JP2008043466A - Capsule endoscope, capsule endoscope cover, capsule endoscope processor and capsule endoscope posture detection system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simply detect a posture of a capsule endoscope. <P>SOLUTION: The capsule endoscope has a cover 11 and an imaging element. The cover 11 is formed of a transparent member and a hermetically closed space SS is formed in the cover 11. The hermetically closed space SS is formed of a concave surface ccvs, a convex surface cvxs and a base bs and filled with a colorless transparent liquid. A float 18 and a weight 19 are installed in the hermetically closed space SS so as to be freely moved in the hermetically closed space SS. The float 18 and the weight 19 are formed of an azimuth magnet which is held to a freely revolvable state in the hermetically closed space SS. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a capsule endoscope that can grasp the posture in the body and a capsule endoscope processor that detects the posture of the capsule endoscope.

  Conventionally, a capsule endoscope system has been developed. In the capsule endoscope system, a capsule endoscope provided with an image sensor is used. The capsule endoscope is swallowed by the patient and moves alone in the body. While moving, the inside of the body is continuously captured by the capsule endoscope. The photographed image is received by the extracorporeal device as image data. An image based on the image data received by the external device is displayed on the monitor.

  Since the capsule endoscope freely changes its posture in the body, it is difficult to determine which part is being photographed only by visual recognition of the photographed image. Therefore, it has been required to grasp the posture of the capsule endoscope in the body. Thus, it has been proposed to detect the posture of the capsule endoscope using magnetism (see Patent Document 1).

However, when using magnetism, a large magnetic detection sensor is required, and a more compact system has been demanded. In particular, since it takes a long time to capture the inside of the body with a capsule endoscope, when a large magnetic detection sensor is used, the subject undergoes a long-time examination in a restrained state in the examination room. Therefore, it was inconvenient for the subject.
JP 2005-304638 A

  Accordingly, an object of the present invention is to provide a small posture detection system that can easily grasp the posture of a capsule endoscope.

  The capsule endoscope according to the present invention includes an imaging device that captures an image of a subject, a cover that is provided in front of the imaging device and in which a sealed space is provided within an imageable range of the imaging device and is formed of a transparent member, And a direction indicator that moves freely in the direction of gravity or zenith.

  The direction indicator is preferably a weight. Furthermore, the weight is preferably a compass. The weight is preferably colored blue or green.

  Moreover, it is preferable to provide a filling liquid that is a transparent liquid filled in the sealed space, and the direction indicator is a bubble or a float provided in the filling liquid. Furthermore, the float is preferably a compass. Furthermore, the float is preferably colored blue or green.

  Further, it is preferable that the sealed space has a first guide curved surface that is a curved surface protruding in a direction opposite to the imaging element, and the direction indicator moves along the first guide curved surface. Furthermore, it is preferable that the first guide curved surface has a part of a spherical surface. Further, the sealed space preferably has a second guide curved surface that protrudes in the same direction as the first guide curved surface.

  The capsule endoscope cover of the present invention is a cover that is attached to the outer shell of the capsule endoscope having the image pickup device on the image pickup device side, and can image the image pickup device in a state of being attached to the capsule endoscope. It is characterized in that it is formed of a transparent member provided with a sealed space portion formed in the range and a direction indicator that is movably provided in the sealed space portion and moves in the direction of gravity or the zenith direction.

  The capsule endoscope processor according to the present invention includes an image pickup device that captures an image of a subject, a cover that is provided in front of the image pickup device and in which a sealed space is provided in an image pickup range of the image pickup device and is formed of a transparent member, A receiving unit that receives an image signal generated by the imaging device based on photographing of a subject from a capsule endoscope having a direction indicator that moves in a gravitational direction or a zenith direction, and an image received by the receiver An index detection unit that detects a direction index in a captured image corresponding to an image signal based on the signal, and a determination unit that determines the orientation of the capsule endoscope based on a position where the direction index in the captured image is detected. It is characterized by that.

  The direction indicator is a weight in the azimuth magnet or floating in a transparent liquid filled in the sealed space, the indicator detection unit detects the direction indicated by the direction indicator magnet, and the discrimination unit is detected by the index detection unit It is preferable to determine the direction of the capsule endoscope based on the determined direction.

  In addition, it is preferable to include an interpolation unit that complements using an image around the direction indicator displayed in the captured image.

