JP2019201757A - Capsule type endoscope, capsule type endoscope system, and transmission method of capsule type endoscope - Google Patents

Abstract

To provide a capsule type endoscope, a capsule type endoscope system, and a transmission method of the capsule type endoscope capable of transmitting image data efficiently while suppressing an increase in a memory and power consumption.SOLUTION: A capsule type endoscope includes: an imaging unit for generating image data; a movement detection unit for detecting a movement amount of the capsule type endoscope when capturing the image data; a storage unit for storing the image data of the number set beforehand in association with the movement amount; a transmission/reception unit for transmitting the image data and identification information, and receiving error notification including identification information on the image data determined to be erroneous from an external reception device for receiving the image data; and an image selection unit for comparing the movement amount of the image data determined to be erroneous with the movement amount of the image data determined to be erroneous which is yet to be transmitted, and selecting the image data to be transmitted. Upon receipt of the error notification, the transmission/reception unit transmits the image data to be transmitted, which is selected by the image selection unit and the identification information for the image data.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a capsule endoscope introduced into a subject, a capsule endoscope system, and a transmission method of the capsule endoscope.

  2. Description of the Related Art Conventionally, endoscopes are widely used as medical observation apparatuses that are introduced into the body of a subject such as a patient and observe the inside of the subject. In recent years, a capsule endoscope, which is a swallowable image acquisition device, includes an imaging device inside a capsule housing and a communication device that wirelessly transmits an image signal captured by the imaging device to the outside of the body. Has been developed. Capsule endoscopes are peristaltic movements inside organs such as the esophagus, stomach, and small intestine after being swallowed from the patient's mouth for observation inside the subject and before being spontaneously discharged from the subject. To move and take pictures sequentially.

  While moving inside the subject, image data captured by the capsule endoscope is sequentially transmitted to the outside of the body by wireless communication and stored in a memory provided inside or outside the receiving apparatus outside the body, or An image is displayed on a display provided in the receiving apparatus. The doctor or nurse takes the image data stored in the memory into the information processing device via the cradle into which the receiving device is inserted, and makes a diagnosis based on the image displayed on the display of the information processing device. Can do.

  When wireless communication is performed, if image data cannot be properly received on the receiving device side, it is preferable to retransmit the image data. As a technique for retransmitting image data in which a reception error has occurred, intra-frame encoded image (I picture) data, inter-frame forward predictive encoded image (P picture) data, bidirectional predictive encoding A technique is known in which image (B picture) data is created, and when an error notification is received on the transmission side, priority is compared with the next image data to be transmitted, and image data having a high priority is transmitted. Yes.

JP 2004-328022 A

  However, if the image data is retransmitted, the memory and power consumption increase. In the case of a capsule endoscope, if the memory and power consumption are increased, the capsule endoscope will be enlarged. From the viewpoint of suppressing the increase in size of the capsule endoscope, it is desired that the memory and the power consumption are not increased. Further, in a capsule endoscope, it is desired to acquire an image that allows the entire interior of the subject to be confirmed from the acquired image data.

  The present invention has been made in view of the above, and is capable of efficiently transmitting image data while suppressing an increase in memory and power consumption, and a capsule endoscope system, a capsule endoscope system, and It is an object of the present invention to provide a transmission method for a capsule endoscope.

  In order to solve the above-described problems and achieve the object, a capsule endoscope according to the present invention is a capsule endoscope introduced into a subject, and images the inside of the subject by imaging. An imaging unit that generates data, a detection unit that detects a motion amount of the capsule endoscope when the image data is captured, and a preset number of the image data are associated with the motion amount A storage unit for storing the image data with the oldest imaging time overwritten with the image data with the newest imaging time, and transmitting the image data and identification information of the image data, A transmission / reception unit that receives an error notification including identification information of the image data determined to be a reception error from an external reception device that receives the image data, and a first image corresponding to the identification information of the error notification The image data to be transmitted is selected by comparing the first motion amount of the data and the second motion amount of the at least one second image data not yet transmitted stored in the storage unit. And a transmission / reception unit that, when receiving the error notification, transmits the image data to be transmitted selected by the selection unit and identification information of the image data.

  Further, in the capsule endoscope according to the present invention, in the above invention, the selection unit sets the first image data as a transmission target when the first movement amount is equal to or larger than the second movement amount. When selecting, excluding the second image data having the smallest second movement amount from the second image data from the transmission target, and when the first movement amount is smaller than the second movement amount, The first image data is excluded from transmission targets.

  In the capsule endoscope according to the present invention, in the above invention, when the transmission / reception unit receives the error notification, the transmission target image data selected by the selection unit and identification information of the image data And information related to the image selection result.

  The capsule endoscope system according to the present invention is a capsule endoscope that is introduced into a subject, the imaging unit that images the inside of the subject and generates image data, and the image data A detection unit that detects the amount of movement of the capsule endoscope at the time of imaging, and a storage unit that stores a preset number of the image data in association with the amount of movement, the imaging time A storage unit that overwrites and stores the oldest image data with the image data with the latest imaging time, and transmits the image data and identification information of the image data, and the identification information of the image data determined to be a reception error A transmission / reception unit that receives an error notification including: a first motion amount of first image data corresponding to the identification information of the error notification; and at least one untransmitted first image stored in the storage unit A capsule endoscope having a selection unit that selects image data to be transmitted by comparing the second movement amount of the image data of the image data, and the image data transmitted by the capsule endoscope A receiving device that determines whether or not an error has occurred during reception of the image data, and determines that an error has occurred; A receiving device that performs error notification including identification information, and the transmission / reception unit, when receiving the error notification, includes the image data to be transmitted selected by the selection unit and the identification information of the image data. It is characterized by transmitting.

