JP2020078537A - Capsule endoscope - Google Patents

Abstract

To obtain a capsule endoscope, which is capable of examining the inside of a stomach and dramatically reducing the time required for the examination.SOLUTION: A capsule endoscope 100 of the present invention is a capsule endoscope capable of autonomous flight, and comprises an endoscope airframe 100c and flying means 120 enabling the endoscope airframe 100c to fly. The flying means 120 has a lift/thrust generating unit 120a for generating lift and thrust of the endoscope airframe 100c. The flying means 120 is configured to have the lift/thrust generating unit 120a for generating lift and thrust of the endoscope airframe 100c.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a capsule endoscope provided with a flight means.

  In recent years, capsule endoscopes that move passively by peristaltic movement have been used for endoscopy. The peristaltic capsule endoscope does not require a tube to be inserted into the body through the esophagus through the mouth unlike the endoscopes that have been used before, and the burden on the subject undergoing endoscopy is small. There is an advantage.

  However, peristaltic capsule endoscopy only inspects the tubular small intestine and large intestine, and cannot inspect the inside of the stomach. Moreover, the peristaltic movement of the bent portion is unstable, and there is a risk that the inspection may be overlooked. Furthermore, real-time observation was not possible, and it took time and effort to collect and read the recorder that recorded the images. Since the movement of the capsule depends on the peristalsis, it takes about one day from taking the capsule to observing the small intestine and large intestine to discharge from the anus. There is a method of extruding with a large amount of laxative to shorten the time, but even if it is used, it takes about 4 hours to about half a day.

  In addition, as a capsule endoscope, there is also a self-propelled capsule endoscope that not only passively moves by peristaltic motion but also actively moves by generating thrust.

  For example, as an example of a self-propelled capsule endoscope, patent document 1 discloses a gas injection system, and patent document 2 discloses a caterpillar drive type self-propelled capsule endoscope.

JP 2006-334141A Patent No. 5006381

  However, the self-propelled capsule endoscope is also for examining the small intestine and the large intestine, which are thin and narrow tubular, and it is not possible to examine the inside of the stomach having a wide bag-like space. This is because, in the conventional self-propelled capsule endoscopes described in Patent Documents 1 and 2, etc., the capsule endoscope is moved along the inner wall of the intestine or the like in a substantially horizontal direction or a substantially inclined direction or its posture is changed. However, with the output of the caterpillar and gas injection, it was difficult to move in the vertically extending space inside the stomach.

  Although the small intestine and the large intestine can be inspected, it takes a considerable amount of time to travel through the wet and elastic intestine, and the ascending colon having a large fold and a large depth cannot be easily traveled. In addition, the large intestine runs three-dimensionally, and there are many runs from the back side to the ventral side in the supine position, and it is difficult to move upward due to the magnetic force and the propulsive force of the caterpillar. The examination requires a lot of time, if not more than a mirror.

  Therefore, in the conventional endoscopic examination in the self-propelled capsule endoscope, there is a problem that the inside of the stomach cannot be inspected and the examination takes a lot of time, which imposes a burden on the body of the subject.

  The present invention solves the problems caused by these conventional endoscopes, can inspect the inside of the stomach, and dramatically shortens the time required for the inspection (for example, inspection of all gastrointestinal tracts from the esophagus to the large intestine). The aim is to obtain a possible capsule endoscope (within 30 minutes).

  The present invention provides the following items.

(Item 1)
An endoscope body,
A capsule endoscope comprising a flight means capable of flying the endoscope body.

(Item 2)
The flight means is
Item 2. The capsule endoscope according to Item 1, which is configured to have a lift/thrust generation unit that generates a lift and a thrust in the endoscope body.

(Item 3)
3. The capsule endoscope according to item 2, wherein the lift/thrust generating unit is configured to generate the lift and the thrust independently.

(Item 4)
The capsule endoscope according to Item 2 or Item 3, wherein the lift/thrust generating unit is a drone having a rotor or a helicopter.

(Item 5)
Item 5. The capsule endoscope according to Item 4, wherein the lift force is generated by rotating the rotary blade in a forward direction, and the thrust is generated by rotating the rotary blade in a reverse direction.

(Item 6)
6. The capsule endoscope according to any one of items 2 to 5, which observes the inside of the stomach by generating at least the lift force.

(Item 7)
Item 7. The capsule endoscope according to Item 6, which generates at least the thrust to observe at least a part of the duodenum, the small intestine, and the large intestine.

  According to the present invention, it is an object of the present invention to provide a capsule endoscope capable of examining the inside of the stomach and dramatically reducing the time required for the examination.

FIG. 1 is a diagram for explaining a capsule endoscope 100 of the present invention, FIG. 1( a) shows an appearance of the capsule endoscope, and FIG. 1( b) conceptually shows a basic configuration of the capsule endoscope. FIG. 1( c) schematically shows the usage state of the capsule endoscope 100. 1 is a perspective view for explaining a capsule endoscope 100 according to Embodiment 1 of the present invention, showing an appearance of the capsule endoscope 100. FIG. FIG. 3 is a plan view showing a structure of the capsule endoscope 100 seen from the upper surface side (direction A in FIG. 2). FIG. 3 is a plan view showing a structure of the capsule endoscope 100 as seen from the front side (direction B in FIG. 2). 3 is a plan view showing the structure of the capsule endoscope 100 as seen from the lower surface side (direction C in FIG. 2). FIG. 3 is a block diagram for explaining a circuit unit 100b mounted on the capsule endoscope 100. FIG. FIG. 3 is a perspective view for explaining an inspection system 1000 for performing an endoscopic inspection using the capsule endoscope 100, and schematically shows the configuration of the inspection system 1000. FIG. 3 is a diagram showing an example of a path of a capsule endoscope when performing an endoscopic examination using the capsule endoscope 100. It is a figure which shows an example of a mode that the capsule endoscope 100 observes the inside of a stomach, flying in the body of a subject. It is a figure which shows an example of a mode that the capsule endoscope 100 changes a posture from a flight state to a landing state in a body of a subject. It is a figure which shows an example of a mode that the capsule endoscope 100 moves in a test subject's body (duodenum or small intestine) by thrust. It is a figure which shows an example of a mode that the capsule endoscope 100 moves in a test subject's body (large intestine) by thrust. It is a figure which shows an example of a mode that the capsule endoscope 100 moves in the fluid in a subject's body. FIG. 6 is a perspective view for explaining a capsule endoscope 100 according to Embodiment 2 of the present invention, showing an appearance of the capsule endoscope 100.

  In the present specification, “about” means within ±10% of the number that follows.