  Moreover, it is preferable that the direction of the capsule endoscope can be displayed on a monitor for displaying a captured image.

  The capsule endoscope posture detection system according to the present invention includes an imaging device for photographing a subject, a cover provided in front of the imaging device, a sealed space provided in an imageable range of the imaging device, and a cover formed by a transparent member. Capsule endoscope that is movably provided and has a direction indicator that moves in the direction of gravity or zenith, a receiving unit that receives an image signal generated by an image sensor based on photographing of a subject, and an image signal received by the receiver A capsule endoscope having an index detection unit that detects a direction index in a captured image corresponding to the image signal based on the image signal and a determination unit that determines the orientation of the capsule endoscope based on a position where the direction index in the captured image is detected And a mirror processor.

  According to the present invention, it is possible to easily determine the posture of the capsule endoscope based on the position of the float or weight in the display image.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a first reference diagram showing a use state of a capsule endoscope posture detection system to which an embodiment of the present invention is applied. FIG. 2 is a second reference diagram illustrating a use state of the capsule endoscope posture detection system.

  The capsule endoscope system having the capsule endoscope posture detection system of the present embodiment is configured by a capsule endoscope 10, an external receiver 20, a capsule endoscope processor 30, a monitor 40, and the like (FIG. 1, (See FIG. 2). Observation of the inside of the body cavity by the capsule endoscope system includes a data collection step and an image display step based on the data.

  As shown in FIG. 1, the external receiver 20 is fixed to the body surface of the subject P in the data collection step. In addition, the capsule endoscope 10 is swallowed by the subject P in the data collection step. A subject inside the body cavity is imaged by the capsule endoscope 10, and an image signal corresponding to the imaged subject is generated. The generated image data is wirelessly transmitted to the external receiver 20. The wirelessly transmitted image signal is stored in a memory (not shown in FIGS. 1 and 2) provided in the external receiver 20.

  When imaging by the capsule endoscope 10 is completed, an image display step can be executed. As shown in FIG. 2, the external receiver 20 is connected to the endoscope processor 30 via the connector 31 in the image display step. The endoscope processor 30 is also connected to the monitor 40.

  The image signal stored in the external receiver 20 is sent to the endoscope processor 30. The endoscope processor 30 performs predetermined data processing on the image signal. The image signal that has undergone predetermined signal processing is sent to the monitor 40. The monitor 40 displays an image based on the transmitted image signal.

  Next, the configuration of the capsule endoscope 10 will be described in detail with reference to FIG. FIG. 3 is a block diagram schematically showing the internal configuration of the capsule endoscope. The capsule endoscope 10 is provided with an imaging element 12, a photographing optical system L, a signal processing circuit 13, a transmission circuit 14, a transmission antenna 15, an illumination light source 16, a battery 17, and the like inside a housing 26 and a cover 11. Is formed. In the following description, the direction of the capsule endoscope 10 is the direction in which the light receiving surface of the image sensor 12 faces.

  Illumination light is irradiated in front of the image sensor 12 by the illumination light source 16. The illuminated subject is imaged by the image sensor 12 via the cover 11 and the photographing optical system L. An image signal corresponding to the captured image is generated by the image sensor 12.

  The image signal is sent to the signal processing circuit 13 and subjected to predetermined signal processing. The image signal that has undergone predetermined signal processing is sent to the transmission circuit 14. The image signal sent to the transmission circuit 14 is wirelessly transmitted to the outside of the capsule endoscope 10 via the transmission antenna 15. The battery 17 supplies power for irradiating illumination light from the illumination light source 16 and power for driving the image sensor 12, the signal processing circuit 13, the transmission circuit 14, and the like.

  As shown in FIG. 4, the cover 11 covering the image sensor 12 is formed in a hemispherical dome shape by a transparent member. In addition, a sealed space SS is provided inside the cover 11. Note that the radius of curvature and the size of the sealed space SS are adjusted so that the closed space SS is included in the shootable range of the image sensor 12 by the photographic optical system L (not shown in FIG. 4).

  The cover 11 is formed by an object side dome part 11a, an image sensor side dome part 11b having a smaller radius of curvature than the object side dome part 11a, and a connecting part 11c that connects the two at the ends. Inside the cover 11, a sealed space SS is formed which is closed by the objective side dome portion 11a, the image sensor side dome portion 11b, and the connecting portion 11c.

