIG. 18 is a block diagram schematically illustrating a configuration example of the workstation 64 according to the third embodiment. As shown in FIG. 18, the workstation 64 according to the third embodiment includes a communication unit 65 instead of the communication unit 5 of the workstation 4 of the in-subject introduction system according to the first embodiment described above. A control unit 69 is provided instead of the control unit 9. The control unit 69 includes a communication control unit 69b instead of the communication control unit 9b of the control unit 9 of the workstation 4 described above. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The communication unit 65 is for performing wireless communication between the capsule endoscope 1 and the workstation 64 using the antenna group 55. Specifically, in the communication unit 65, each antenna of the antenna group 55 (for example, 18 antennas 55a to 55t corresponding to the markers M1 to M18 of the position display sheet 2) is connected via a cable or the like. A predetermined demodulation process is performed on a radio signal received via one of the antennas included in 55, and various information transmitted from the capsule endoscope 1 is acquired. In this case, the communication unit 65 compares the received electric field strength of each antenna included in the antenna group 55 and receives a radio signal from the antenna group 55 via the antenna having the highest received electrolysis strength. The communication unit 65 can receive the radio signal from the capsule endoscope 1 with high sensitivity via the antenna having the highest received electric field strength. After that, the communication unit 65 acquires the image information obtained by the imaging unit 12 and the movement information of the housing 10 in a low noise state based on the wireless signal from the capsule endoscope 1 received in this way. Then, the acquired low-noise image information and motion information are transmitted to the control unit 69. The communication unit 65 acquires a magnetic field detection signal corresponding to the detection result of the magnetic field intensity by the magnetic sensor 15 in a low noise state, and transmits the acquired low noise state magnetic field detection signal to the control unit 69.

  The communication unit 65 performs a predetermined modulation process on the control signal for the capsule endoscope 1 received from the control unit 69 and modulates the control signal into a radio signal. In this case, for example, the communication unit 65 causes a predetermined test signal to be transmitted from all the antennas of the antenna group 55 and causes the capsule endoscope 1 to transmit an ACK signal corresponding to the test signal. The communication unit 65 compares the received electric field strength of each antenna when receiving the ACK signal from the capsule endoscope 1, and the radio signal is transmitted from the antenna group 55 to the antenna having the highest received electric field strength. Send. As described above, the communication unit 65 transmits a radio signal to the capsule endoscope 1 via the antenna having the highest received electric field strength from the antenna group 55. As a result, the communication unit 65 can reliably transmit, for example, a control signal instructing the capsule endoscope 1 to start driving the imaging unit 12.

  The control unit 69 has substantially the same function as the control unit 9 of the workstation 4 described above, and further controls driving of the communication unit 65 to which the antenna group 55 is connected. Such a control unit 69 further includes a communication control unit 69b that controls driving of the communication unit 65 in place of the communication unit 5 that performs wireless communication using the one antenna 5a described above. As described above, the communication control unit 69b controls the drive of the communication unit 65 so as to receive the radio signal from the capsule endoscope 1 via the antenna having the highest received electric field strength. Image information or motion information is acquired in a noise state. Alternatively, the communication control unit 69b acquires the magnetic field detection signal from the communication unit 65 in a low noise state. In addition, the communication control unit 69b transmits a control signal for the capsule endoscope 1 to the communication unit 65 to generate a radio signal including the control signal, and, as described above, via the antenna having the highest received electric field strength. The drive of the communication unit 65 is controlled so that the radio signal is transmitted.

  Next, the arrangement of the antennas of the antenna group 55 with respect to the position display sheet 2 will be described. FIG. 19 is a schematic view illustrating the arrangement state of the antenna group 55 arranged on the position display sheet 2 corresponding to a plurality of proximity positions. As shown in FIG. 19, each antenna of the antenna group 55 is arranged on the position display sheet 2 corresponding to a plurality of proximity positions indicated by the position display sheet 2. Specifically, for example, 18 antennas 55a to 55t of the antenna group 55 are arranged on the position display sheet 2 corresponding to 18 adjacent positions indicated by the markers M1 to M18 formed on the position display sheet 2. The In this case, the antennas 55a to 55t are arranged in the vicinity of the markers M1 to M18, for example. Such antennas 55a to 55t are connected to the communication unit 65 of the workstation 64 via a cable or the like. The communication unit 65 is connected to the control unit 69 of the workstation 64 as described above.

  Here, as described above, the antennas 55 a to 55 t arranged on the position display sheet 2 corresponding to the proximity position transmit and receive radio signals to and from the capsule endoscope 1 introduced into the digestive tract of the subject 100. To do. In this case, at least one of the antennas 55a to 55t transmits a radio signal to / from the capsule endoscope 1 captured by the magnetic force of, for example, the permanent magnet 3 close to the proximity position shown on the position display sheet 2. Transmit and receive with high reception sensitivity. In other words, the antennas 55a to 55t are arranged on the position display sheet 2 corresponding to each proximity position, so that each of the capsule endoscopes 1 captured by the magnetic force of, for example, the permanent magnet 3 close to each proximity position. They are arranged at predetermined relative positions with respect to the capture position. The relative positional relationship between the antennas 55a to 55t and the capsule endoscope 1 at each capture position is such that at least one of the antennas 55a to 55t and the capsule endoscope 1 can transmit radio signals with high reception sensitivity. This is a positional relationship that allows transmission and reception.

  Specifically, when the permanent magnet 3 is brought close to the proximity position indicated by the marker M1, for example, as shown in FIG. 20, the capsule endoscope 1 inside the stomach of the subject 100 approaches the marker M1. The permanent magnet 3 is trapped by the magnetic force. In this case, the capsule endoscope 1 is captured at a predetermined relative position with respect to the antenna 55a disposed corresponding to the proximity position. The capsule endoscope 1 captured at such a relative position can transmit and receive a radio signal with high reception sensitivity to the antenna 55a. Similarly, when the permanent magnet 3 is brought close to the proximity position indicated by the marker M2, the capsule endoscope 1 inside the stomach is captured by the magnetic force of the permanent magnet 3 brought close to the marker M2. . In this case, the capsule endoscope 1 is captured at a predetermined relative position with respect to the antenna 55b disposed corresponding to the proximity position. The capsule endoscope 1 captured at such a relative position can transmit and receive a radio signal with high reception sensitivity to the antenna 55b. The above thing receives the same effect about all the antennas 55a-55t arrange | positioned at the position display sheet 2 corresponding to a proximity position.