  The present invention solves the problem that the inside of the stomach cannot be inspected by the conventional endoscopic examination using the capsule endoscope. It also solves the problem that the examination takes time, and enables the examination with a small burden on the body of the subject by the capsule endoscope to be performed in a very short time.

  FIG. 1 is a diagram for explaining a capsule endoscope 100 of the present invention, FIG. 1( a) shows the appearance of the capsule endoscope, and FIG. 1( b) shows the basics of the capsule endoscope. The configuration is conceptually shown, and FIG. 1C schematically shows a usage state of the capsule endoscope 100.

  As shown in FIG. 1B, the capsule endoscope 100 of the present invention includes an endoscope body 100c having an endoscope body 100a and a flight means 120 for flying the endoscope body 100c. It is a thing. Here, the endoscope main body 100a has a function of capturing an image of the inside of the subject P, and the endoscope body 100c equipped with the endoscope main body 100a moves inside the subject's body, for example. It is possible to take pictures inside the body.

  By providing the flight means, it becomes possible to observe the hollow portion inside the body of the subject P, for example, the inner wall of the stomach inflated with air or a gas such as carbon dioxide, in a floating state.

  The capsule endoscope 100 of the present invention may be any one as long as it has a flying means 120 capable of flying by itself on an endoscope body 100c having an endoscope body 100a mounted thereon, and other configurations are particularly preferable. It is not limited.

  Here, the flight means 120 are a lift (a force that lifts the aircraft against gravity) and a thrust (a force that accelerates the aircraft in the horizontal direction) so that the capsule endoscope moves to an arbitrary location based on the operation signal. ) Means to generate at least one of.

  Such a flight means 120 substantially includes a lift/thrust generation section 120a for generating a lift and a thrust in the endoscope body 100c and a lift/thrust generation section 120a, as shown in FIG. 1(b). It has a drive unit 120b for driving and flight control means 120c for controlling the drive unit 120b.

  The configuration of the lift/thrust generation unit 120a of the capsule endoscope 100c of the present invention can be arbitrary. For example, a drone, a helicopter, an airship, or the like, which is a flying body that can generate a lift force without moving horizontally, can be adopted. Although described herein as a drone as one embodiment of a flight vehicle, the invention is not so limited.

  Here, some drones have three or more propellers that generate lift and thrust. Some helicopters have one main wing that generates lift and thrust and one auxiliary wing that maintains a posture, or one that has two main wings that generate lift and thrust. Some airships have a mechanism for generating buoyancy with a gas lighter than air, and a propeller for generating thrust.

  The endoscope body 100c of the present invention may be made of any material. For example, various materials such as metal, plastic, ceramic and sponge may be used. Further, not only one material but also a composite of a plurality of materials may be used. It is preferable to use a light material such as plastic in consideration of being levitated by the flight means 120. In one embodiment, it is a composite material of ABS resin and ceramic. By using such a material, it is possible to make the material lightweight and highly rigid.

  The shape of the endoscope body 100c may be any shape. For example, as in the conventional capsule endoscope, both end portions of a substantially shell shape, a substantially hemispherical shape, a substantially spherical shape (FIG. 13A), a substantially cubic shape, a substantially rectangular parallelepiped shape, a substantially regular octahedron shape, and a substantially cylindrical body are formed. The outer shape may be a hemispherical shape, but the present invention is not limited to this.

  The endoscope body 100c may include a cover 1002 that covers the flight means 120 and is melted by gastric juice or the like (FIG. 13B). Since the cover 1002 is included, the part of the flight means reaches the stomach without directly contacting the tissue in the body, and thus the capsule endoscope 100c of the present invention can be inserted into the body from the mouth more safely. Since the cover 1002 is configured to dissolve in gastric juice, the flight means 120 can be used when the flight means 120 can move the stomach or the like (duodenum, small intestine, or large intestine in some cases). The material of the cover 1002 may be any material as long as it can be dissolved in gastric juice or the like. For example, cellulose, gelatin, etc., but the present invention is not limited thereto.

  In addition, the endoscope body 100c may include a net member 1003 that covers the flight means 120, or may be provided with a cover 1002 that dissolves in gastric juice (FIG. 13B). By including the net member 1003, the internal tissue does not come into direct contact with the flight means 120, so that the internal tissue can be prevented from being damaged and safe observation can be performed. The material of the net member 1003 can be any material. For example, a resin such as plastic or a metal such as titanium or stainless is used, but the present invention is not limited to this.

  The endoscope body 100c of the present invention may include both the cover member 1002 and the net member 1003, or may include only one of each.

  As shown in FIG. 1B, the endoscope body 100c of the present invention includes a hermetically sealed space 100d and a penetrating space 20 penetrating the endoscope body 100c. The mirror body 100a and the drive unit 120b and the flight control unit 120c that form the flight unit 120 may be housed, and the lift/thrust generation unit 120a that forms the flight unit 120 may be housed in the penetrating space 20.

  In the embodiment shown in FIG. 1, the case where the penetrating space 20 in which the flying means 120 is housed is provided in the endoscope body 100c is illustrated, but the present invention is not limited to this.

  As shown in FIG. 1B, the endoscope main body 100a of the present invention includes an illumination unit 140 that illuminates the inside of the body and an imaging unit 130 that captures the inside of the body, as in the case of a conventional self-propelled capsule endoscope. , A communication means 160 for communicating with a signal processing device outside the body or an operation remote controller (not shown), a system control means 150 for controlling each of the above means, and a power source 110 for supplying power to each of the above means. It may be provided with and.

  Here, the illumination means 140 illuminates the inside of the body of the subject P, that is, the inside of the organs of the subject P to be the target of endoscopy (for example, digestive organs such as stomach, duodenum, small intestine, and large intestine). It could be any means possible. The illuminating means 140 preferably uses, for example, a semiconductor light emitting element that can be miniaturized as a light source, and the semiconductor light emitting element includes an LED (light emitting diode), an organic EL element, an LD (laser diode), and the like. However, the present invention is not limited to this.

  The image pickup unit 130 may be any unit as long as it can image the inside of the organ to be inspected, but like the illumination unit 140, it is preferable to use a semiconductor image pickup device that can be miniaturized as a camera. Such semiconductor image pickup devices include CCD image sensors and CMOS image sensors.