  The sealed space SS has a concave surface ccvs on the imaging element 12 side of the objective-side dome portion 11a, a convex surface cvxs that is an objective-side surface of the imaging element-side dome portion 11b and faces the concave surface ccvs, and a bottom surface bs. Both the concave surface ccvs and the convex surface cvxs are formed to be hemispherical. Further, as shown in FIG. 5, as viewed from the image sensor 12 side, the normal line at the vertex of the cover 11, the optical axis of the imaging optical system L, and the vertical passing through the center of the effective imaging area on the light receiving surface of the image sensor 12. The cover 11 is installed so that the straight line matches.

  The sealed space SS is filled with a colorless and transparent liquid. In addition, a float 18 and a weight 19 are provided inside the sealed space SS. The float 18 is colored green and the weight 19 is colored blue. The float 18 and the weight 19 are movable along the concave surface ccvs and the convex surface cvxs of the sealed space SS. The float 18 and the weight 19 are azimuth magnets and rotate so that the magnetic needle faces in the north-south direction in the sealed space SS. In both cases, the magnetic needle pointing toward the north side is darkly colored.

  As shown in FIG. 6, when the capsule endoscope 10 is directed downward with respect to the ground, that is, when the tip of the cover 11 is directed downward with respect to the ground, the weight 19 is removed from the ground. Move to the bottom of the closed space SS. On the other hand, as shown in FIG. 7, when the capsule endoscope 10 faces upward with respect to the ground, that is, when the tip of the cover 11 faces upward with respect to the ground, the float 18 is lifted from the ground. It moves to the uppermost side of the closed space SS.

  Next, the configuration of the external receiver will be described with reference to FIG. FIG. 8 is a block diagram schematically showing the internal configuration of the external receiver. The external receiver 20 is provided with a receiving antenna 21, a receiving circuit 22, a signal processing circuit 23, a hard disk drive 24, and a battery 25.

  When the receiving antenna 21 is driven by the receiving circuit 22, an image signal wirelessly transmitted from the capsule endoscope 10 is received. The received image signal is transmitted to the signal processing circuit 23 via the receiving circuit 22. The signal processing circuit 23 performs predetermined signal processing on the image signal. The image signal subjected to the signal processing is stored in the hard disk drive 24. Note that power for driving the signal processing circuit 23, the reception circuit 22, and the like is supplied by the battery 25.

  Next, the configuration of the capsule endoscope processor 30 will be described with reference to FIG. FIG. 9 is a block diagram schematically showing the internal configuration of the capsule endoscope processor. The endoscope processor 30 includes a front-stage signal processing circuit 32, an image signal processing circuit 33, an attitude determination circuit 34, and a rear-stage signal processing circuit 35.

  The hard disk drive 24 of the external receiver 20 is connected to the upstream signal processing circuit 32 of the capsule endoscope processor 30 via the connector 31. The pre-stage signal processing circuit 32 receives the image signal stored in the hard disk drive 24. The received image signal is subjected to predetermined signal processing such as white balance processing and color interpolation processing in the pre-stage signal processing circuit 32.

  The image signal that has been subjected to the predetermined signal processing in the upstream signal processing circuit 32 is transmitted to the image signal processing circuit 33 and the posture determination circuit 34. As will be described later, the posture determination circuit 34 detects the posture of the capsule endoscope 10 based on the image signal. Further, the position where the float 18 and the weight 19 are displayed is obtained in the posture determination circuit 34, and the display area of the float 18 and the weight 19 is sent as data to the image signal processing circuit 33.

  The image signal processing circuit 33 performs predetermined signal processing such as γ correction on the image signal. Further, the image signal is further subjected to interpolation processing based on the display area data of the float 18 and the weight 19.

  Since the float 18 and the weight 19 that are movable in the sealed space SS of the cover 11 are included in the imaging range of the image sensor 12, they are also displayed in the displayed image. Therefore, with respect to the display area of the float 18 and the weight 19, the captured image is not used directly, but the surrounding image is used to perform interpolation processing, thereby preventing the float 18 and the weight 19 from being reflected in the displayed image. The

  The image signal that has undergone predetermined signal processing is transmitted from the image signal processing circuit 33 to the subsequent signal processing circuit 35.

  Next, a method for determining the posture of the capsule endoscope 10 in the posture determination circuit 34 will be described. In the posture determination circuit 34, first, the positions of the float 18 and the weight 19 in the entire image taken by a known image recognition method are detected. Note that the subject to be observed by the capsule endoscope is the body of the subject, and the overall color is reddish. As described above, the float 18 is colored green and the weight 19 is colored blue so that it can be easily recognized. It is.