  In the third embodiment of the present invention, the antennas of the antenna group 55 are arranged in such a manner as to overlap the markers of the position display sheet 2, but the present invention is not limited to this, and the antenna group Each of the antennas 55 only needs to be arranged on the position display sheet 2 corresponding to each proximity position, that is, a relative position where radio signals can be transmitted and received with high sensitivity to the capsule endoscope captured by magnetic force. If it arrange | positions, you may arrange | position in any area | region of the position display sheet 2. FIG. In this case, the arrangement position of each antenna of the antenna group 55 can be set based on experimental results and the like. Further, the number of antennas included in the antenna group 55 may be the same as the number of close positions indicated by the position display sheet 2 and is not particularly limited to 18.

  As described above, the third embodiment of the present invention has substantially the same configuration as that of the first embodiment described above, and a plurality of antennas are arranged on the position display sheet corresponding to a plurality of proximity positions. When a capsule endoscope introduced into the subject's digestive tract is captured by magnetic force, one of these multiple antennas is highly sensitive to radio signals from the captured capsule endoscope. It was configured to be in a position where it can be transmitted and received. Therefore, a radio signal from the capsule endoscope can be received with high sensitivity via any one of the plurality of antennas, and the effects of the first embodiment described above can be enjoyed. The captured image in the digestive tract can always be acquired in a low noise state.

  By using the intra-subject introduction system according to the third embodiment, the examiner can always display an image in the digestive tract on a display in a low noise state, and using such a low noise image. The inside of the subject can be observed more easily.

(Embodiment 4)
Next, a fourth embodiment of the present invention will be described. In the first embodiment described above, at least one of the position and posture of the capsule endoscope 1 introduced into the digestive tract is controlled by magnetic force. However, in this fourth embodiment, the affected part in the digestive tract is further controlled. The capsule endoscope 1 is brought close to a desired designated position, and an enlarged image of the designated position is taken.

  FIG. 21 is a schematic diagram showing a configuration example of the intra-subject introduction system according to the fourth embodiment of the present invention. As shown in FIG. 21, the in-subject introduction system according to the fourth embodiment has a position display sheet 72 instead of the position display sheet 2 of the in-subject introduction system according to the first embodiment described above. A workstation 84 is provided instead of the workstation 4. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  Next, the configuration of the position display sheet 72 according to the fourth embodiment will be described in detail. FIG. 22 is a schematic diagram illustrating a configuration example of the position display sheet 72 according to the fourth embodiment. As illustrated in FIG. 22, the position display sheet 72 includes a plurality of vertical lines d1 to d15 and a plurality of horizontal lines e1 to e10 instead of the markers M1 to M18 of the position display sheet 2 according to the first embodiment described above. Is done. The position display sheet 72 further includes a plurality of acceleration sensors 72a to 72e. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The vertical lines d1 to d15 and the horizontal lines e1 to e10 formed on the position display sheet 72 are for indicating the plurality of proximity positions described above to the examiner. Specifically, the vertical lines d1 to d15 and the horizontal lines e1 to e10 are formed in, for example, a lattice shape, and indicate proximity positions by their respective intersections. In this case, for example, the proximity position N shown in FIG. 22 is indicated by the intersection of the vertical line d4 and the horizontal line e3, and the coordinates (d4, e3) of the coordinate system formed by the vertical lines d1 to d15 and the horizontal lines e1 to e10. Specified by. The number of vertical lines and horizontal lines formed on the position display sheet 72 may be one or more, and is not particularly limited to ten or fifteen.

  Further, the position display sheet 72 is divided into, for example, a supine position area A1, a left position position area A2, and a right position position area A3 corresponding to the body position of the subject 100. In this case, the supine position area A1 is an area indicating the proximity position in the subject 100 in the supine position, and indicates the proximity position by, for example, the intersections of the vertical lines d5 to d10 and the horizontal lines e1 to e10. The left lateral position region A2 is an area that indicates the proximity position in the subject 100 in the left lateral position, and indicates the proximity position by, for example, the intersections of the vertical lines d1 to d4 and the horizontal lines e1 to e10. The right lateral position region A3 is a region indicating the proximity position in the subject 100 in the right lateral position, and indicates the proximity position by, for example, the intersections of the vertical lines d11 to d15 and the horizontal lines e1 to e10. When the subject 100 wearing the position display sheet 72 is in the supine position, the examiner brings the permanent magnet 3 close to each close position indicated by each intersection in the supine position region A1. Further, when the examiner changes the posture of the subject 100 to the left lateral position, the permanent magnet 3 is brought close to each adjacent position indicated by each intersection in the left lateral position region A2, and the posture of the subject 100 is changed to the right side. In the case of the supine position, the permanent magnet 3 is brought close to each proximity position indicated by each intersection in the right lying position area A3. The permanent magnet 3 brought close to the close position in this way is at least one of the position and posture of the capsule endoscope 1 introduced into the digestive tract of the subject 100, as in the case of the first embodiment described above. To control.

  Furthermore, the position display sheet 72 includes a plurality of acceleration sensors 72a to 72e as described above. Specifically, the acceleration sensor 72a is fixedly disposed in the vicinity of the approximate center of the position display sheet 72, for example, in the vicinity of a proximity position specified by coordinates (d8, e5). Further, the acceleration sensors 72b to 72e are fixedly arranged at the four corners of the position display sheet 72, respectively. Such acceleration sensors 72a to 72e are electrically connected to the work station 84 via cables or the like, detect acceleration when the position display sheet 72 is displaced in the spatial coordinate system xyz described above, and detect the acceleration. Each result is transmitted to the workstation 84. Specifically, the acceleration sensor 72 a detects the acceleration when the central portion of the position display sheet 72 is displaced in the spatial coordinate system xyz, and transmits the acceleration detection result of the central portion of the position display sheet 72 to the workstation 84. To do. Further, the acceleration sensors 72b to 72e detect accelerations when the corners of the position display sheet 72 are displaced in the spatial coordinate system xyz, and the acceleration detection results of the corners of the position display sheet 72 are detected as workstations. 84, respectively. The plurality of acceleration sensors fixedly arranged on the position display sheet 72 only need to be fixedly arranged at the four corners and the vicinity of the center of the position display sheet 72. It is not limited to.