  The communication unit 160 has a transmission unit that transmits the image pickup signal output from the image pickup unit 130 to a signal processing device (not shown) outside the body, and a reception unit that receives an operation signal from an operation remote controller outside the body. Anything will do as long as it is. For example, the transmission unit and the reception unit may be configured by a transmitter and a receiver that are independent from each other, or the transmission unit and the reception unit are integrated so that the transmission operation and the reception operation are switched. It may be a transceiver that does. Further, the communication system may be a communication system that sends a single information signal on one wireless line (channel) or a multiplex communication system that sends a plurality of information signals on one wireless line (channel). In one embodiment, for example, a Bluetooth system (registered trademark) that is harmless to humans can be adopted as the communication system. In the capsule endoscope of the present invention, the image obtained by the image pickup device can be transmitted to the external monitor by the communication means, which enables real-time observation. Therefore, oversight is prevented and advanced observation is possible.

  The system control unit 150 may be any unit as long as it can control the illumination unit 140 and the image pickup unit 130 based on an image pickup command signal from the outside of the capsule endoscope 100.

  The system control means 150 of the endoscope main body 100a and the flight control means 120c of the flight means 120 may be independent ones constituted by separate microprocessors, or may be integrated by one microprocessor. It may be one that has been converted to.

  However, when a drone is adopted as the flight means, complicated calculation is required to perform the aircraft stabilization and autonomous navigation control only by rotating three or more propellers, and the system control that controls the endoscope main body 100a is required. In addition to the means 150, a dedicated flight controller may be provided as the flight control means 120c. The autonomous navigation control is, for example, a function of automatically controlling the drive unit 120b, which is necessary when hovering at a fixed position is performed without an operation signal from the operator.

  The power supply 110 may be any power supply as long as it can supply an appropriate power supply voltage to each of the above means (flying means 120, lighting means 140, image pickup means 130, communication means 160, system control means 150). For example, the power supply 110 has a battery and a power supply circuit that converts the output voltage of the battery into a predetermined voltage. Here, the battery is a lithium ion battery (for example, a lithium ion polymer battery) or a nickel hydrogen battery, but the battery 110b is not limited to these secondary batteries. For example, in the case of a wireless power feeding system (having a power receiving unit that receives power supplied wirelessly), the configuration of the power supply 110 can be deleted from the capsule endoscope.

  In the drone, circuits other than the propeller motor (driving unit 120b of the flying means 120) have a power supply voltage (eg, about 5V) lower than the power supply voltage (eg, about 12V) supplied to the propeller motor. In the capsule endoscope according to the present invention, each unit other than the driving unit 120b of the flying means normally has a power supply voltage lower than the power supply voltage supplied to the driving unit 120b of the flying means 120. It is configured to operate on voltage. In that case, the power supply 110 supplies the first power supply voltage to the drive unit 120b of the flight means 120, and the other means (illumination means 140, imaging means 130, communication means 160, system control means 150, flight control). The means 120c) may be capable of supplying a second power supply voltage lower than the first power supply voltage.

  Specifically, the power supply has a battery and a power supply circuit (UBEC: Universal Battery Elimination Circuit) for stepping down the output voltage of the battery, and outputs the battery directly to the drive unit 120b of the flight means 120. The output voltage of the battery may be stepped down by a power supply circuit (UBEC) and supplied to each means other than the driving section 120b of the flight means. In addition, even if the drive unit (ESC: Electric Speed Controller) of the flight means 120 that receives the output of the battery has a power supply circuit (BEC: Battery Elimination Circuit) that steps down the output voltage of the battery. Well, in that case, it is not necessary to provide a power supply circuit (UBEC) for stepping down the output voltage of the battery in the power supply, and in the means other than the drive section 120b of the flight means 120, the drive section (ESC) 120b of the flight means 120 is provided. The power supply voltage may be supplied from the included power supply circuit (BEC).

  Further, in the capsule endoscope 100 of the present invention, the flight means 120 may be supplied with power from the power supply 110 of the endoscope main body 100a, but may be supplied with power from a power supply independent of this power supply. Good.

  However, in the following embodiments, as an example of the capsule endoscope of the present invention, one having a drone flight means is described. Here, the flight means of the drone has four rotor blades as the lift/thrust generation unit 120a and four motors for rotating these, and an ESC for each motor as the drive unit 120b for supplying a drive current to the motor. It is assumed that a flight controller (FC) is provided as the flight control means 120c that controls the drive unit 120b based on the operation signal. The capsule endoscope 100 of the embodiment is assumed to have a camera module using a CCD image sensor as the image pickup means 130 and an LED module as the illumination means 140. Further, the communication unit 160 is a transceiver in which a transmitter and a receiver are integrated. The power supply 110 has a lithium-ion battery and a power supply circuit (UBEC) that steps down the output voltage of the lithium-ion battery.

  However, it is apparent from the above description that the capsule endoscope of the present invention is not limited to the configurations of the following embodiments.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
2 to 5 are views for explaining the capsule endoscope 100 according to the first embodiment of the present invention, FIG. 2 is a perspective view showing the appearance of the capsule endoscope 100, and FIGS. FIG. 3 is a plan view showing a structure of the capsule endoscope 100 shown in FIG. 2 as seen from directions A to C in FIG. 2.

  The capsule endoscope 100 according to the first embodiment includes an endoscope body 100c in which the endoscope body 100a is mounted, and flight means 120 for flying the endoscope body 100c.

  Here, the endoscope main body 100a has an imaging unit 130, an illumination unit 140, a communication unit 160, a system control unit 150, and a power supply 110, and these respective units and power supplies are mounted inside the endoscope body 100c. ing.

  The flight means 120 includes a lift/thrust generation unit 120a, a drive unit 120b, and a flight control unit 120c. The drive unit 120b and the flight control unit 120c are mounted inside the endoscope body 100c, and the lift/thrust generation unit 120a is It is provided outside the endoscope body 100c.

  The endoscope body 100c has a substantially bullet-like shape, and the inside thereof is a sealed space 100d that is sealed so that liquid does not enter, and the sealed space 100d houses the circuit unit 100b. The circuit unit 100b has a circuit board 101 mounted inside the endoscope body 100c, and a plurality of electronic components (not shown) mounted on the circuit board 101. These electronic components are used as each unit (imaging unit 130, illumination unit 140, communication unit 160, system control unit 150) and power source 110 of the endoscope main body 100a, and as a flight control unit 120c and a driving unit 120b of the flight unit 120. Function. Further, a penetrating space (through hole) 20 is formed in the disk-shaped endoscope body 100c, and the penetrating space 20 accommodates a member forming the lift/thrust generating unit 120a.

  First, the configuration of the flight means 120 of the capsule endoscope 100 will be specifically described.

  In the flight means 120, the lift/thrust generation unit 120a generates lift and thrust in the endoscope body 100c, the drive unit 120b supplies drive voltage to the lift/thrust generation unit 120a, and the flight controller 120c The drive unit 120b is controlled, which will be described in detail below.