  When the positions of the float 18 and the weight 19 are detected, it is next determined whether the capsule endoscope 10 is upward or downward. The upward or downward determination is performed by determining which of the float 18 and the weight 19 is closer to the center of the captured image.

  When the float 18 is closer to the center of the image, it is determined that the capsule endoscope 10 is facing upward with respect to the ground. On the other hand, when the weight 19 is closer to the center of the image, it is determined that the capsule endoscope 10 faces downward with respect to the ground. Of the float 18 and the weight 19, the one closer to the center of the image is set as the determination index.

  After determining whether the capsule endoscope 10 is upward or downward, it is calculated how much the orientation of the capsule endoscope 10 is inclined from the zenith direction or the vertical direction. As described above, since the normal passing through the center of the light receiving surface matches the normal at the top of the cover, the inclination angle ω from the zenith direction or the vertical direction is the distance from the center of the captured image to the position of the determination index. It can be determined accordingly. In addition, the rotation angle θ about the center of the light receiving surface of the capsule endoscope 10 can be obtained according to the position of the determination index.

  A method for calculating the rotation angle θ and the inclination angle ω will be described in detail below. As shown in FIG. 10, the position P in the effective pixel area AA of the float 18 or the weight 19 set as a determination index is recognized by a known image recognition method. The position P is recognized as an orthogonal coordinate (x, y) with two straight lines orthogonal to each other with the center of the effective pixel area AA as the origin O as a coordinate axis.

As shown in FIG. 10, assuming that the rotation angle θ is the rotation angle at the position P from the x-axis, the rotation angle θ is obtained by calculating θ = tan ⁻¹ (y / x). Further, if the angle between the straight line connecting the origin O and the position of the determination index and the light receiving surface of the image sensor 12 is an inclination angle ω (see FIG. 11), ω is the position P of the determination index on the origin O and the light receiving surface. Of the distance r (= √ (x ^ 2 + y ^ 2) as a function f (r), where f (r) is a polynomial determined by the lens design of the photographing optical system L, for example, ω = A1 + A2 × r + A3 × r ^ 2 +... + Anr ^ (n-1).

  Further, the rotation direction of the capsule endoscope 10 about the straight line connecting the origin O and the position of the determination index in FIG. Note that a straight line BB ′ connecting the origin O and the position of the determination index in FIG. 11 is a straight line parallel to the gravitational direction, and the rotation direction about the straight line BB ′ is the azimuth of the capsule endoscope 10. Can be represented.

  As shown in FIG. 12, the orthogonal coordinates of both tip portions of the magnetic needle as the determination index are detected. An angle α ′ between the straight line C-C ′ and the x-axis is obtained from the inclination of the straight line C-C ′ connecting both tip portions. The angle α between the straight line A-A ′ and the straight line C-C ′ rotated by the rotation angle θ from the x axis can be obtained by calculating α = α′−θ.

  The direction of rotation of the capsule endoscope 10 around the straight line B-B ′ is uniquely determined based on the distance r between the origin O and the position P of the determination index on the light receiving surface and the angle α. The rotation direction with respect to the distance r and the angle α is obtained in advance by actual measurement.

  A ROM (not shown) is connected to the posture determination circuit 34. In the ROM, the inclination angle ω with respect to the distance r from the position of the determination index to the center is stored as a correspondence table. The ROM also stores a rotation angle θ with respect to the position P of the determination index on the light receiving surface, and a rotation direction around the straight line B-B ′ with respect to the distance r and the angle α as a correspondence table.

  When the posture determination circuit 34 calculates the coordinates of the display position P of the determination index, the distance r from the origin O of the position P, and the inclination of the straight line CC ′ connecting both ends of the pointer, the correspondence table is read by the posture determination circuit 34 and stored in the ROM. , The rotation angle θ, the inclination angle ω, and the rotation direction around the straight line BB ′ are obtained.

  The obtained rotation angle θ, inclination angle ω, and rotation direction around the straight line B-B ′ are transmitted to the post-stage signal processing circuit 35 as posture signals.