  Next, the configuration of the workstation 84 according to the fourth embodiment of the present invention will be described in detail. FIG. 23 is a block diagram schematically illustrating a configuration example of the workstation 84 according to the fourth embodiment. As shown in FIG. 23, the workstation 84 includes a control unit 89 instead of the control unit 9 of the workstation 4 according to the first embodiment described above. The control unit 89 includes a position / orientation detection unit 89f instead of the position / orientation detection unit 9f of the control unit 9 of the workstation 4, and further includes a position specifying unit 89h. The control unit 89 is electrically connected to the acceleration sensors 72a to 72e of the position display sheet 72 described above. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The control unit 89 has substantially the same function as the control unit 9 of the workstation 4 described above. The control unit 89 controls the driving of the acceleration sensors 72a to 72e fixedly disposed on the position display sheet 72, detects the surface position of the position display sheet 72 in the spatial coordinate system xyz, and the image in the digestive tract. It further has a function of specifying a proximity position corresponding to a desired specified position specified from the inside, and a function of showing the specified proximity position to the examiner. As described above, the control unit 89 includes the position / orientation detection unit 89f and the position specifying unit 89h.

  The position and orientation detection unit 89f detects the position and orientation of the capsule endoscope 1 in the spatial coordinate system xyz, similarly to the position and orientation detection unit 9f of the workstation 4 described above. Furthermore, the position / orientation detection unit 89f detects the positional relationship between the capsule endoscope 1 and the position display sheet 72 in the spatial coordinate system xyz. In this case, the position / orientation detection unit 89f detects the surface position of the position display sheet 72 in the spatial coordinate system xyz based on the respective acceleration detection results acquired from the acceleration sensors 72a to 72e described above.

  Specifically, the position / orientation detection unit 89f first sets the spatial coordinate system xyz described above. Here, the position display sheet 72 is flatly arranged on the xy plane of the spatial coordinate system xyz in a mode in which, for example, the origin O of the spatial coordinate system xyz and the position of the acceleration sensor 72a are combined. In addition, as described above, the capsule endoscope 1 has a space in which the radial axis C2b, the long axis C1, and the radial axis C2a are respectively combined with the x axis, the y axis, and the z axis of the spatial coordinate system xyz, for example. Arranged at the origin O of the coordinate system xyz. The position / orientation detection unit 89f grasps the position and orientation of the capsule endoscope 1 and the surface position of the position display sheet 72, which are arranged in the spatial coordinate system xyz, as respective initial states. The position and posture of the capsule endoscope 1 that sequentially changes and the surface position of the position display sheet 72 are sequentially detected. In this case, the position / orientation detection unit 89f sequentially detects the current position and orientation of the capsule endoscope 1 in the spatial coordinate system xyz based on the movement information of the capsule endoscope 1 described above. Further, the position / orientation detection unit 89f sequentially calculates the movement amounts (vector amounts) of the center portion and the four corner portions of the position display sheet 72 based on the respective acceleration detection results acquired from the acceleration sensors 72a to 72e. The surface position of the current position display sheet 72 in the spatial coordinate system xyz is sequentially detected based on the calculated amounts of movement. In this way, the position / orientation detection unit 89f sequentially detects the surface position of the position display sheet 72 that repeats changes such as displacement or curvature from the initial state in the spatial coordinate system xyz.

  The position / orientation detection unit 89f as described above is based on the sequentially detected position and orientation of the capsule endoscope 1 and the surface position of the position display sheet 72, and the position and position of the capsule endoscope 1 in the spatial coordinate system xyz. The current positional relationship with the display sheet 72 is sequentially detected. After that, the control unit 89 stores the position and orientation information of the capsule endoscope 1 in the storage unit 8 as in the case of the first embodiment described above, and the position display sheet detected by the position and orientation detection unit 89f. The surface position 72 is stored in the storage unit 8 in association with the position and orientation information. The positional relationship between the capsule endoscope 1 and the position display sheet 72 includes the relative position between the capsule endoscope 1 and the position display sheet 72 in the spatial coordinate system xyz, and the surface formed by the position display sheet 72. And the posture of the capsule endoscope 1 with respect to.

  The position specifying unit 89h functions as specifying means for specifying a proximity position corresponding to a desired designated position designated from images in the digestive tract taken by the capsule endoscope 1. Specifically, the position specifying unit 89h acquires specified position information for specifying the specified position from the image of the digestive tract from the input unit 6, and the position of the capsule endoscope 1 and the position display sheet 72 described above. Based on the positional relationship and the designated position information, a proximity position corresponding to the designated position is specified from a plurality of proximity positions in the position display sheet 72. In this case, the input unit 6 functions as an input unit that inputs designated position information of a desired position designated by an examiner's operation from the digestive tract image displayed on the display unit 7 to the control unit 89.

  Information indicating the proximity position specified by the position specifying unit 89h is displayed on the display unit 7. In this case, if the position specifying unit 89h specifies the proximity position corresponding to the designated position, the display control unit 9a displays information indicating which proximity position in the position display sheet 72 is the specified proximity position. It is displayed on the display unit 7. The inspector can easily find a proximity position corresponding to the designated position from among a plurality of proximity positions in the position display sheet 72 based on the information displayed on the display unit 7 in this way. In this case, the display unit 7 functions as a specific position display unit that indicates the proximity position specified by the position specifying unit 89h.

  Next, a case where the capsule endoscope 1 is introduced into the stomach of the subject 100 is illustrated, and a proximity position corresponding to a designated position in an image inside the stomach imaged by the capsule endoscope 1 The operation of the control unit 89 for specifying the will be described. FIG. 24 is a schematic view illustrating a state in which the capsule endoscope 1 inside the stomach is captured by the magnetic force of the permanent magnet 3 approaching the close position shown in the position display sheet 72. FIG. 25 is a schematic view illustrating an image of the inside of the stomach imaged by the capsule endoscope 1 captured in the state of FIG. FIG. 26 is a schematic diagram for explaining the operation of the control unit 89 that specifies the proximity position corresponding to the designated position from among the plurality of proximity positions in the position display sheet 72.