[Lift/Thrust Generator 120a of Flying Means 120]
The outer shape of the endoscope body 100c, which is the casing of the capsule endoscope 100, is substantially bullet-shaped as described above, but the outer shape of the endoscope body 100c is the same as that of the capsule endoscope 100 inside the body of the subject P. The shape is not particularly limited as long as it does not hinder the flight. Preferably, it is in a substantially spherical shape, a substantially hemispherical shape, or a substantially shell shape that facilitates smooth movement in a thin, narrow tubular portion such as the small intestine or large intestine.

  In the endoscope body 100c, four penetration spaces 20, specifically, four circular through holes 21a, 21b, 22a, 22b from the upper surface side to the lower surface side are evenly arranged around the center of the endoscope body 100c. It is formed so as to be located at various intervals. Rotor blades 11a, 11b, 12a, 12b are housed in the through holes 21a, 21b, 22a, 22b, respectively, and are rotatably supported with respect to the case 100c.

  More specifically, as shown in FIG. 5, component mounting bases 101a, 101b, 102a, 102b are arranged on the lower surface side of the through holes 21a, 21b, 22a, 22b, and the component mounting bases 101a, 101b. , 102a, 102b are supported by support arms 111a, 111b, 112a, 112b extending inward from the inner peripheral surfaces of the through holes 21a, 21b, 22a, 22b.

  Motors 121a, 121b, 122a, 122b for rotating the rotor blades 11a, 11b, 12a, 12b are fixed to the component mounting tables 101a, 101b, 102a, 102b with screws Bt or the like. Rotor blades 11a, 11b, 12a, 12b are attached to the rotary shafts of the respective motors 121a, 121b, 122a, 122b directly or via a connecting member (not shown) such as a hub. It is desirable that each of the motors 121a, 121b, 122a, 122b can rotate in both forward and reverse directions, and that each motor can independently control the rotation direction, the rotation speed, and the like. In the embodiment shown in FIG. 6, the respective motors 121a, 121b, 122a, 122b, which are drive sources, are provided in the respective rotary blades, but the present invention is not limited to this. For example, one rotor may drive each rotor.

  The motors 121a, 121b, 122a, 122b and the rotors 11a, 11b, 12a, 12b form a lift/thrust generation unit 120a of the flight means 120 of the capsule endoscope 100. It is preferable that each of the motors 121a, 121b, 122a, 122b has a waterproof structure in which liquid does not flow inside.

[Driving unit 120b of flight means 120]
The drive unit 120b includes speed controllers (ESC) 10a, 10b, 20a, 20b mounted on the circuit board 101. Each of the speed controllers 10a, 10b, 20a, 20b is connected to the corresponding motor 121a, 121b, 122a, 122b of the lift/thrust generation unit 120a, and the rotation speed signals E1a, E1b, E2a, Based on E2b, the drive currents D1a, D1b, D2a, to the motors 121a, 121b, 122a, 122b are adjusted so that the rotational speeds of the rotor blades 11a, 11b, 12a, 12b become the rotational speeds calculated by the flight controller 120c. It supplies D2b.

[Flight controller 120c of flight means 120]
The flight controller 120c is a modularized electronic component mounted on the circuit board 101, and flight according to the operation of the operator (forward, backward, ascend, descend, right move, left move, right turn, left turn). The rotation speed signals E1a, E1b, E2a, E2b are supplied to the drive unit 120b which calculates the rotation speeds of the respective rotor blades 11a, 11b, 12a, 12b based on the command signal Fc and drives the respective motors 121a, 121b, 122a, 122b. Is output.

  The flight controller 120c is equipped with one or more sensors for detecting the flight status of the flight means 120, for example, flight attitude, flight speed, flight position, or whether the flight position is in liquid or in gas. May be. When the sensors are provided, the motors 121a, 121b, 122a, 122b of the rotors 11a, 11b, 12a, 12b are feedback-controlled based on the information from the sensors so that stable flight is performed. It may be one that does.

  Next, the configuration of the endoscope body 100a of the capsule endoscope 100 will be specifically described.

[Imaging means 130 of the endoscope main body 100a]
The imaging unit 130 includes a CCD image sensor 131 that detects an image of a subject, an imaging lens 131a that collects light from the subject, and a CCD drive circuit 132 that drives the CCD image sensor 131. Here, the CCD image sensor 131, the imaging lens 131a, and the CCD drive circuit 132 are configured as one electronic component (camera module) that is modularized in consideration of the efficiency of the assembly work, and are mounted on the circuit board 101. There is.

  The CCD image sensor 131 performs a charge transfer operation of transferring charges obtained by photoelectrically converting light from the imaging lens 131a in each pixel to an output unit based on a drive signal Dr from the CCD drive circuit 132, and outputs the charge. The charge is converted into a detection signal De by the section and output to the communication unit 160.

  The image pickup device that constitutes the image pickup means 130 is not limited to the CCD image sensor, and may be another image pickup device, for example, a CMOS image sensor. The image pickup means 130 does not necessarily have to be modularized, and the electronic components forming the image pickup means 130 may be individually mounted on the circuit board 101.

[Illumination means 140 of the endoscope main body 100a]
The lighting unit 140 includes light emitting diodes (LEDs) 141a and 141b, and an LED drive circuit 142 that drives the light emitting diodes 141a and 141b. Here, the light emitting diodes 141a and 141b and the LED drive circuit 142 are configured as one electronic component (LED module) that is modularized in consideration of the efficiency of the assembly work, and are mounted on the circuit board 101. The illumination unit 140 is not limited to the LED module, and may be a light emitting element other than the LED, for example, an organic light emitting diode or a laser diode (LD) that is modularized, and the light emitting element is not limited to the semiconductor element. , A fine discharge tube or miniature bulb may be used. The illuminating means 140 does not necessarily have to be modularized, and the electronic components forming the illuminating means 140 may be individually mounted on the circuit board 101.

[System control means 150 of endoscope body 100a]
The system control unit 150 controls the image pickup unit 130 and the illumination unit 140 so that the inside of the body of the subject P is imaged based on the reception signal Rs received by the communication unit 160.

  Specifically, the system control unit 150 separates the flight command signal Fc related to the flight instruction included in the reception signal Rs from the control signals related to other imaging, and outputs the flight command signal Fc to the flight control circuit 120c. The control signal Cc for outputting and the control signal Lc for performing illumination are output to the CCD drive circuit 132 of the image capturing unit 130 and the LED drive circuit 142 of the illumination unit 140, respectively. The system control unit 150 is realized by, for example, a microprocessor chip and mounted on the circuit board 101.