  As described above, the post-stage signal processing circuit 35 receives the image signal subjected to the predetermined signal processing in the image signal processing circuit 33 and the posture signal corresponding to the posture of the capsule endoscope. In the post-stage signal processing circuit 35, post-stage signal processing such as allocation of an area for displaying the captured image corresponding to the image signal and the direction image for displaying the posture of the capsule endoscope 10 on the monitor 40 is performed.

  The display area on the display image of the float 18 and the weight 19 reflected in the captured image is known by known pattern matching, and the area corresponding to the float 18 and the weight 19 is determined by the surrounding pixel signals. It is replaced with the formed interpolation pixel signal.

  A composite video signal generated by performing post-stage signal processing is transmitted to the monitor 40. On the monitor 40, an image corresponding to the composite video signal is displayed. As shown in FIG. 13, the monitor 40 displays a directional image DI as well as a captured image MI as an image corresponding to the composite video signal.

  As shown in FIG. 14, in the direction image DI, the top direction of the image is the zenith direction (see symbol T), and the downward direction is the gravity direction (see symbol B). Is the east, west, south, and north direction (see symbols E, W, S, and N), and the posture and orientation of the capsule endoscope 10 are displayed.

  Next, processing executed by the capsule endoscope processor 30 for determining the posture of the capsule endoscope and reproducing the image captured by the capsule endoscope will be described with reference to the flowchart of FIG. FIG. 15 is a flowchart showing processing performed for posture determination and image reproduction. This process is repeated until the power of the capsule endoscope processor 30 is switched off.

  In step S100, an image signal sent from the external receiver 10 field by field is received. Next, in step S101, predetermined signal processing is performed on the image signal.

  When the predetermined signal processing is completed, the process proceeds to step S102. In step S102, the display areas of the float 18 and the weight 19 are detected. In step S103, it is determined whether or not the display areas of the float 18 and the weight 19 have been detected.

  When any display area is detected, the process proceeds to step S104. In step S104, the center coordinates of the float 18 and the weight 19 are calculated. The center coordinates obtained by the calculation are stored in a working memory (not shown). After storing the center coordinates, the process proceeds to step S105. In step S105, interpolation processing of the display area of the float 18 and the weight 19 is performed.

  If at least one display area of the float 18 and the weight 19 is not detected in step S103, the process proceeds to step S106. In step S106, the center coordinates stored in the working memory are set as the center coordinates of the float 18 or the weight 19 in the field.

  It progresses to step S107 after completion | finish of step S105 or step S106. In step S <b> 107, the posture of the capsule endoscope 10 is determined based on the center coordinates of the display area of the float 18 and the weight 19.

  In step S108, the captured image MI from which the float 18 and the weight 19 have been deleted by the interpolation process and the direction image DI that displays the posture of the capsule endoscope are displayed on the monitor 40. After displaying the captured image MI and the direction image DI based on the image signal of one field, the process returns to step S100. Thereafter, the processing from step S100 to step S108 is repeated.

  According to the capsule endoscope posture detection system of the present embodiment as described above, the posture of the capsule endoscope can be detected with a simple configuration.

  Further, according to the capsule endoscope posture detection system of the present embodiment, the pixel signal in the region where the float 18 and the weight 19 are reflected on the monitor 40 is replaced with the complementary pixel signal. For this reason, since the video of the float 18 and the weight 19 is not displayed in the captured image MI, the observation of the image of the affected area by the image of the float 18 and the weight 19 is not hindered.

  In the present embodiment, the float 18 and the weight 19 are formed of a azimuth magnet, but may not be a azimuth magnet. The north-south direction cannot be detected unless it is formed by a compass, but it is possible to determine the rotation angle θ, the zenith direction, or the tilt angle ω from the vertical direction using only a float and a weight.

  In the present embodiment, the float 18 and the weight 19 are not displayed, and instead, an image of a subject behind the float 18 and the weight 19 is formed by interpolation processing from surrounding images. The weight 19 may remain displayed. This is because the visibility of the subject is reduced, but the posture of the capsule endoscope 10 can be sufficiently determined.

  In the present embodiment, the direction image DI is displayed separately from the captured image MI. However, even if the index indicating the direction of the capsule endoscope 10 is displayed on the captured image MI. Good.

  Further, in the present embodiment, the floating space 18 and the weight 19 are provided in the sealed space SS, but only one of them may be provided. Even with only one of them, it is possible to detect the inclination angle from the zenith direction or the inclination angle from the vertical direction. For example, if the capsule endoscope 10 is oriented in either the upward or downward direction by adjusting the position of the center of gravity of the capsule endoscope 10, the posture can be detected even if only one inclination angle can be detected. Is sufficiently possible. If only the weight 18 is provided, it is not necessary to fill the sealed space SS with a colorless and transparent liquid.