  The capsule endoscope transmission method according to the present invention is a capsule endoscope transmission method introduced into a subject, and is an imaging step of imaging the subject and generating image data. A detection step of detecting the amount of movement of the capsule endoscope when the image data is imaged, and a storage step of storing a preset number of the image data in association with the amount of movement A storage step of overwriting and storing the image data having the oldest imaging time with the image data having the latest imaging time, a transmitting step of transmitting the image data and identification information of the image data, and receiving the image data A reception step of receiving an error notification including identification information of the image data determined to be a reception error from an external receiving device, and corresponding to the identification information of the error notification Image data to be transmitted by comparing the first motion amount of the first image data and the second motion amount of at least one untransmitted second image data stored in the storage unit. A selection step for selecting the image data, and when the error notification is received, the transmission step transmits the image data to be transmitted selected in the selection step and the identification information associated with the image data. It is characterized by that.

  According to the present invention, it is possible to efficiently transmit image data while suppressing an increase in memory and power consumption.

FIG. 1 is a schematic diagram showing a schematic configuration of a capsule endoscope system according to Embodiment 1 of the present invention. FIG. 2 is a block diagram showing a schematic configuration of the capsule endoscope system according to the first embodiment of the present invention. FIG. 3 is a flowchart showing a transmission / reception process performed by the capsule endoscope system according to the first embodiment of the present invention. FIG. 4 is a diagram illustrating a transmission / reception process performed by the capsule endoscope system according to the first embodiment of the present invention. FIG. 5 is a flowchart showing a transmission / reception process performed by the capsule endoscope system according to the first modification of the first embodiment of the present invention. FIG. 6 is a block diagram showing a schematic configuration of the capsule endoscope system according to the second embodiment of the present invention. FIG. 7 is a flowchart showing a transmission / reception process performed by the capsule endoscope system according to the second embodiment of the present invention.

  Hereinafter, as an embodiment according to the present invention, a capsule endoscope system using a medical capsule endoscope will be described. In the description of the drawings, the same portions are denoted by the same reference numerals. The drawings are schematic, and it is necessary to note that the relationship between the thickness and width of each member, the ratio of each member, and the like are different from the actual ones.

(Embodiment 1)
FIG. 1 is a schematic diagram showing a schematic configuration of a capsule endoscope system according to Embodiment 1 of the present invention. A capsule endoscope system 1 shown in FIG. 1 is a capsule that is introduced into a subject H to generate image data by imaging the subject H, and superimposes the radio signal on a radio wave to transmit. Type endoscope 2 and a receiving device that receives a radio signal transmitted from capsule endoscope 2 via receiving antenna unit 3 including a plurality of receiving antennas 3a to 3h attached to subject H 4 and a processing device 5 that captures an image signal captured by the capsule endoscope 2 from the receiving device 4 via the cradle 5a and processes the image signal to generate an image in the subject H. . The image generated by the processing device 5 is output from the display device 6, for example.

  FIG. 2 is a block diagram showing a schematic configuration of the capsule endoscope system according to the first embodiment of the present invention. The capsule endoscope 2 includes an imaging unit 21, an illumination unit 22, a control unit 23, a wireless communication unit 24, an antenna 25, a motion detection unit 26, a memory 27, and a power supply unit 28. The capsule endoscope 2 is a device in which each of the above-described components is incorporated in a capsule-shaped housing having a size that allows the subject H to swallow.

  The imaging unit 21 includes, for example, an imaging element that generates and outputs image data obtained by imaging the subject H from an optical image formed on the light receiving surface, and an objective lens disposed on the light receiving surface side of the imaging element. And other optical systems. In the imaging element, a plurality of pixels that receive light from the subject H are arranged in a matrix, and image data is generated by performing photoelectric conversion on the light received by the pixels. The imaging unit 21 reads pixel values for each horizontal line for a plurality of pixels arranged in a matrix, and generates image data including a plurality of line data to which a synchronization signal is assigned for each horizontal line To do. The imaging unit 21 includes a CCD (Charge Coupled Device) imaging device or a CMOS (Complementary Metal Oxide Semiconductor) imaging device.

  The illumination unit 22 includes a white LED (Light Emitting Diode) that generates white light as illumination light. In addition to white LEDs, a configuration may be adopted in which white light is generated by combining light from a plurality of LEDs or laser light sources having different emission wavelength bands, or a xenon lamp or a halogen lamp is used. May be.

  The control unit 23 controls the operation process of each component of the capsule endoscope 2. For example, when the imaging unit 21 performs an imaging process, the control unit 23 causes the imaging element to perform an exposure process and a reading process, and irradiates the illumination unit 22 with illumination light according to the exposure timing of the imaging unit 21. Let The control unit 23 is configured using a general-purpose processor such as a CPU (Central Processing Unit) or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC (Application Specific Integrated Circuit).

  The control unit 23 also includes an image selection unit 23a that selects an image to be transmitted when a reception error occurs on the reception device 4 side. When receiving the error notification from the receiving device 4, the image selection unit 23 a selects an image to be transmitted based on the amount of motion calculated by the motion detection unit 26.