[Communication means 160 of endoscope body 100a]
The communication unit 160 receives an operation signal from the operation remote controller 200 (see FIG. 7A) of the capsule endoscope 100, outputs the received signal Rs to the system control unit 150, and further the CCD of the image pickup unit 130. The detection signal De obtained by detecting the charge by the image sensor 131 is transmitted to the operation remote controller 200. The communication means 160 may be one in which the transmission circuit and the reception circuit are incorporated in the circuit board 101 as a modularized electronic component, or one in which the circuit elements forming the transmission circuit and the reception circuit are individually mounted on the circuit board 101. But it's okay.

[Power supply 110 for endoscope body 100a]
The power supply 110 includes a battery 110b and a power supply circuit 110a that steps down the output voltage of the battery 110b. A lithium ion battery is used as the battery 110b and is mounted on the circuit board 101. Further, as the power supply circuit 110a, a UBEC circuit that steps down the output voltage V1 of the lithium-ion battery and outputs the system voltage V2 used by other than the drive unit 120b of the flight means 120 is mounted on the circuit board 101.

  It should be noted that the capsule endoscope 100 may be configured to have a specific gravity similar to that of physiological saline as a whole. By doing so, when the capsule endoscope 100 moves through the liquid accumulated in the body of the subject P, the buoyancy acting on the capsule endoscope 100 and the gravity balance, and the electric power used for the vertical movement. Can be suppressed as much as possible.

[Endoscopy with Capsule Endoscope 100]
Next, a method of inspecting the subject P using the capsule endoscope 100 of the first embodiment will be described.

  FIG. 7 is a diagram for explaining an inspection system 1000 for performing an endoscopic inspection using the capsule endoscope 100 shown in FIG. 2, and schematically shows the configuration of the inspection system 1000.

  The inspection system 1000 includes the capsule endoscope 100 described above, an operation unit (operation remote controller 200) for operating the capsule endoscope 100, and an inspection apparatus 300 connected to the operation remote controller 200. Further, it may have an examination table Ts on which the subject P is placed.

  Here, the operation remote controller 200 has a remote controller housing 200a, a switch 201 mounted on the remote controller housing 200a, and a pair of operation levers 202a and 202b mounted on the remote controller housing 200a.

  One operation lever 202a of the pair of operation levers is a lever for vertically moving the capsule endoscope 100 vertically, and the other operation lever 202b is a lever for horizontally moving the capsule endoscope 100 forward, backward, leftward and rightward. is there. An antenna 203 and a connector 204 are attached to the remote controller housing 200a, and an operation signal is transmitted to the capsule endoscope 100 and a detection signal of an image obtained by the capsule endoscope 100 is received. Is possible. A detection signal from the capsule endoscope 100 received by the operation remote controller 200 is sent from the operation remote controller 200 to the inspection apparatus 300 via the connection cable Ca.

  However, the specific structure of the operation remote controller 200 is not limited to that described above. For example, it may be operated on the screen of a smartphone or a personal computer. Further, the operation unit for operating the capsule endoscope 100 may be provided in the inspection device 300 instead of the operation remote controller 200.

  The inspection apparatus 300 has an apparatus main body 301 and a display device (monitor) 302. The device main body 301 has a signal processing unit that processes a detection signal received from the capsule endoscope 100 via the operation remote controller 200 to generate a video signal, and the display device 302 has a video generated by the device main body 301. The image taken by the capsule endoscope 100 and the like are displayed based on the signal.

  Next, the movement of the capsule endoscope 100 in the examination of the subject P will be described using the capsule endoscope 100 of the first embodiment.

  In the capsule endoscope 100, the output voltage V1 of the lithium-ion battery 110b of the power source 110 is directly supplied to the driving unit 120b of the flight means 120, and further, the flight controller 120c of the flight means 120 and the system control of the endoscope body 100a. The power supply voltage V2 obtained by stepping down the output voltage V1 of the lithium ion battery 110b by the power supply circuit (UBEC) 110a is supplied from the power supply circuit 110a to the means 150, the imaging means 130, the lighting means 140, and the communication means 160.

  When the operation ON signal is transmitted from the operation remote controller 200 to the capsule endoscope 100 by the operation of the switch 201 of the operation remote controller 200, and the system control unit 150 receives the operation ON signal via the communication unit 160, the system control unit 150 causes the CCD to operate. The CCD drive signal Dr is output to the drive circuit 132, and the illumination control signal Lc is output to the LED drive circuit 142. As a result, in the capsule endoscope 100, imaging by the CCD image sensor 131 and illumination by the light emitting diodes 141a and 141b are started.

  FIG. 8 shows an example of a path of the capsule endoscope when performing an endoscopic examination using the capsule endoscope 100. As shown in FIG. 8, when the subject P swallows the capsule endoscope 100 through the mouth, the capsule endoscope 100 reaches the inside of the stomach due to the peristaltic movement of the esophagus. When the stomach is inspected, since the stomach is inflated with a foaming agent or the like to secure a region in which the capsule endoscope 100 can fly freely, the capsule endoscope 100 receives an operation signal from the operation remote controller 200. It is possible to observe and inspect the inside of the stomach by moving the capsule endoscope 100 while imaging the inner wall of the stomach by the imaging means 130 while flying based on the above.

  Therefore, the capsule endoscope 100 of the present invention has the flying means 120, and thus has an extremely excellent effect in that the inside of the stomach can be inspected, which is not possible with the conventional capsule endoscope. .

  Furthermore, the capsule endoscope 100 of the present invention can be moved to observation and examination of the duodenum, small intestine, and large intestine after the examination of the inside of the stomach is completed. In a case where a flightable space for observing the duodenum, small intestine, and large intestine cannot be ensured or in a difficult flight section, the capsule endoscope 100 is moved by the thrust of the flight means 120 without being lifted by the lift of the flight means 120. Alternatively, the peristaltic means may be used instead of the flying means 120.

  In a conventional self-propelled capsule endoscope driven by a caterpillar or the like, the driving means such as the caterpillar is exposed and the outer edge portion of the endoscope is not smooth, so that it directly comes into contact with a tissue surface in the body such as a large intestine mucous membrane to cause friction. However, the capsule endoscope 100 of the present invention has a smooth outer edge portion of the endoscope and flies so that direct contact with the tissue surface is minimized. Can be suppressed. Therefore, it is possible to move smoothly and prevent damage to the tissue surface.

  Further, since the capsule endoscope 100 of the present invention flies by the flight means, the direction change is easy and the examination time can be shortened. Therefore, it is possible to perform an advanced examination that is gentle on the body of the subject. After the duodenum, small intestine, and large intestine are sequentially examined, the examination is completed by excretion from the anus.