  First, the inspector sequentially performs the processing procedures of steps S101 to S106 described above. In this case, as shown in FIG. 24, for example, the capsule endoscope 1 floats in the liquid Lq1 introduced into the stomach of the subject 100, and is moved to the desired proximity position indicated by the position display sheet 72. Captured by the magnetic field of the magnet 3. The capsule endoscope 1 captured in this way sequentially captures images of the inside of the stomach while changing at least one of the position and posture by the magnetic force of the permanent magnet 3. In this case, the capsule endoscope 1 captures an image of the imaging region S1, for example. The imaging region S1 is a partial region of the stomach wall that fits in the imaging field of view of the capsule endoscope 1, and includes the affected part 101, for example. In this way, the capsule endoscope 1 captures an image of the inside of the stomach capturing the affected part 101 inside the stomach. This stomach internal image is displayed on the display unit 7 of the workstation 89, for example, as shown in FIG.

  Next, the examiner uses the input unit 6 to move the cursor K to a desired position in the stomach internal image displayed on the display unit 7, for example, the position of the affected part 101, and designates the position of the affected part 101. Perform input operations. In this case, the input unit 6 inputs designated position information for specifying the designated position of the affected part 101 to the control unit 89. When the control unit 89 receives the designated position information from the input unit 6, the control unit 89 determines the position of the affected part 101 based on the positional relationship between the capsule endoscope 1 and the position display sheet 72 and the designated position information. Identify the corresponding proximity position.

  Specifically, the position / orientation detection unit 89f detects the positional relationship between the capsule endoscope 1 that captures an image inside the stomach and the position indicating sheet 72 attached to the subject 100. In this case, the position specifying unit 89h is a part of the position display sheet 72 illustrated in FIG. 24 based on the positional relationship between the capsule endoscope 1 and the position display sheet 72 detected by the position / posture detection unit 89f. A region S2 is detected. This partial region S2 is a partial region of the position display sheet 72 whose range is determined by the viewing angle of the capsule endoscope 1, and is directed from the capsule endoscope 1 inside the stomach to the position display sheet 72 shown in FIG. This is a partial area formed by projecting the imaging area S1. That is, the imaging region S1 and the partial region S2 are substantially similar to each other.

  Here, the position specifying unit 89 h detects the relative positional relationship between the center point of the image inside the stomach and the designated position of the affected part 101 based on the designated position information of the affected part 101 input by the input unit 6. The relative position relationship between the center point of the image and the designated position of the affected area 101 is substantially the same as the relative position relationship between the center point CP1 of the imaging region S1 and the affected area 101 shown in FIG. In addition, as shown in FIG. 26, the position specifying unit 89h is based on the positional relationship between the capsule endoscope 1 and the position display sheet 72, and is a partial area that is an intersection of the partial area S2 and the long axis C1. A center point CP2 of S2 is detected. The long axis C1 corresponds to the central axis of the imaging field of the capsule endoscope 1 as described above. Therefore, the two center points CP1 and CP2 are respectively located on the long axis C1.

  Such a position specifying unit 89h is based on the positional relationship between the capsule endoscope 1 and the position display sheet 72 and the designated position information of the affected part 101, and is in the partial region S2 that is similar to the imaging region S1. The proximity position T corresponding to the designated position of the affected area 101 can be specified from among the plurality of proximity positions. In this case, the relative positional relationship between the center point CP2 and the proximity position T in the partial region S2 is substantially the same as the relative positional relationship between the center point CP1 and the affected part 101 in the imaging region S1. That is, when the capsule endoscope 1 aligns the center axis of the imaging field of view with the affected part 101, the affected part 101 and the proximity position T are located on the long axis C1 of the capsule endoscope 1.

  As described above, when the position specifying unit 89h specifies the proximity position T corresponding to the designated position, the control unit 89 causes the display unit 7 to display information indicating the proximity position T specified by the position specifying unit 89h. In this case, the display control unit 9 a causes the display unit 7 to display information indicating which proximity position in the position display sheet 72 is the specified proximity position T. Based on the information displayed on the display unit 7 in this manner, the examiner can easily find the proximity position T corresponding to the designated position of the affected area 101 from among a plurality of proximity positions in the position display sheet 72. Can do.

  Thereafter, the examiner can bring the capsule endoscope 1 inside the stomach close to the affected area 101 by bringing the permanent magnet 3 close to the proximity position T displayed on the display unit 7. FIG. 27 is a schematic view illustrating a state where the capsule endoscope 1 is brought close to the affected part 101 in the stomach. As shown in FIG. 27, the permanent magnet 3 brought close to the proximity position T corresponding to the designated position of the affected part 101 generates a magnetic field for the capsule endoscope 1 inside the stomach, and by the magnetic force of this magnetic field, The capsule endoscope 1 is attracted to the affected area 101. The permanent magnet 3 is selected from, for example, a plurality of permanent magnets prepared in advance, and generates a magnetic field sufficient to attract the capsule endoscope 1 in this way.

  The capsule endoscope 1 to which the magnetic field of the permanent magnet 3 is applied approaches and touches the affected area 101 and takes an enlarged image of the affected area 101. The workstation 84 can display an enlarged image captured by the capsule endoscope 1 in this way on the display unit 7. By examining the enlarged image displayed on the display unit 7 in this manner, the examiner can observe a desired position in the digestive tract such as the affected part 101 in more detail.

  In this way, the capsule endoscope 1 that can come into contact with the inner wall of the digestive tract is further provided with a special light observation function that outputs a special light such as infrared light to capture an image, so that a desired part of the affected part 101 or the like can be obtained. An enlarged image of the position may be captured with special light. In this case, the capsule endoscope to which the special light observation function is added switches the output light to normal visible light or special light from an LED or the like based on a control signal from the workstation 84. Further, such a capsule endoscope 1 may further include a collection function for collecting body fluid or biological tissue using a collection needle that can be taken in and out of the housing. In this case, the capsule endoscope 1 to which the collection function is added, for example, collects bodily fluids or biological tissues in the digestive tract based on a control signal from the workstation 84 when contacting the inner wall of the digestive tract. .