The wireless communication unit 24 modulates the image data output from the imaging unit 21 and transmits the image data to the outside. The wireless communication unit 24 performs A / D conversion and predetermined signal processing on the image data output from the imaging unit 21, acquires digital image data, and superimposes the image data together with related information on the wireless signal to 25 to the outside. The related information includes identification information (for example, serial number) of the capsule endoscope 2 assigned to identify the individual of the capsule endoscope 2, and identification information of image data to be transmitted (for example, a captured image to be described later) Number) and the like.
In addition, the wireless communication unit 24 receives a control signal transmitted from the receiving device 4 from the antenna 25.

  The motion detection unit 26 detects the motion of the image using the image signal output from the imaging unit 21. The motion detection unit 26 detects motion using a known method such as an acceleration sensor or a difference between images (pattern matching). The motion detector 26 calculates the amount of motion by digitizing the detected motion. When the detection result is a motion vector, the motion detection unit 26 uses the magnitude of the vector as the amount of motion. The motion detection unit 26 is configured using a general-purpose processor such as a CPU or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC.

  The memory 27 stores an execution program and a control program for the controller 23 to execute various operations, and parameters such as a threshold value. Further, the memory 27 temporarily stores image data and the like that have been subjected to signal processing in the wireless communication unit 24. In the first embodiment, the memory 27 stores image data for five frames in association with the amount of motion. When new image data is input, the memory 27 deletes the image data with the oldest acquisition time and newly stores the input image data. That is, the memory 27 overwrites the image data with the oldest acquisition time with the latest image data. At this time, the storage location of the memory is No. 1-No. 5 is assigned, and the input image data is No. It is stored in each storage position in the order of 1, 2, 3, 4, 5, 1, 2,. Note that the number of frames of image data stored in the memory 27 is not limited to five. The acquisition time refers to a time when an image of the subject is captured and image data is generated, such as an imaging time when the image is captured. The memory 27 is configured by a volatile memory, a nonvolatile memory, or a combination thereof. Specifically, the memory 27 includes a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

  The power supply unit 28 includes a battery including a button battery, a power supply circuit that supplies power to each unit, and a power switch that switches an on / off state of the power supply unit 28. After the power switch is turned on, Electric power is supplied to each part in the endoscope 2. The power switch is a reed switch whose on / off state is switched by an external magnetic force, for example, and is externally connected to the capsule endoscope 2 before the capsule endoscope 2 is used (before the subject H swallows). Is turned on by applying a magnetic force.

  Such a capsule endoscope 2 is swallowed by the subject H and then moves in the digestive tract of the subject H by peristaltic movement of the organ, etc. Are sequentially imaged at a predetermined cycle (for example, a cycle of 0.5 seconds). Then, the image signal and the related information acquired by the imaging operation are sequentially wirelessly transmitted to the receiving device 4.

  The reception device 4 includes a reception unit 41, a transmission unit 42, an error determination unit 43, an operation unit 44, a data transmission / reception unit 45, an output unit 46, a storage unit 47, a control unit 48, and a power supply unit 49.

  The receiving unit 41 receives a radio signal wirelessly transmitted by the capsule endoscope 2. Specifically, image data and related information wirelessly transmitted from the capsule endoscope 2 are received via the receiving antenna unit 3. The reception unit 41 includes a reception intensity measurement unit 41a. The receiving unit 41 performs predetermined signal processing such as demodulation processing on the received image data. The receiving unit 41 is configured using a general-purpose processor such as a CPU or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC.

  The reception strength measurement unit 41a measures the reception strength (RSSI: Received Signal Strength Indicator) of the radio signal received by the reception antennas 3a to 3h. The reception intensity measurement unit 41a is configured using a general-purpose processor such as a CPU or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC.

  The transmission unit 42 modulates information to be transmitted to the capsule, such as image error information output from the control unit 48 and capsule mode switching information, and transmits the information to the capsule endoscope 2 via the antenna 42a.

  The error determination unit 43 determines whether or not the reception unit 41 has received a wireless signal without error. Specifically, the error determination unit 43 counts the number of synchronization signals included in the wireless signal, and compares the counted synchronization signal with the threshold value stored in the storage unit 47, so that the reception unit 41 receives the signal. It is determined whether or not an error has occurred in the processed image data. For example, about 300 synchronization signals included in the image signal are assigned to one frame image. Since the synchronization signal counting unit 403 can acquire all the synchronization signals when the image signal can be received without error, it counts about 300 synchronization signals. On the other hand, when radio wave interference occurs, a part of the synchronization signal cannot be received and the counting result may be less than 300. In the first embodiment, for example, the threshold is set based on the number of synchronization signals that can be acquired when radio wave interference of an allowable level occurs. The error determination unit 43 outputs the determination result to the control unit 48. The error determination unit 43 is configured using a general-purpose processor such as a CPU or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC.

  The operation unit 44 is an input device used when the user inputs various setting information and instruction information to the receiving device 4. The operation unit 44 includes, for example, switches and buttons provided on the operation panel of the receiving device 4.

  The data transmission / reception unit 45 transmits the image data and related information stored in the storage unit 47 to the processing device 5 when connected to the processing device 5 in a communicable state. The data transmitter / receiver 45 is configured by a communication interface such as a LAN.

  The output unit 46 performs image display, sound or light output, and vibration generation. The output unit 46 displays a notification image corresponding to the interference level, and emits sound, light, and vibration. The output unit 46 includes at least one of a display such as a liquid crystal display and an organic EL display, a speaker, a light source, and a vibration generator such as a vibration motor.