  In the flightable section of the stomach, the operator sees the image captured by the image capturing unit 130 on the display screen 301 of the examination apparatus 300 and operates the operation remote controller 200 to fly the capsule endoscope 100 while operating the inside of the stomach. The inside of the stomach is observed by moving it along the inner wall of B1.

  Note that the capsule endoscope 100 controls the rotation direction and the number of rotations of the four rotary wings to move the endoscope main body 100 in a motion other than forward/backward/upward/downward, for example, moving the rightward or leftward. Also, the right rotation or the left rotation can be performed similarly to the drone.

  In addition, the capsule endoscope 100 can advance in the liquid or on the liquid surface when the liquid substance is accumulated in the body of the subject. For example, it is possible to obtain lift by raising the rotating direction of the rotor blade in the forward direction to raise the rotor. On the contrary, by rotating the rotation direction in the opposite direction, it is possible to obtain a force in the direction opposite to the lift force and lower the force. Further, it is possible to increase the lift force by increasing the rotation speed, and it is possible to reduce the lift force by decreasing the rotation speed. Whether to reduce the rotation speed of the rotary blade or reverse the rotation direction when processing can be selected depending on the situation. Also, both may be performed.

  FIG. 9 shows an example of how the capsule endoscope 100 observes the inside of the stomach while flying inside the body of the subject.

  For example, the movement of the capsule endoscope when the region in the stomach has a space in which flight is possible as shown in FIG. 9 and observation is performed while moving in the arrow direction shown in the figure will be described.

  First, the stomach has a flyable space, which is a region Ra that is almost filled with gas. The capsule endoscope 100 is initially attached to the inner wall of the lower side of the stomach after passing through the esophagus or the like. It is generally arranged in a state of lying along the direction (the axis of the capsule endoscope is along the inner wall). The capsule endoscope 100 is operated so as to change its posture from a state of lying along the lower inner wall to a state of standing upright (the axis of the capsule endoscope is substantially vertical to the lower inner wall) and floating. The person operates the capsule endoscope.

  At this time, in the capsule endoscope 100, the operation means transmitted from the operation remote controller 200 by the operator is received by the communication means 160, and is output to the system control means 150 as a reception signal Rs. The system control means 150 determines that the received signal Rs is the flight command signal Fc related to flight control, and outputs it to the flight control means 120c as it is.

  When the flight control means 120c detects that the flight command signal Fc is instructing to change the posture of the capsule endoscope 100 to fly by analyzing the flight command signal Fc, first of all, The speed controller 10a, 10b, 20a, 20b corresponding to each rotary blade 11a, 11b, 12a, 12b is calculated by calculating the rotation direction and the number of rotations of each rotary blade 11a, 11b, 12a, 12b for changing the attitude and flying. The rotation speed signals E1a, E1b, E2a, and E2b for instructing the rotation direction and the rotation speed, respectively, are output. As a result, the speed controllers 10a, 10b, 20a, 20b cause the corresponding motors 121a, 121b, 122a, 122b to rotate the respective rotor blades 11a, 11b, 12a, 12b in the designated rotation direction and rotation speed. The drive currents D1a, D1b, D2a, D2b are applied.

  As a result, the two rotor blades 12a, 12b close to the lower inner wall rotate in the forward direction at a higher rotational speed than the two rotor blades 11a, 11b farther from the lower inner wall, and the left and right rotor blades 11a, 12a and the rotor blades 11b and 12b rotate in the positive direction at the same rotation speed. The rotation direction at this time is a positive direction for generating a lift force, and the rotation speed is a rotation speed at which the lift force Lf of the flight means 120 is larger than the gravity force Lf of the capsule endoscope.

  Therefore, as shown in FIG. 9, the capsule endoscope 100 is in a state of rising from a state of lying on the inner wall (the axis of the capsule endoscope is substantially perpendicular to the inner wall) and floating from the lower inner wall. To do.

  Further, as shown in FIG. 9, the axis of the capsule endoscope 100 may be perpendicular to the lower inner wall, and the capsule endoscope 100 may be raised to observe a large range of the lower inner wall. At this time, all of the four rotary blades are rotated in the forward direction and have the same rotation speed, and the rotation speed is such that the lift force Tf is larger than the gravity W of the capsule endoscope 100.

  Then, the inside of the stomach is observed by moving while observing another inner wall of the stomach. For example, as shown in FIG. 9, the operator operates the capsule endoscope 100 such that the capsule endoscope is moved from the downstream side of the stomach B1 to the upstream side (from the left side to the right side of the drawing) while keeping a constant altitude for observation. You may. In the capsule endoscope 100, the operation signal transmitted from the operation remote controller 200 is received by the communication unit 160 and output to the system control unit 150 as a reception signal Rs. The system control means 150 determines that the received signal Rs is the flight command signal Fc related to flight control, and outputs it to the flight control means 120c as it is.

  When the flight control means 120c detects that the flight command signal Fc is instructing to move forward while keeping the altitude constant by analyzing the flight command signal Fc, the flight control means 120c causes the capsule endoscope 100 to maintain the altitude constant. The rotation direction and the number of rotations of each of the rotary blades 11a, 11b, 12a, 12b for advancing while holding the same are calculated, and the speed controllers 10a, 10b, 20a, 20b corresponding to the rotary blades 11a, 11b, 12a, 12b are calculated. Rotation speed signals E1a, E1b, E2a and E2b for indicating the rotation direction and the rotation speed are output, respectively. As a result, the speed controllers 10a, 10b, 20a, 20b cause the corresponding motors 121a, 121b, 122a, 122b to rotate the respective rotor blades 11a, 11b, 12a, 12b in the designated rotation direction and rotation speed. The drive currents D1a, D1b, D2a, D2b are applied.

  As a result, the two rotor blades 12a, 12b on the downstream side of the stomach rotate in the positive direction at a higher rotational speed than the two rotor blades 11a, 11b on the upstream side, and the left and right rotor blades 11a, 12a and the rotor blades are rotated. 11b and 12b rotate in the positive direction at the same rotation speed. The rotation direction at this time is a positive direction for generating a lift force, and the rotation speed is a rotation speed at which the gravity Lf of the capsule endoscope and the lift force Lf of the flight means 120 are balanced. By doing so, as shown in FIG. 9, the capsule endoscope 100 is in a forward tilted posture and advances while maintaining a constant altitude.

  Further, when the capsule endoscope 100 is in the body of the subject P, the switch 201 of the operation remote controller 200 is in the photographing state (ON state), so that the image pickup operation by the image pickup unit 130 is performed. Specifically, in the image pickup means (CCD module) 130, the CCD image sensor 131 is driven by the drive signal Dr from the CCD drive circuit 132, and the light condensed by the image pickup lens 131 a is emitted from each pixel of the CCD image sensor 131. It is photoelectrically converted and is output to the communication means 160 as a detection signal De.