  Such a capsule endoscope 1 may further have a therapeutic function. As this therapeutic function, for example, a living tissue or the like can be cauterized with a heating probe that can be freely inserted and removed from the casing, or a medicine can be sprayed into the digestive tract. You may inject | pour a chemical | medical agent into an affected part etc. using a syringe needle which can be taken in and out freely. In this case, the capsule endoscope 1 to which the therapeutic function is added starts driving the therapeutic function based on a control signal from the workstation 84 when, for example, the capsule endoscope 1 comes into contact with the inner wall of the digestive tract.

  Furthermore, such a capsule endoscope 1 may be added with diagnostic chemical and biochemical sensors. In this case, the capsule endoscope 1 can determine whether or not this biological tissue is a lesioned part by bringing diagnostic chemical and biochemical sensors into close contact with the biological tissue in the digestive tract. That is, the capsule endoscope 1 to which such diagnostic chemistry and biochemical sensors are added can detect a lesion from a living tissue in the digestive tract.

  In the fourth embodiment of the present invention, information indicating the proximity position specified corresponding to the desired designated position in the image is displayed on the display unit 7, but the present invention is not limited to this. Instead, light emitting units such as LEDs or organic ELs are provided at a plurality of proximity positions indicated by the position display sheet 72, and the position specifying unit 89h specifies a proximity position corresponding to the designated position from among the plurality of proximity positions. In this case, the control unit 89 may cause the light emitting unit at the specified proximity position to emit light and indicate the proximity position to the examiner. In this case, the plurality of light emitting units arranged on the position display sheet 72 are electrically connected to the control unit 89 via a cable or the like, and are driven and controlled by the control unit 89.

  In the fourth embodiment of the present invention, a plurality of proximity positions are indicated by the intersections of the plurality of vertical lines and the plurality of horizontal lines formed on the position display sheet 72. However, the present invention is limited to this. Instead of this, a plurality of proximity positions may be indicated by a plurality of cells surrounded by the vertical and horizontal lines, and a plurality of markers are formed on the position display sheet 72 as in the case of the first embodiment described above. However, a plurality of proximity positions may be indicated by such markers.

  As described above, in the fourth embodiment of the present invention, as in the first embodiment described above, a plurality of proximity positions are indicated by the position display sheet attached to the subject. When a desired designated position is designated from the images in the digestive tract taken by the capsule endoscope introduced into the specimen, the proximity position corresponding to the designated position is selected from among the plurality of proximity positions of the position display sheet. And is configured to indicate the specified proximity position. For this reason, for example, when a permanent magnet is brought close to the specified proximity position, the capsule endoscope can be easily attracted to a designated position (for example, an affected part) in the digestive tract by the magnetic force of the permanent magnet, Furthermore, it can be brought into contact with a designated position in the digestive tract. As a result, it is possible to cause the capsule endoscope to capture an enlarged image of a designated position in the digestive tract, for example, an affected part, and enjoy the effects of the first embodiment described above, and enlarge the desired position in the digestive tract. The inside of the subject can be observed in more detail by visually recognizing the image.

  In the first to fourth embodiments of the present invention, the winding type position display sheet wound around the body of the subject is illustrated, but the present invention is not limited to this, and various types of position display are displayed. It may be a sheet. Specifically, the position display sheet 2 indicating the proximity position described above may be a wearable type that is formed in a clothing shape as illustrated in FIG. 28 and is worn by the subject 100. As illustrated, it may be a hanging type that is hung on the body of the subject 100. Such a wearable or hanging-type position display sheet 2 can indicate each proximity position by, for example, each marker of the supine position marker group MG1 in substantially the same manner as the above-described wound type.

  Further, as illustrated in FIG. 30, the position display sheet 2 may be a flat plate type in which, for example, a supine position marker group MG <b> 1 is formed on a substantially transparent flat plate such as glass or resin. As illustrated in FIG. 31, a frame member in which a plate member having a high light transmittance such as substantially transparent glass or resin is formed in a frame shape, and a supine position marker group MG1 or the like is formed on the surface of the plate member. It may be. In this case, the examiner looks at the subject 100 via the flat plate or frame type position display sheet 2, and uses the marker formed on the flat plate or frame type position display sheet 2 on the subject 100. What is necessary is just to make a permanent magnet etc. adjoin to the projected position (namely, proximity position).

  In addition, a plurality of position display sheets in various forms such as the winding type, the wearing type, the hanging type, the flat plate type, and the frame type are prepared for each body type of the subject (patient) and matched to the body type of the patient to be examined. It is desirable to be selected. Thus, the position display sheet selected according to the patient's body shape can accurately indicate the proximity position on the patient's body surface. As a result, it is possible to efficiently observe (inspect) the body of each patient having a different body type.

  Furthermore, in the first to fourth embodiments of the present invention, the position display sheet, which is a sheet-like member, is mounted on the subject. However, the present invention is not limited to this, and indicates a proximity position of a marker or the like. Information may be projected onto the subject. In this case, for example, as shown in FIG. 32, an in-subject introduction system including a projection device 200 that projects information indicating the proximity position instead of the position display sheet may be configured. In this case, the projection apparatus 200 functions as position display means for indicating the proximity position described above, and projects the supine position marker group MG1 on the subject 100 to indicate the proximity position. The examiner only needs to bring a permanent magnet or the like close to the marker projected onto the subject 100 by the projection device 200.

  Note that such a projection apparatus 200 generates projection information for projecting the in-vivo image onto the subject based on the in-vivo image information for each subject imaged by CT or MRI. An in-vivo image may be projected onto the subject using this projection information. In this case, the projection apparatus 200 can indicate the proximity position of the permanent magnet or the like by the in-vivo image projected on the subject. As a result, information in the subject can be grasped more accurately, and a magnet that changes at least one of the position and posture of the capsule endoscope in the digestive tract by magnetic force can be easily operated. Due to this, an image of a desired position in the digestive tract such as an affected part can be easily captured by the capsule endoscope, and the subject can be diagnosed more accurately.