  The storage unit 47 stores a program for operating the receiving device 4 to execute various functions, image data acquired by the capsule endoscope 2, a threshold value for determination processing, and the like. The storage unit 47 includes a RAM, a ROM, and the like.

  The control unit 48 controls each component of the receiving device 4. The control unit 48 is configured using a general-purpose processor such as a CPU or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC. When the error determination unit 43 determines that an error has occurred in the received wireless signal, the control unit 48 notifies the capsule endoscope 2 of the error. This error notification includes identification information (for example, a captured image number) of image data determined to be an error.

  The power supply unit 49 supplies power to each unit of the receiving device 4. The power supply unit 49 is configured using a battery made of a battery or the like.

  Such a receiving apparatus 4 is discharged while passing through the digestive tract after the capsule endoscope 2 is swallowed by the subject H, for example, while the capsule endoscope 2 is imaging. Until then, it is carried on the subject H. During this time, the receiving device 4 stores the image data received via the receiving antenna unit 3 in the storage unit 47.

  After the imaging by the capsule endoscope 2 is completed, the receiving device 4 is removed from the subject H and set in a cradle 5a (see FIG. 1) connected to the processing device 5. As a result, the receiving device 4 is connected to the processing device 5 in a communicable state, and transfers (downloads) the image data and related information stored in the storage unit 47 to the processing device 5.

  The processing device 5 is configured using, for example, a workstation including a display device 6 such as a liquid crystal display. The processing device 5 includes a data transmission / reception unit 51, an image processing unit 52, a control unit 53, a display control unit 54, an input unit 55, and a storage unit 56.

  The data transmitting / receiving unit 51 is connected to the receiving device 4 via the cradle 5 a and transmits / receives data to / from the receiving device 4. The data transmission / reception unit 51 includes a communication interface such as a USB or a LAN.

  The image processing unit 52 reads a predetermined program stored in the storage unit 58 described later, thereby creating an image corresponding to the image data input from the data transmission / reception unit 51 and the image data stored in the storage unit 58. Predetermined image processing is performed. The image processing unit 52 is realized by a general-purpose processor such as a CPU or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC.

  The control unit 53 reads various programs stored in the storage unit 56, so that each unit configuring the processing device 5 is based on the signal input from the input unit 57 and the image data input from the data transmission / reception unit 51. The operation of the entire processing device 5 is comprehensively controlled. The control unit 53 is realized by a dedicated processor such as a general-purpose processor such as a CPU or various arithmetic circuits that execute specific functions such as an ASIC.

  The display control unit 54 subjects the image generated by the image processing unit 52 to predetermined processing such as data thinning or gradation processing according to the display range of the image on the display device 6, and then the obtained image Are displayed on the display device 6 together with information to be displayed such as the final score. The display control unit 54 is realized by, for example, a general-purpose processor such as a CPU or a dedicated processor such as various arithmetic circuits that execute specific functions such as an ASIC.

  The input unit 55 receives input of information and commands according to user operations. The input unit 55 is realized by an input device such as a keyboard, a mouse, a touch panel, and various switches.

  The storage unit 56 operates the processing device 5 to execute various functions, various information used during the execution of the program, image data and related information acquired from the receiving device 4, image processing The endoscope image created by the unit 52 is stored. The storage unit 56 is realized by a semiconductor memory such as a flash memory, a RAM, and a ROM, a recording medium such as an HDD, an MO, a CD-R, and a DVD-R, and a drive device that drives the recording medium.

  Next, image data transmission / reception processing performed by the capsule endoscope system 1 will be described. FIG. 3 is a flowchart showing a transmission / reception process performed by the capsule endoscope system according to the first embodiment of the present invention. FIG. 4 is a diagram illustrating a transmission / reception process performed by the capsule endoscope system according to the first embodiment of the present invention. In the capsule endoscope 2, the process described below is repeatedly executed. FIG. 4 shows that processing is performed sequentially from the left side of the figure. In the capsule endoscope 2, a process of generating a plurality of image data and transmitting the image data stored in the memory 27 to the receiving device 4 is sequentially executed. Note that “B” shown in FIG. 4 indicates a blanking period in transmission and reception.

  First, in step S101, the capsule endoscope 2 performs an imaging process. The imaging unit 21 generates image data (imaging step).

  In step S102 following step S101, the motion detection unit 26 performs motion detection on the image data generated in step S101 (detection step). The motion detection unit 26 calculates the amount of motion described above. Note that when the motion amount is calculated based on the difference between the images, since there is no comparison target in the image of the first frame, a preset motion amount (1 in the first embodiment) is given.

  In step S103 following step S102, the control unit 23 associates the image data generated in step S101 with the amount of motion calculated in step S102, and stores it in a predetermined position in the memory 27 (storage step). . In the memory 27, a memory number (memory No.) is assigned to each position where image data is stored. At this time, if the storage position is already filled with image data, the image data with the oldest acquisition time is replaced with the latest image data. The image data stored in the memory 27 is assigned a captured image number (captured image No.) indicating the order of image capture (see FIG. 4). This picked-up image number is a serial number given by adding 1 to each image data. The stored image number (stored image No.) in the memory 27 indicates the storage order in the memory 27 and corresponds to the captured image number. In the first embodiment, since the number of image data stored in the memory 27 is five, the memory number is “No. 1-No. Five of five.