  The communication unit 160 transmits the input detection signal De to the operation remote controller 200, and when the detection signal De is transmitted from the operation remote controller 200 to the inspection device 300, the inspection device 300 converts the detection signal De into a video signal by signal processing. It is converted and displayed on the display device 302. In the capsule endoscope of the present invention, an image obtained by the image pickup means can be displayed on a display device (monitor) in real time, so that detailed advanced observation can be easily performed.

  At the time of photographing, in the illuminating means 140, the LED driving circuit 142 drives the light emitting diodes 141a and 141b to illuminate the light emitting diodes 141a and 141b. The photographing means and the lighting means may be always on, or may be turned on/off each time observation is performed.

  Then, when the capsule endoscope 100 approaches the position (vertical portion) B2 where the space in which the subject P can fly within the stomach B1 in the vertical direction rises, the operator decelerates the capsule endoscope 100. The operation remote controller 200 is operated as described above.

  Then, it is possible to perform various movements such as forward movement, backward movement, upward movement, downward movement, rightward movement, leftward movement, rightward rotation, and leftward rotation by adjusting the rotational direction and rotational speed of each rotary blade according to the situation. .. In observing the stomach, it is possible to observe all the inner walls of the stomach by placing the subject P in the supine position and the prone position.

  Conventionally, there has not been a capsule endoscope for observing and inspecting the inside of the stomach, but the capsule endoscope 100 of the present invention is provided with a flight means, which makes it possible to observe and inspect the stomach in a floating state. It has a special effect in terms.

  FIG. 10 shows an example of how the capsule endoscope 100 changes its posture from a flying state to a landing state in the body of the subject.

  When the flight control means 120c receives the flight command signal Fc instructing such a change in flight direction, the flight control means 120c causes the rotary wings 11a, 11b, 12a to reduce the flight speed of the capsule endoscope 100. , 12b are calculated, and the speed controllers 10a, 10b, 20a, 20b are controlled so that the rotational speeds of the rotor blades 11a, 11b, 12a, 12b become the calculated rotational speeds.

  As a result, the rotational speeds of the two rotary blades 11a and 11b facing the B2 side of the capsule endoscope 100 in the positive direction remain unchanged, whereas the two rotary blades 12a and 12b of the capsule endoscope 100 facing the B1 side in the positive direction. Reduce the number of rotations. However, the left and right rotary blades 11a and 11b rotate at the same rotation speed, and the left and right rotary blades 12a and 12b rotate at the same rotation speed. In this state, as shown in FIG. 10, the capsule endoscope 100 is in the succeeding posture (the posture in which the B1 side is inclined downward). After that, the rotational speeds of the four rotors are gradually reduced at a constant rate. By doing so, the lift force Lf acting on the capsule endoscope 100 gradually becomes smaller than the gravity W acting on the capsule endoscope 100, and the capsule endoscope 100 gradually lowers its altitude.

  After that, when the capsule endoscope 100 reaches the vicinity of the entrance of the duodenum B2, the rotation of the four rotors is stopped, and the imaging means 130 of the capsule endoscope 100 is on the B2 side (progress of the capsule endoscope). Direction) and the flight means 120 is laid along the lower inner wall in a posture in which the flight means 120 faces the B1 side (the direction opposite to the traveling direction of the capsule endoscope).

  The duodenum B2 normally has no space for flying the endoscope 100 as shown in FIG. In such a case, the thrust Tf in the direction shown in FIG. 11 is generated by rotating the four rotor blades in the rotation direction opposite to the direction in which they fly. As a result, the capsule endoscope 100 can move along the inner wall of the duodenum by the thrust Tf without flying. While moving, it is possible to observe the inside of the body with the imaging means existing on the distal side in the traveling direction. The movement by the thrust Tf without flying is similar to that of the conventional self-propelled type, but unlike a caterpillar or the like, the portion contacting the inner wall is smooth and the movement is smooth, so that the movement time can be shortened. .. In addition, it is possible to suppress damage to internal tissues. However, when the inner wall meanders in various directions, the attitude of the capsule endoscope may be adjusted by generating not only the thrust in the horizontal direction but also the lift in the vertical direction.

  Observation of the small intestine and large intestine after the observation of the duodenum is basically the same as that of the duodenum. The flight means 120 is rotated in the direction opposite to the direction in which the flight means is rotated to generate thrust, which is moved in the small intestine and large intestine without flying, and the inner wall is provided by the imaging means existing on the tip side in the traveling direction. Observe while shooting. In the intestine (especially in the large intestine), the inner wall meanders in various directions, so it may be necessary to change the posture of the capsule endoscope. In that case, not only the horizontal thrust Tf but also the vertical thrust The lift is also generated to adjust the posture.

  FIG. 12 shows an example of how the psell endoscope 100 observes the inside of the subject (large intestine). As shown in FIG. 12, in the case of observing the large intestine B3, it is preferable to change the posture by changing the rotation speed of each rotary blade according to the direction in which the inner wall advances.

  For example, if the inner wall is in the upward direction, the rotation speed of the rotor on the side closer to the inner wall is increased, and the rotation speed of the rotor on the side farther from the inner wall is decreased to lower the posture of the capsule endoscope downward. It is possible to follow the inner wall of the road. On the other hand, when the inner wall is in the downward direction, the rotation speed of the rotor on the side close to the inner wall is low and the rotation speed of the rotor on the side far from the inner wall is high, so that the posture of the capsule endoscope is upward. It becomes possible to make it follow the inner wall which advances to. In addition, when there is a flight space in the duodenum, small intestine, and large intestine, the flight may be performed by flying the capsule endoscope 100 by the flight means 120. When the observation of the large intestine is completed, the capsule endoscope 100 is taken out from the anus, and the in-vivo examination is completed.

  In the above-described embodiment, the side of the capsule endoscope 100 on which the image capturing means is present is disposed in the traveling direction side, and the thrust is generated by setting the rotating direction of the flying means 120 in the opposite rotating direction to that when flying. Although the case of observing the inside of the intestine (duodenum, small intestine, large intestine) while moving it is described, the side of the capsule endoscope 100 on which the imaging means is present is arranged on the side opposite to the traveling direction, and the flight means 120 rotates. You may observe the inside of the intestine (duodenum, small intestine, large intestine) while moving by generating a thrust by setting the rotation direction to the forward direction in the same manner as when flying in the direction.