  In the first to fourth embodiments of the present invention, one kind of liquid Lq1 is introduced into the digestive tract of the subject, and the capsule endoscope is floated on the liquid Lq1, but the present invention is limited to this. Instead, two types of liquids may be introduced into the digestive tract of the subject, and the capsule endoscope may be levitated near the interface between the two types of liquids. In this case, the two types of liquids Lq1 and Lq2 introduced into the subject have different specific gravities. Specifically, as described above, the liquid Lq1 has a specific gravity comparable to or less than the specific gravity of the capsule endoscope 1, and the liquid Lq2 has a specific gravity of the capsule endoscope 1. It has a large specific gravity. When such liquids Lq1 and Lq2 are introduced into the subject 100, for example, as shown in FIG. 33, the capsule endoscope 1 floats near the interface between the liquids Lq1 and Lq2 inside the stomach of the subject 100. . The capsule endoscope 1 levitated in the vicinity of the interface changes at least one of the position and the posture by the magnetic field of the permanent magnet 3 brought close to the close position, as in the case of the first embodiment described above. .

  Furthermore, in the first to fourth embodiments of the present invention, the capsule endoscope 1 in which the center of gravity of the capsule endoscope 1 is located on the rear end side of the casing and floated on the liquid Lq1 in the digestive tract is the liquid Lq1. Although the imaging field of view is directed vertically upward with respect to the liquid level, the present invention is not limited to this, and the capsule endoscope 1 that floats on the liquid Lq1 in the digestive tract is the liquid Lq1. The imaging field of view may be directed vertically downward with respect to the surface. In this case, the capsule endoscope 1 is configured to have a center of gravity on the front end side of the housing. For example, as shown in FIG. 34, the capsule endoscope 1 configured in this manner floats on the liquid Lq1 inside the stomach of the subject 100 and has an imaging field of view vertically below the liquid level of the liquid Lq1. Turn. In this way, the capsule endoscope 1 that directs the imaging visual field downward in the vertical direction can change at least one of the position and the posture by, for example, the magnetic field of the permanent magnet 3 close to the close position. Further, since the capsule endoscope 1 can image the inside of the stomach extended by the liquid Lq1 through the liquid Lq1, for example, a detailed image of the inside of the stomach can be obtained without extending the living tissue with the above-described foaming agent. A clearer image can be taken.

  In the first to fourth embodiments of the present invention, the capsule endoscope is levitated in the liquid introduced into the digestive tract of the subject. However, the present invention is not limited to this, and the subject The capsule endoscope may be submerged in the liquid introduced into the digestive tract. Specifically, for example, the capsule endoscope 1 is configured to have a larger specific gravity than the liquid Lq1 by adding a weight or the like, or by reducing the internal space to increase the density. . In this case, the position of the center of gravity of the capsule endoscope 1 is maintained on the rear end side of the housing. For example, as shown in FIG. 35, the capsule endoscope 1 configured in this way sinks in the bottom of the liquid Lq1 inside the stomach of the subject 100 and takes an imaging field of view vertically above the liquid level of the liquid Lq1. Turn. In this way, the capsule endoscope 1 that directs the imaging visual field upward in the vertical direction can change at least one of the position and the posture by, for example, the magnetic field of the permanent magnet 3 close to the close position. Further, since the capsule endoscope 1 can image the inside of the stomach extended by the liquid Lq1 through the liquid Lq1, for example, a detailed image of the inside of the stomach can be obtained without extending the living tissue with the above-described foaming agent. A clearer image can be taken. Although not shown, instead of expanding the stomach with the liquid Lq1, the stomach may be expanded using a foaming agent and a small amount of water. In this case, since the stomach can be expanded using a small amount of a foaming agent and water, intake is good. In FIG. 35, the direction of the capsule endoscope 1 is changed by changing the position of the permanent magnet 3, but this is not limiting, and the direction of the permanent magnet 3 is changed without changing the position of the permanent magnet 3. Thus, the direction of the capsule endoscope 1 may be changed. At this time, the direction of the permanent magnet 3 may be indicated on the position display sheet 2 by a marker or the like. In this case, since it is not necessary to change the position of the permanent magnet, the operability is improved.

  Furthermore, in the third and fourth embodiments of the present invention, at least one of the position and posture of the capsule endoscope in the digestive tract is changed by the magnetic field of the permanent magnet, but the present invention is limited to this. Instead, an electromagnet may be brought close to the proximity position instead of the permanent magnet, and at least one of the position and posture of the capsule endoscope in the digestive tract may be changed by the magnetic field of the electromagnet. In this case, the in-subject introduction system may be configured by combining the second and third embodiments or the second and fourth embodiments.

  In the first to fourth embodiments of the present invention, the image signal from the capsule endoscope is directly received by the workstation via the antenna connected to the workstation. However, the present invention is limited to this. A predetermined receiving device that receives and accumulates image signals from the capsule endoscope via an antenna arranged on the body surface of the subject may be used instead of the image, and the image accumulated in the receiving device The signal may be acquired by a workstation. In this case, information transfer between the receiving apparatus and the workstation may be performed using, for example, a portable recording medium.

  Furthermore, in the first to fourth embodiments described above, the acceleration sensor and the angular velocity sensor are used as means for detecting the position and posture of the capsule endoscope introduced into the subject. However, the present invention is limited to this. It is not something. Specifically, as means for detecting the position and posture of the capsule endoscope, the position and posture of the capsule endoscope in the digestive tract based on the tomographic image of the subject acquired by ultrasonic scanning are used. It may be detected, or a sound wave is transmitted from a predetermined position to the capsule endoscope in the subject, and in the digestive tract based on the intensity of the sound wave detected by the capsule endoscope The position and posture of the capsule endoscope may be detected. In addition, a magnetic field is generated from the outside of the subject to the capsule endoscope in the subject, and the capsule endoscope in the digestive tract is detected based on the magnetic field strength detected by the capsule endoscope. The position and orientation may be detected, or the magnetic field output from the capsule endoscope in the subject is detected, and the position and orientation of the capsule endoscope in the digestive tract based on the strength of this magnetic field May be detected.