  In parallel with Steps S101 to S103, the wireless communication unit 24 superimposes the image data on the wireless signal and transmits the image data to the reception device 4 via the radio wave (Step S104: transmission step). The wireless communication unit 24 is the third most recent image data among the image data of up to 5 frames stored in the memory 27, and identification information for identifying the image data (here, the captured image number). And send. For this reason, the image data is transmitted from the wireless communication unit 24 when the capsule endoscope 2 starts imaging processing and captures and stores the fourth frame of image data. Image data is transmitted.

  In the reception device 4, when the reception unit 41 receives a wireless signal (step S105), the error determination unit 43 counts the synchronization signal of the received wireless signal (image data) and compares it with a threshold value (step S106). In FIG. 4, the number of image data (received image) received by the receiving device 4 corresponds to the above-described captured image number.

  The error determination unit 43 determines that no error has occurred in the wireless signal received this time when the counted number of synchronization signals is larger than the threshold value. In this case (step S106: No), the error determination unit 43 outputs a determination result indicating that no error has occurred in the determination target image data to the control unit 48. When the control unit 48 receives a determination result indicating that no error has occurred in the image data to be determined, the control unit 48 returns to step S105.

  On the other hand, when the error determination unit 43 counts and the number of synchronization signals is equal to or less than the threshold, the error determination unit 43 determines that an error has occurred in the currently received radio signal. In this case (step S106: Yes), the error determination unit 43 outputs a determination result indicating that an error has occurred in the determination target image data to the control unit 48. When the control unit 48 receives a determination result indicating that an error has occurred in the image data to be determined, the control unit 48 proceeds to step S107.

  In step S107, the control unit 48 issues an error notification to the capsule endoscope 2. The control unit 48 transmits error information including the captured image number (received image number) of the image data determined to be an error to the capsule endoscope 2 via the transmission antenna 42a.

  The control unit 23 of the capsule endoscope 2 determines whether or not an error notification has been received from the receiving device 4 after transmitting the image data in step S104 (step S108). If the error notification is not received within a preset period after transmitting the image data, the control unit 23 determines that no error notification has been received (step S108: No), and ends the processing related to the frame. To do. On the other hand, when the control unit 23 receives an error notification within a preset period after transmitting the image data (step S108: Yes), the control unit 23 proceeds to step S109 (reception step).

  In step S <b> 109, the image selection unit 23 a determines the amount of motion of the error target image data and the amount of motion of image data (hereinafter also referred to as stored image data) other than the image data that is determined to be error stored in the memory 27. Are compared (selection step). If the amount of motion of the image data determined to be error is smaller than the stored image data (step S109: No), the image selection unit 23a ends the process related to the frame without changing the image data to be transmitted. To do. On the other hand, if the amount of motion of the image data determined as an error is greater than or equal to the stored image data (step S109: Yes), the image selection unit 23a proceeds to step S110.

  In step S110, the image selection unit 23a excludes the image data with the smallest amount of motion from the image data to be transmitted, and replaces the image data determined to be error with the image data to be transmitted.

  For example, as shown in FIG. 7 is received, the captured image No. stored in the memory 27 when the error notification is received is received. 7 (error image data) and the untransmitted captured image No. 8-No. 10 movement amounts are compared. At this time, the captured image No. If 11 is stored, it may be included in the stored image data. In these image data, the captured image No. 7 is 3, and the captured image No. Since the amount of motion of 10 is 1, the captured image No. 10 image data, the captured image No. 7 (error image data). As a result, the captured image No. No. 10 image data is transmitted at the timing when the captured image No. 10 image data is excluded from the transmission target, and the captured image No. 7 is transmitted to the receiving device 4.

  On the other hand, as shown in FIG. When an error occurs in the reception of the image data No. 13, the captured image No. stored in the memory 27 when the error notification is received is stored. 13 (error image data) and the untransmitted captured image No. 14-No. 16 motion amounts are compared. At this time, the captured image No. If 17 is stored, it may be included in the stored image data. At this time, the captured image No. 13 is 1 and the captured image No. 14-No. Since the amount of movement of 16 is 2, the captured image No. 14-No. The image data of 16 is the captured image No. It is transmitted to the receiving device 4 without being replaced with 13 (error image data).

  In the first embodiment described above, when an error occurs in the reception of image data in the receiving device 4, the image data is replaced according to the amount of motion of the image data, and the error image data is retransmitted. In the first embodiment, when an error occurs while transmitting image data to the receiving device 4 without exceeding the total number of frames captured by the capsule endoscope 2, image data with a large amount of motion is given priority. Is transmitted to the receiving device 4. According to the first embodiment, it is possible to efficiently transmit image data while suppressing increases in memory and power consumption.

(Modification 1 of Embodiment 1)
Then, the modification 1 of Embodiment 1 of this invention is demonstrated. FIG. 5 is a flowchart showing a transmission / reception process performed by the capsule endoscope system according to the first modification of the first embodiment of the present invention. In the first embodiment, it has been described that the reception device 4 performs error determination on the received radio signal (image data). However, in the first modification, even when image data to be received is not received, Perform error notification. The configuration of the capsule endoscope system according to the first modification is the same as that of the first embodiment. Hereinafter, processing different from that of the first embodiment will be described with reference to FIG.

  First, in the same manner as in the first embodiment (steps S101 to S104 in FIG. 3), the capsule endoscope 2 performs an imaging process, a motion detection process for image data, a memory storage process, and an image to be transmitted. Data is transmitted to the receiving device 4 (steps S201 to S204).