  Further, in the above embodiment, the movement of the endoscope when examining the stomach, duodenum, small intestine, and large intestine has been described, but the present invention is not limited to this.

  For example, it may be the case where all gastrointestinal tracts are examined by moving from the esophagus to the large intestine, or only the lower gastrointestinal tract (large intestine and/or small intestine) is inspected by inserting from the anus and moving by thrust and then vice versa It may also be the case that the endoscope is taken out from the anus by moving it to the anus by the thrust in the direction.

  FIG. 13: is a figure which shows an example of a mode that the capsule endoscope 100 moves in the liquid in a subject's body.

  For example, as shown in FIG. 13, even when the liquid substance Rw is accumulated in the body of the subject, the lift force Lf and the thrust force generated in the endoscope body 100c by the rotation of the rotor blades 11a, 11b, 12a, 12b. By controlling the magnitude of Tf, it is possible to accelerate, decelerate, stop, ascend, and descend in the liquid material. However, since the running resistance in the liquid material is larger than that in the gas, it cannot move as fast as when the body of the subject is filled with air or inflation gas. Further, the resistance associated with the rotation of the rotor blades 11a, 11b, 12a, 12b is large, and there is a risk of damage when rotating at high speed. For this reason, when navigating in liquid, it is possible to avoid it by suppressing the rotational speed of the rotor blades 11a, 11b, 12a, 12b to be lower than in navigating in gas.

  Further, by making the specific gravity of the entire capsule endoscope 100 light and making it about the same as the specific gravity of physiological saline, the power consumed to move the capsule endoscope 100 in the vertical direction in the liquid in the body is reduced. It can be kept small.

  As described above, the capsule endoscope 100 according to the first embodiment is a self-flying capsule endoscope 100. The endoscope body 100c equipped with the endoscope body 100a and the endoscope body 100c are flown. Since the flight means 120 is provided, the capsule endoscope 100 can be moved from the bottom to the top without depending on the peristaltic movement of the internal organs even in a space extending in the vertical direction in the body of the subject P. It is possible to dramatically reduce the time required for endoscopic examination (for example, examination of all digestive tracts from the esophagus to the large intestine within 30 minutes, and examination of only large intestine about 10 minutes).

  In addition, in the capsule endoscope 100 of the first embodiment, the flight means 120 includes a lift/thrust generation unit 120a that generates lift and thrust in the endoscope body 100a, and the lift/thrust generation unit 120a is an endoscope. Since the lift is generated in the machine body 100c independently of the thrust, it is possible to make the endoscope body 100a stand still in the air, which allows a specific place in the body of the subject P to be examined. Can be inspected in detail.

  Further, in the capsule endoscope 100 of the first embodiment, the flight means 120 includes flight control means 120c that controls the lift/thrust generation unit 120a, and the flight control means 120c determines the position and orientation of the endoscope body 100c. Since each has a hovering function that automatically controls the thrust generator 120a so as to maintain a predetermined position and a predetermined posture, when the endoscope body 100c is stopped at a predetermined position in the air, the endoscope body 100a It is not necessary for the operator to operate the flight of 1), and the work of inspecting a specific place inside the body of the subject P in detail can be facilitated.

  Further, in the capsule endoscope 100 according to the first embodiment, the thrust generation unit 120a rotates the rotary blades 11a, 11b, 12a, 12b that generate lift and thrust in the endoscope body 100c. A plurality of motors 121a, 121b, 122a, 122b are provided, and the rotation direction and the number of rotations of each of the plurality of rotor blades are controlled so that lift and thrust are generated in the endoscope body 100c by the drive currents of the plurality of motors. Therefore, it is possible to control the flight speed and the flight direction only by changing the rotation direction and the number of rotations of the plurality of rotor blades, and the structure of the flight means for flying the endoscope body 100c can be simplified. In addition, the flight means can be used as means for adjusting the movement and posture of the endoscope without causing the endoscope to fly in a situation where a flight space cannot be secured.

  Moreover, in the capsule endoscope 100 of the first embodiment, the rotor blades 11a, 11b, 12a are provided in the penetrating space 20 (21a, 21b, 22a, 22b) formed in the endoscope body 100c in which the endoscope body 100a is mounted. , 12b are arranged, damage caused by direct contact of the outer peripheral edge of the rotary blade with internal tissues such as the organs of the subject P is prevented, so that a safe and secure inspection can be performed.

  FIG. 14 shows a capsule endoscope 100 according to the second embodiment of the present invention.

  In the first embodiment, the endoscope body 100c has a substantially bullet shape, but may have a substantially hemispherical shape (FIG. 14A). With the hemispherical shape, the contact with the inner wall of the body becomes smoother, and it becomes possible to move the body and change the posture of the capsule endoscope 100 more easily. As a result, the tissue in the body can be shortened in a shorter time. It enables safe and secure observation that can suppress damage to the body.

  The endoscope body 100c may include a cover 1002 that covers the flight means 120 and that is melted by gastric juice or the like (FIG. 14B). By including the cover 1002, the part of the flight means 120 can reach the stomach without directly contacting the body tissue. As a result, damage to the surface of the tissue can be minimized, and the capsule endoscope 100c of the present invention can be safely put into the body through the mouth. Since the cover 1002 is configured to dissolve in gastric juice, the flight means 120 can be used in a state where movement by the flight means 120 by the stomach (duodenum, small intestine, large intestine, etc. in some cases) is required. The material of the cover 1002 may be any material as long as it can be dissolved in gastric juice or the like. Examples thereof include cellulose and gelatin, but the present invention is not limited thereto.

  In addition, the endoscope body 100c may include a net member 1003 that covers the rotary wing (FIG. 14C). By including the net member 1003, it is possible to reliably prevent damage to internal tissues. The material of the net member 1003 can be any material. For example, a resin such as plastic or a metal such as titanium or stainless is used, but the present invention is not limited to this.

  Although the present invention has been illustrated by using the preferred embodiment of the present invention as described above, the present invention should not be construed as being limited to this embodiment. It is understood that the scope of the present invention should be construed only by the scope of the claims. It is understood that those skilled in the art can implement equivalent ranges based on the description of the present invention and common general knowledge from the description of the specific preferred embodiments of the present invention. It is understood that the documents cited in the present specification should be incorporated by reference in the same manner as the contents themselves are specifically described in the present specification.

  INDUSTRIAL APPLICABILITY The present invention is useful in the field of endoscopes as a capsule endoscope that can drastically reduce the time required for an examination with a capsule endoscope.

11a, 11b, 12a, 12b Rotor blade 100 Capsule endoscope 100a Endoscope body 100c Endoscope body 120 Flight means

Claims (1)

The invention described herein.