  In the first to fourth embodiments of the present invention, the position of the capsule endoscope is detected using the acceleration sensor, and the posture of the capsule endoscope (the direction of the long axis C1) is detected using the angular velocity sensor. However, the present invention is not limited to this, and the position and posture of the capsule endoscope may be detected magnetically using an oscillation coil that oscillates an alternating magnetic field.

  For example, in the modified example of the in-subject introduction system according to the fourth embodiment described above, as shown in FIG. 36, the capsule-type internal system includes two oscillation coils 301 and 302 that oscillate an alternating magnetic field in a direction orthogonal to the outside of the body. The endoscope 1 includes a plurality of detection coils 401 to 416 that detect each alternating magnetic field oscillated from the oscillation coils 301 and 302, a position display sheet 72, and a workstation 84. In addition, the arrangement | positioning quantity of a detection coil should just be plural, and is not specifically limited to 16 pieces. The detection coils 401 to 416 may be arranged inside the position display sheet 72 as shown in FIG. 36, but are arranged outside the position display sheet 72 and in the vicinity of the body surface of the subject 100. May be.

  The oscillation coil 301 generates an alternating magnetic field in the direction of the long axis C1 based on the control of the control unit 18 of the capsule endoscope 1. The oscillation coil 302 generates an alternating magnetic field in a direction perpendicular to the long axis C1 (for example, the direction of the radial axis C2a) based on the control of the control unit 18 of the capsule endoscope 1. On the other hand, the detection coils 401 to 416 are disposed, for example, inside the position display sheet 72 and are connected to the workstation 84 via a cable or the like. Such detection coils 401 to 416 detect the alternating magnetic field oscillated by the oscillation coils 301 and 302 of the capsule endoscope 1 and output the detection result to the workstation 84. The position and orientation detection unit 89f of the workstation 84 determines the positions and directions of the oscillation coils 301 and 302 with respect to the position display sheet 72 based on the detection result of the AC magnetic field (for example, a current value corresponding to the intensity of the AC magnetic field). For example, the position and posture of the capsule endoscope 1 inside the stomach of the subject 100 are detected based on the calculation result.

  Further, when performing an enlarged observation of the affected area 101 inside the stomach, the examiner moves the cursor K to a position (an image position of the affected area 101) where the examiner wants to perform an enlarged observation based on the image displayed on the display unit 7 of the workstation 84. To select this position. In this case, the input unit 6 inputs designated position information corresponding to the image position of the affected part 101 to the control unit 89. The position specifying unit 89h of the control unit 89 is in which direction the specified position (affected part 101) is with respect to the imaging unit 12 of the capsule endoscope 1 based on the input specified position information and the image. Calculate. In this case, as shown in FIG. 37, the position specifying unit 89h calculates a direction connecting the imaging unit 12 and the affected part 101 of the capsule endoscope 1 in the shortest direction (minimum direction of magnification observation with respect to the imaging element). The position specifying unit 89h includes the positions and directions of the oscillation coils 301 and 302 (that is, the position and orientation of the capsule endoscope 1) detected by the position and orientation detection unit 89f described above, the oscillation coils 301 and 302, and the imaging unit 12. And the proximity position of the permanent magnet 3 to be brought close to the position display sheet 72 based on the positional relationship between the image display device and the direction of the smallest magnification observation with respect to the image sensor, and a plurality of proximity positions on the position display sheet 72 The proximity position corresponding to this affected part 101 is specified from among the above.

  In the first to fourth embodiments of the present invention, the permanent magnet is provided inside the casing of the capsule endoscope. However, the present invention is not limited to this. At least one of the position and posture of the capsule endoscope is not limited to this. In order to control one, it is sufficient that a magnetic body is provided inside the casing of the capsule endoscope, and the magnetic body may be a ferromagnetic body, an electric part such as a battery, or an electromagnet.