  In the receiving device 4, the control unit 48 checks whether or not a wireless signal (image data) has been received (step S205). When the control unit 48 determines that the receiving unit 41 has not received image data (step S205: No), the control unit 48 proceeds to step S206. If the control unit 48 determines that the reception unit 41 has received the image data (step S205: Yes), the control unit 48 proceeds to step S207.

  In step S206, the control unit 48 determines whether it is within the reception period of the image data to be received. When image data is periodically transmitted from the capsule endoscope 2, the receiving device 4 also periodically receives the image data. At this time, the receiving device 4 receives the next image data during a predetermined period after receiving the previous image data. The reception period in step S206 corresponds to this predetermined period. The reception period is, for example, a period that starts after the previous image data is received, and is a period that is set in consideration of processing errors of the capsule endoscope 2 and the transmission path. If it is within the reception period (step S206: Yes), the controller 48 returns to step S205. In contrast, when the control unit 48 determines that the reception period has elapsed (step S206: No), the control unit 48 proceeds to step S208.

  In step S207, the error determination unit 43 counts the synchronization signal of the received wireless signal (image data) and compares it with a threshold value. The error determination unit 43 counts and determines that no error has occurred in the radio signal received this time when the number of synchronization signals is larger than the threshold. In this case (step S207: No), the error determination unit 43 outputs a determination result indicating that no error has occurred in the determination target image data to the control unit 48. When the control unit 48 receives a determination result indicating that no error has occurred in the determination target image data, the control unit 48 returns to step S205.

  On the other hand, when the number of counted synchronization signals is equal to or less than the threshold, the error determination unit 43 determines that an error has occurred in the radio signal received this time. In this case (step S207: Yes), the error determination unit 43 outputs a determination result indicating that an error has occurred in the determination target image data to the control unit 48. When the control unit 48 receives a determination result indicating that an error has occurred in the image data to be determined, the control unit 48 proceeds to step S208.

  In step S208, the control unit 48 issues an error notification to the capsule endoscope 2. The control unit 48 transmits error information including the captured image number (received image number) of the image data determined as an error to the capsule endoscope 2. This error information is determined in step S206, and is either an error caused by not receiving image data within the reception period or an error caused by the number of synchronization signals determined in step S207. Including.

  The control unit 23 of the capsule endoscope 2 determines whether or not an error notification has been received from the receiving device 4 after the image data transmission in step S204 (step S209). If the error notification is not received within a preset period after transmitting the image data, the control unit 23 determines that the error notification has not been received (step S209: No), and ends the processing related to the frame. To do. In contrast, when the control unit 23 receives an error notification within a preset period after transmitting the image data (step S209: Yes), the control unit 23 proceeds to step S210.

  In step S <b> 210, the image selection unit 23 a compares the amount of motion of the error target image data with the amount of motion of the stored image data stored in the memory 27. If the amount of motion of the image data determined as an error is smaller than the stored image data (step S210: No), the image selection unit 23a ends the process related to the frame without changing the image data to be transmitted. To do. On the other hand, if the amount of motion of the image data determined to be error is greater than or equal to the stored image data (step S210: Yes), the image selection unit 23a proceeds to step S211.

  In step S211, the image selection unit 23a excludes the image data with the smallest amount of motion from the image data to be transmitted, and replaces the image data determined to be error with the image data to be transmitted.

  In the first modification described above, when a reception error including non-reception of image data occurs in the receiving device 4, the error image data is retransmitted by replacing the image data according to the amount of movement of the image data. Also in the first modification, as in the first embodiment, it is possible to efficiently transmit image data while suppressing an increase in memory and power consumption.

(Modification 2 of Embodiment 1)
Then, the modification 2 of Embodiment 1 of this invention is demonstrated. In the second modification, when performing error notification, the imaging number of the image data that is excluded from the transmission target is transmitted as additional information when another image data is transmitted. The configuration of the capsule endoscope system according to the second modification is the same as that of the first embodiment. Hereinafter, processing different from that of the first embodiment will be described.

  In the second modification, transmission / reception processing is executed along the flow shown in FIG. 3 described above. In step S104, when the image data is transmitted after receiving the error notification, the control unit 23 adds, to the error information, additional information indicating that the image data that has not been transmitted is transmitted. The additional information includes information indicating that the image data of the captured image number is not transmitted together with the captured image number. At this time, the image data determined not to be transmitted is either the image data determined to be error or the stored image data replaced with the image data determined to be error. For example, when the transmission / reception shown in FIG. When retransmitting 7, the captured image No. 10 is added, and the captured image No. 10 is added. 14-No. 16 is transmitted, the captured image No. Additional information indicating that 13 is not transmitted is added.

  According to the second modification, the effect of the first embodiment described above is obtained, and the reception management of the image data is also performed on the receiving device 4 side by notifying the image data that has not been transmitted to the receiving device 4 side. Can do.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. FIG. 6 is a block diagram showing a schematic configuration of the capsule endoscope system according to the second embodiment of the present invention.

  The capsule endoscope system 1A according to the second embodiment generates image data by being introduced into the subject H and imaging the subject H, and transmits the image data superimposed on a radio signal on radio waves. The capsule endoscope 2A and the radio signal transmitted from the capsule endoscope 2A are received via the reception antenna unit 3 including a plurality of reception antennas 3a to 3h attached to the subject H. A processing device that captures an image signal captured by the receiving device 4 and the capsule endoscope 2 from the receiving device 4 via the cradle 5a and processes the image signal to generate an image in the subject H. 5 is provided. The capsule endoscope 1A according to the second embodiment has the same configuration except that the capsule endoscope 2 of the capsule endoscope system 1 described above is changed to the capsule endoscope 2A. Hereinafter, a capsule endoscope 2A having a configuration different from that of the first embodiment will be described.