  In the present embodiment, both the concave surface ccvs and the convex surface cvxs are formed in a hemispherical shape, but any curved surface that protrudes in the opposite direction to the image sensor 12 may be used. This is because the float 18 and the weight 19 can be moved in the zenith direction and the vertical direction even if they are not perfect spherical surfaces.

  Further, in the present embodiment, the sealed space SS is a space formed by the concave surface ccvs and the convex surface cvxs, but may be formed by at least the concave surface ccvs protruding in the opposite direction to the image sensor 12. This is because if the concave surface ccvs is formed, the determination index can move along the concave surface ccvs in the zenith direction or the vertical direction.

  However, as in the present embodiment, it is desirable that the sealed space is also formed by the convex surface cvxs opposed to the concave surface ccvs. By forming the convex surface cvxs, it is possible to move the float 18 or the weight 19 that is not a determination index to the periphery of the image. Therefore, the float 18 or the weight 19 is prevented from overlapping the image pickup device 12. Further, by forming the convex surface cvxs, it is possible to keep the distance between the imaging element 12 and the float 18 and the weight 19 within a certain range.

  Furthermore, the effects described below can be obtained by forming the convex surface cvxs. When a closed space is formed by the concave surface ccvs and the plane, in order to obtain a normal image, it is necessary to largely change the lens characteristics of the photographing optical system L from the lens characteristics of the photographing optical system used in the conventional capsule endoscope. is there. However, by forming the convex surface cvxs as in the present embodiment, it is not necessary to greatly change the lens characteristics of the photographing optical system from the lens characteristics of the conventional capsule endoscope, which facilitates lens design.

  In the present embodiment, the cover 11 is formed in a dome shape, but may have any shape. This is because if the sealed space is a curved surface as described above, it is possible to obtain the same effect as in the present embodiment. However, in order to receive an optical image with high reproducibility, a dome shape is desirable.

  In the present embodiment, the normal line at the vertex of the cover 11 and the normal line of the light receiving surface passing through the center of the light receiving surface are overlapped, but they may not overlap. If the distance from the intersection of the normal line at the vertex of the cover 11 and the light receiving surface to the display position of the float 18 or the weight 19 is calculated, the tilt angle can be obtained.

  In the present embodiment, the floating space 18 is provided in the sealed space SS. However, the liquid crystal is simply provided with a bubble or a liquid vacuole having a specific gravity lighter than the transparent liquid filled in the sealed space SS. Also good.

  In the present embodiment, the float 18 and the weight 19 are colored green and blue, respectively, but may be colored in any color or may not be colored. However, the color recognition as described above facilitates image recognition, and the orientation of the capsule endoscope 10 can be detected more accurately.

  In this embodiment, the capsule endoscope processor 30 detects the orientation of the capsule endoscope 10, but a normal capsule endoscope processor that does not have the posture determination circuit 34 may be used. The observer can determine the orientation of the capsule endoscope 10 by visually recognizing the position of the float 18 or the weight 19 displayed in the captured image.

  Further, in the present embodiment, the sealed space SS is formed in the cover 11 of the capsule endoscope 10 and the float 18 or the weight 19 is provided inside the sealed space SS. However, the float 18 or the weight 19 is disposed in the sealed space SS. Even if the capsule endoscope cover is attached to a normal capsule endoscope, it is possible to obtain the same effect as in the present embodiment.