It is a schematic diagram which shows typically the example of 1 structure of the in-subject introduction system concerning Embodiment 1 of this invention. 1 is a schematic diagram illustrating a configuration example of a capsule endoscope according to a first embodiment. FIG. 3 is a schematic diagram schematically illustrating a configuration example of a position display sheet according to the first embodiment. It is a schematic diagram which illustrates the state which mounted | wore the subject with the position display sheet. FIG. 2 is a block diagram schematically illustrating a configuration example of a workstation according to the first exemplary embodiment. 3 is a flowchart for explaining a processing procedure for observing the inside of a digestive tract of a subject by the in-subject introduction system according to the first embodiment. It is a schematic diagram for demonstrating operation | movement of the permanent magnet which controls at least one of the position and attitude | position of a capsule endoscope introduced into the subject. It is a flowchart which illustrates the process sequence of the image combination process which the control part of a workstation performs. It is a schematic diagram for demonstrating operation | movement of the control part which connects a some image. It is a schematic diagram which shows typically the example of 1 structure of the storage apparatus which accommodates a several permanent magnet. It is a schematic diagram which shows one structural example of the position display sheet | seat in which the some marker which makes a different shape for every body posture of a subject was formed. It is a schematic diagram which illustrates the state which a position display sheet shows a proximity position for every body position by the some marker which makes a mutually different shape. It is a schematic diagram which shows one structural example of the in-subject introduction system concerning Embodiment 2 of this invention. It is a schematic diagram which shows the example of 1 structure of the position display sheet concerning Embodiment 2 of this invention. It is a block diagram which shows typically the example of 1 composition of the magnetic field generator concerning a 2nd embodiment, and a workstation. It is a schematic diagram for demonstrating operation | movement of the magnetic field generator which generate | occur | produces a magnetic field based on the magnetic field determination information read from the RFID tag of a proximity position. It is a schematic diagram which shows one structural example of the in-subject introduction system concerning Embodiment 3 of this invention. It is a block diagram which shows typically the example of 1 structure of the workstation concerning this Embodiment 3. It is a schematic diagram which illustrates the arrangement state of the antenna group arrange | positioned on a position display sheet corresponding to several proximity positions. It is a schematic diagram which illustrates the state which transmits and receives a radio signal with the antenna and capsule endoscope which are arrange | positioned at a position display sheet corresponding to a proximity | contact position. It is a schematic diagram which shows one structural example of the in-subject introduction system concerning Embodiment 4 of this invention. It is a schematic diagram which shows one structural example of the position display sheet concerning this Embodiment 4. It is a block diagram which shows typically the example of 1 structure of the workstation concerning this Embodiment 4. It is a schematic diagram which illustrates the state which captured the capsule endoscope inside the stomach with the magnetic force of the permanent magnet approached to the proximity position shown on the position display sheet. It is a schematic diagram which illustrates the image inside the stomach imaged with the capsule endoscope captured by the state of FIG. It is a schematic diagram for demonstrating operation | movement of the control part which specifies the proximity position corresponding to a designated position from the some proximity positions in a position display sheet. It is a schematic diagram which illustrates the state which made the capsule endoscope approach the affected part inside the stomach. It is a schematic diagram which illustrates a wear-type position display sheet. It is a schematic diagram which illustrates a hanging type position display sheet. It is a schematic diagram which illustrates a flat type position display sheet. It is a schematic diagram which illustrates a frame-type position display sheet. It is a schematic diagram which illustrates the projection apparatus which projects the information which shows a proximity position on a subject. It is a schematic diagram which illustrates the state which floated the capsule endoscope in the interface of two types of liquid introduce | transduced in the digestive tract. It is a schematic diagram which illustrates the state which introduced the capsule endoscope which has a gravity center in the front-end side of a housing | casing in the digestive tract. It is a schematic diagram which illustrates the state which introduced the capsule endoscope which has a large gravity center compared with the liquid in a digestive tract into the digestive tract. It is a schematic diagram which shows one structural example of the in-subject introduction | transduction system concerning the modification of Embodiment 4 of this invention. It is a mimetic diagram which illustrates the direction of the smallest magnification observation to an image sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Capsule type | mold endoscope 2 Position display sheet 2a-2c Protrusion part 2d-2f Fitting part 3,3a-3f Permanent magnet 4 Workstation 5 Communication part 5a Antenna 6 Input part 7 Display part 8 Storage part 9 Control part 9a Display Control unit 9b Communication control unit 9c Magnet selection unit 9d Image processing unit 9e Image combination unit 9f Position and orientation detection unit 9g State determination unit 10 Housing 10a Case body 10b Dome member 10c Spatial region 11 Permanent magnet 12 Imaging unit 13 Angular velocity sensor 14 Acceleration Sensor 15 Magnetic sensor 16 Signal processing unit 17 Communication processing unit 17a Antenna 18 Control unit 18a Movement amount detection unit 18b Angle detection unit 19 Power supply unit 22 Position display sheets 22a to 22t RFID tag 33 Magnetic field generator 33a Magnetic field generation unit 33b Arm unit 33c Operation unit 33d Reading unit 33e Control unit 4 Workstation 49 control unit 49c power control unit 55 antenna group 55a to 55t antenna 64 workstation 65 communication unit 69 control unit 69b communication control unit 72 position display sheet 72a to 72e acceleration sensor 84 workstation 89 control unit 89f position and orientation detection unit 89h Position specifying unit 100 Subject 101 Diseased part 110 Storage unit 111-116 Storage unit 111a-116a Box member 111b-116b Cover 111c-116c Magnet detection unit 111d-116d Lock unit 117 units 118 Control unit 200 Projection device 301, 302 Oscillation coil 401 ˜416 detection coil A1 supine position area A2 left lateral position area A3 right lateral position area C1 long axis C2a, C2b radial axis CP1, CP2 center point E _P epipolar line K cursor Lp feeder Lq 1, Lq2 liquid M1~M18 marker MG1 supine marker group MG2 left lateral position marker group MG3 right lateral decubitus position the markers P _n, P _n-1 image R ₀ reference point R ₁ corresponding points S1 imaging region S2 partial region T close position

Claims (10)

An in-subject introduction apparatus that arranges an imaging means and a magnet for capturing an image in the subject inside the casing, and transmits a radio signal including the image in the subject to the outside;
A magnetic field generating means for generating a magnetic field for the in-subject introduction device in the liquid introduced into the subject, and changing at least one of the position and posture of the in-subject introduction device by the magnetic field;
Position display means for indicating a proximity position of the magnetic field generating means for generating the magnetic field in proximity to the subject with respect to the subject;
Intra-subject introduction system characterized by comprising:   The in-subject introduction system according to claim 1, wherein the position display unit indicates a plurality of the proximity positions.   The in-subject introduction system according to claim 1, wherein the position display unit is a sheet-like member on which a marker indicating the proximity position is formed.   The in-subject introduction system according to claim 3, wherein the marker is formed in a different shape for each posture of the subject. The position display means indicates information for selecting the magnetic field generation means to be brought close to the proximity position, corresponding to the proximity position;
The in-subject introduction system according to claim 1, wherein the magnetic field generation unit is a permanent magnet selected from a plurality of permanent magnets based on the information. The position display means includes an information recording medium that records information for determining the magnetic field strength of the magnetic field generation means to be brought close to the proximity position for each proximity position,
The magnetic field generating means includes
An electromagnet for generating the magnetic field with respect to the in-subject introduction device;
Reading means for reading information recorded on the information recording medium;
Magnetic field control means for controlling the magnetic field strength of the electromagnet based on the information read by the reading means;
The in-subject introduction system according to any one of claims 1 to 4, further comprising:   An image display device that includes an antenna that receives the wireless signal transmitted by the in-subject introduction device and that displays an image in the subject based on the wireless signal received through the antenna; The in-subject introduction system according to any one of claims 1 to 6.   The in-subject introduction system according to claim 7, wherein the antenna includes a plurality of antennas and is provided in the position display unit corresponding to the plurality of proximity positions. The image display device includes:
Input means for inputting desired designated position information designated from among images in the subject;
Detecting means for detecting a position and posture of the in-subject introduction apparatus and a surface position of the position display means, and detecting a positional relationship between the in-subject introduction apparatus and the position display means;
A specifying means for specifying a proximity position corresponding to the specified position information from a plurality of the proximity positions based on the specified position information and the positional relationship;
Specific position display means for indicating the proximity position specified by the specifying means;
The in-subject introduction system according to claim 7 or 8, characterized by comprising:   10. The specific position display means is a light emitting means that is provided for each of the proximity positions with respect to the position display means, and indicates the proximity position specified by the specification means with predetermined visible light. The in-subject introduction system described in 1.

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