  The capsule endoscope 2A includes the above-described imaging unit 21, illumination unit 22, control unit 23, wireless communication unit 24, antenna 25, motion detection unit 26, memory 27, power supply unit 28, and error count unit 29. . The capsule endoscope 2A is a device in which each of the above-described components is built in a capsule-shaped housing that is sized to allow the subject H to swallow.

  When receiving an error notification for the image data of each captured image number, the error count unit 29 counts the number of error notifications of the image data of the captured image number. The error count unit 29 outputs the counted result to the control unit 23.

  When receiving the count result from the error count unit 29, the control unit 23 compares it with a preset threshold value (3 in the second embodiment). When the count number is greater than 3, the image data of the captured image number is excluded from the transmission target regardless of the amount of movement. The image data transmitted from the capsule endoscope 2 may cause an error even if the same image data is repeatedly transmitted. At this time, particularly, image data having a large amount of motion is selected again as image data to be transmitted depending on the magnitude of the amount of motion even if the reception device 4 determines that the reception error has occurred. If this processing is repeated, the transmission processing is repeated for the same image data, and the reception device 4 cannot receive the image. Therefore, the total number of image data received by the reception device 4 may be reduced. The efficiency is inefficient. In the second embodiment, in order to prevent such an inefficient state from continuing, the number of error notifications of the same image data is counted, and image data exceeding the threshold is excluded from transmission targets.

  FIG. 7 is a flowchart showing a transmission / reception process performed by the capsule endoscope system according to the second embodiment of the present invention. First, in the same manner as in the first embodiment (steps S101 to S104 in FIG. 3), the capsule endoscope 2A performs an imaging process, a motion detection process for image data, a memory storage process, and an image to be transmitted. Data is transmitted to the receiving device 4 (steps S301 to S304).

  In the reception device 4, when the reception unit 41 receives a wireless signal (step S305), the error determination unit 43 counts the synchronization signal of the received wireless signal (image data) and compares it with a threshold value (step S306). In FIG. 4, the number of image data (received image) received by the receiving device 4 corresponds to the above-described captured image number.

  The error determination unit 43 determines that no error has occurred in the wireless signal received this time when the counted number of synchronization signals is larger than the threshold value. In this case (step S306: No), the error determination unit 43 outputs a determination result indicating that no error has occurred in the determination target image data to the control unit 48. When the control unit 48 receives a determination result indicating that no error has occurred in the determination target image data, the control unit 48 returns to step S305.

  On the other hand, when the error determination unit 43 counts and the number of synchronization signals is equal to or less than the threshold, the error determination unit 43 determines that an error has occurred in the currently received radio signal. In this case (step S306: Yes), the error determination unit 43 outputs a determination result indicating that an error has occurred in the determination target image data to the control unit 48. When the control unit 48 receives a determination result indicating that an error has occurred in the determination target image data, the control unit 48 proceeds to step S307.

  In step S307, the control unit 48 sends an error notification to the capsule endoscope 2. The control unit 48 transmits error information including the captured image number (received image number) of the image data determined to be an error to the capsule endoscope 2 via the transmission antenna 42a.

  The control unit 23 of the capsule endoscope 2 determines whether or not an error notification is received from the receiving device 4 after the image data transmission in step S304 (step S308). If the error notification is not received within a preset period after transmitting the image data, the control unit 23 determines that no error notification has been received (step S308: No), and ends the processing related to the frame. To do. In contrast, when the control unit 23 receives an error notification within a preset period after transmitting the image data (step S308: Yes), the control unit 23 proceeds to step 309.

  In step S309, the error count unit 29 adds one error count of the image data determined to be in error. The error count unit 29 outputs the counted result to the control unit 23.

  In step S310 following step S309, the control unit 23 compares the count number with a threshold value. Specifically, the control unit 23 determines whether or not the count number is 3 or less. If the count number is 3 or less (step S310: Yes), the control unit 23 proceeds to step S311.

  In step S <b> 311, the image selection unit 23 a compares the amount of movement of the error target image data with the amount of movement of the stored image data stored in the memory 27. If the amount of motion of the image data determined as an error is smaller than the stored image data (step S311: No), the image selection unit 23a terminates the process related to the frame without changing the image data to be transmitted. To do. On the other hand, if the amount of motion of the image data determined to be error is equal to or greater than the amount of motion of the stored image data (step S311: Yes), the image selection unit 23a proceeds to step S312.

  In step S312, the image selection unit 23a excludes the image data having the smallest amount of motion from the image data to be transmitted, and replaces the image data determined to be error with the image data to be transmitted.

  In step S310, if the error count is greater than 3 (step S310: No), the control unit 23 proceeds to step S213.

  In step S312, the control unit 23 removes the image data having an error count exceeding 3 from the image data to be transmitted, and ends the process related to the frame.

  In Embodiment 2 described above, when a reception error occurs in the receiving device 4, the number of error notifications of the image data is counted, and the image data is excluded from transmission targets according to the count number. According to the second embodiment, the same effect as in the first embodiment can be obtained, and the same image data can be prevented from being repeatedly transmitted unnecessarily.