It is the 1st reference figure showing the use condition of the capsule endoscope posture detection system to which the 1st embodiment of the present invention is applied. It is a 2nd reference figure which shows the use condition of a capsule endoscope attitude | position detection system. It is a block diagram which shows roughly the internal structure of the capsule endoscope of this embodiment. It is sectional drawing of a cover. It is an internal arrangement figure showing a position where each part in a capsule endoscope is arranged. It is a figure explaining the movement in a cover when a capsule endoscope is facing down. It is a figure explaining the movement in a cover when a capsule endoscope is facing the upper side. It is a block diagram which shows roughly the internal structure of an external receiver. It is a block diagram which shows roughly the internal structure of the capsule endoscope processor of this embodiment. It is a figure for demonstrating the relationship between the rotation angle from the x-axis of the position of the position of the determination parameter | index in the two-dimensional coordinate on an effective pixel area | region, and an origin, and the position of a determination parameter | index. It is a figure for demonstrating the calculation method of the inclination-angle of a capsule endoscope from a gravity direction or a zenith direction. It is a figure for demonstrating the determination method of the azimuth | direction of a determination parameter | index. It is a figure which shows the picked-up image and direction image which are displayed on a monitor. It is an enlarged view of a direction image. It is a flowchart which shows the process performed for attitude | position discrimination | determination and image reproduction.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Capsule endoscope 11 Cover 12 Image pick-up element 18 Floating 19 Weight 30 Capsule endoscope processor 32 Previous stage signal processing circuit 34 Posture determination circuit ccvs Concave surface cvxs Convex surface DI Direction image MI Captured image SS Sealed space

Claims (16)

An image sensor for photographing a subject;
A cover provided in front of the image sensor, a sealed space is provided within an imageable range of the image sensor, and is formed of a transparent member;
A capsule endoscope comprising: a direction indicator that is movably provided in the sealed space and moves in a gravitational direction or a zenith direction.   The capsule endoscope according to claim 1, wherein the direction indicator is a weight.   The capsule endoscope according to claim 2, wherein the weight is an azimuth magnet.   The capsule endoscope according to any one of claims 1 to 3, wherein the weight is colored blue or green.   The capsule interior according to claim 1, further comprising: a filling liquid that is a transparent liquid filled in the sealed space, wherein the direction indicator is a bubble or a float provided in the filling liquid. mirror.   The capsule endoscope according to claim 5, wherein the float is a azimuth magnet.   The capsule endoscope according to claim 5 or 6, wherein the float is colored blue or green.   The sealed space has a first guide curved surface that is a curved surface protruding in a direction opposite to the imaging element, and the direction indicator moves along the first guide curved surface. Item 8. The capsule endoscope according to any one of Items 7.   The capsule endoscope according to claim 8, wherein the first guide curved surface has a part of a spherical surface.   10. The capsule endoscope according to claim 8, wherein the sealed space has a second guide curved surface that protrudes in the same direction as the first guide curved surface. 11. A capsule endoscope cover that is attached to an outer shell of the capsule endoscope having an image pickup device on the image pickup device side,
A sealed space formed within an imageable range of the image sensor in a state of being attached to the capsule endoscope;
Provided movably in the sealed space part, comprising a direction indicator that moves in the direction of gravity or zenith,
A capsule endoscope cover formed of a transparent member. An image pickup device for photographing a subject, a cover provided in front of the image pickup device and having a sealed space provided within the imageable range of the image pickup device and formed by a transparent member, and a gravitational force provided in the closed space. A receiving unit that receives an image signal generated by the imaging device based on photographing of a subject from a capsule endoscope having a direction indicator that moves in a direction or a zenith direction;
Based on the image signal received by the receiver, an index detection unit that detects the direction index in a captured image corresponding to the image signal;
A capsule endoscope processor, comprising: a determination unit configured to determine a direction of the capsule endoscope based on a position where the direction index is detected in the captured image. The directional indicator is a weight in a transparent liquid filled in the sealed space or a weight that is a azimuth magnet,
The indicator detection unit detects a direction indicated by the magnet of the direction indicator,
The capsule endoscope processor according to claim 12, wherein the determination unit determines a direction of the capsule endoscope based on a direction detected by the index detection unit.   The capsule endoscope processor according to claim 12 or 13, further comprising an interpolation unit that complements using an image around the direction indicator displayed in the captured image.   The capsule endoscope processor according to any one of claims 12 to 14, wherein the direction of the capsule endoscope can be displayed on a monitor for displaying the captured image. An image pickup device for photographing a subject, a cover provided in front of the image pickup device and having a sealed space provided within the imageable range of the image pickup device and formed by a transparent member, and a gravitational force provided in the closed space. A capsule endoscope having a direction indicator moving in a direction or a zenith direction;
A receiving unit that receives an image signal generated by the imaging device based on photographing of a subject, and an index detection that detects the direction indicator in a captured image corresponding to the image signal based on the image signal received by the receiver. A capsule endoscope comprising: a capsule endoscope processor; and a determination unit that determines a direction of the capsule endoscope based on a position where the direction indicator is detected in the captured image. Attitude detection system.

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