  The embodiments for carrying out the present invention have been described so far, but the present invention should not be limited only by the above-described embodiments and modifications. The present invention is not limited to the embodiments and modifications described above, and can include various embodiments without departing from the technical idea described in the claims. Moreover, you may combine suitably the structure of embodiment and a modification.

  In the first and second embodiments described above, the error determination unit 43 has been described as counting the synchronization signal and performing error determination using the counted number. However, the present invention is not limited to this, for example, using reception strength. Error determination may be performed. Further, the error determination may be performed using the number of detection errors of the fixed bit pattern regularly embedded in addition to the synchronization signal.

  In the first and second embodiments, the wireless communication unit 24 and the antenna 25 have been described as functioning as a transmission / reception unit. However, the present invention is not limited to this. For example, a transmission antenna and a reception antenna are separately provided. The configuration may include an independent transmission unit and reception unit.

  In the first and second embodiments, when the motion detection unit 26 determines a motion using image data, the motion detection unit may be included in the imaging unit 21.

  Also, an execution program for each process executed by each component of the capsule endoscope system 1, 1A of the capsule endoscope system 1, 1A, the receiving device 4, and the processing device 5 according to the first and second embodiments. May be configured to be provided by being recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD in an installable or executable format file. It may be configured to be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network. Moreover, you may comprise so that it may provide or distribute via networks, such as the internet.

  As described above, the capsule endoscope, the capsule endoscope system, and the transmission method of the capsule endoscope according to the present invention efficiently process images in the subject while suppressing an increase in memory and power consumption. Is useful for

DESCRIPTION OF SYMBOLS 1, 1A Capsule-type endoscope system 2, 2A Capsule-type endoscope 3 Reception antenna unit 3a-3h Reception antenna 4 Reception apparatus 5 Processing apparatus 5a Cradle 6 Display apparatus 21 Imaging part 22 Illumination part 23, 53, 48 Control part 24 wireless communication unit 25 antenna 26 motion detection unit 27 memory 28, 49 power supply unit 29 error count unit 41 reception unit 41a reception intensity measurement unit 42 transmission unit 42a transmission antenna 43 error determination unit 44 operation unit 45, 51 data transmission / reception unit 46 output Unit 47, 56 Storage unit 52 Image processing unit 54 Display control unit 55 Input unit

Claims (5)

A capsule endoscope introduced into a subject,
An imaging unit that images the inside of the subject and generates image data;
A detection unit that detects the amount of movement of the capsule endoscope when the image data is captured;
A storage unit that stores a predetermined number of the image data in association with the amount of motion, and stores the image data with the oldest imaging time overwritten with the image data with the newest imaging time When,
A transmission / reception unit that transmits the image data and identification information of the image data, and receives an error notification including identification information of the image data determined to be a reception error from an external reception device that receives the image data;
A first motion amount of the first image data corresponding to the identification information of the error notification, and a second motion amount of at least one second image data not yet transmitted stored in the storage unit. A selection unit that selects image data to be transmitted by comparing; and
With
When the transmission / reception unit receives the error notification, the transmission / reception unit transmits the transmission target image data selected by the selection unit and identification information of the image data. The selection unit includes:
When the first motion amount is equal to or greater than the second motion amount, the first image data is selected as a transmission target, and the second motion amount is the smallest among the second image data. 2 image data is excluded from the transmission target,
2. The capsule endoscope according to claim 1, wherein when the first motion amount is smaller than the second motion amount, the first image data is excluded from a transmission target. The transmission / reception unit, when receiving the error notification, transmits the image data to be transmitted selected by the selection unit, identification information of the image data, and information about an image selection result. Item 2. The capsule endoscope according to Item 1. A capsule endoscope introduced into a subject, an imaging unit that images the inside of the subject and generates image data, and a movement amount of the capsule endoscope when the image data is captured And a storage unit that stores a predetermined number of the image data in association with the amount of movement, and the image data with the oldest imaging time is the image data with the newest imaging time. A storage unit that overwrites and stores, a transmission / reception unit that transmits the image data and identification information of the image data, and that receives an error notification including identification information of the image data determined to be a reception error, and the error notification Comparing the first motion amount of the first image data corresponding to the identification information and the second motion amount of at least one second image data not yet transmitted stored in the storage unit. In I, the capsule endoscope having a selection section for selecting image data to be sent,
In the receiving device that receives the image data transmitted by the capsule endoscope, it is determined whether an error has occurred when receiving the image data, and when it is determined that an error has occurred, A receiving device for notifying the capsule endoscope of an error including identification information of the image data determined to be error;
With
When the transmission / reception unit receives the error notification, the transmission / reception unit transmits the transmission target image data selected by the selection unit and identification information of the image data. A capsule endoscope transmission method introduced into a subject,
An imaging step of imaging the inside of the subject to generate image data;
A detection step of detecting a movement amount of the capsule endoscope when the image data is captured;
A storage step of storing a preset number of the image data in association with the amount of motion, and storing the image data with the oldest imaging time overwritten with the image data with the newest imaging time When,
Transmitting the image data and identification information of the image data; and
A receiving step of receiving an error notification including identification information of the image data determined to be a reception error from an external receiving device that receives the image data;
Comparing the first motion amount of the first image data corresponding to the identification information of the error notification and the second motion amount of at least one second image data not yet transmitted stored in the storage unit A selection step of selecting image data to be transmitted,
Including
When the error notification is received, the transmission step transmits the image data to be transmitted selected in the selection step and identification information associated with the image data. Capsule endoscope How to send

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