JP3298153B2 - Micromachine communication device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a micromachine, and more particularly to a communication device for a micromachine in a biological application field.

[0002]

2. Description of the Related Art With the advancement of micromachines, application research as medical microrobots for directly treating affected parts by introducing the micromachines into living bodies has been advanced. In order to drive and control the micromachine as the medical microrobot, communication means for exchanging signals between the micromachine and the outside is required. Conventionally,
A method using direct wiring is used as the communication means. For example, a fine metal wire or a planar wiring on a substrate is used as the wiring, and one end of the wiring is connected to a micromachine, and the other end is connected to an external communication device.

[0003] A conventional micromachine will be described below using an endoscope as an example. 3 is a use view of an endoscope using a conventional micromachine, FIG. 4 is a cross-sectional view of an endoscope using a conventional micromachine, and FIG. 5 is a structural diagram of an endoscope using a conventional micromachine. . In the figure, 60 is a treatment unit, 61 is an endoscope, 62 is a laser device, 63 is a light source,
64 is an image fiber display device, 65 is a remote manipulator, 66 is an optical fiber for laser, 67 is a light guide, 68 is an image guide, 69 is a micromanipulator, 70 is a tube, and 71 is a microactuator.

[0004] The endoscope 61 is inserted from a peripheral artery and reaches the treatment section 60 for treatment of, for example, myocardial infarction and used. The endoscope 61 includes a laser optical fiber 66, a light guide 67, an image guide 68,
And a micromanipulator 69, the tip of which is exposed to the outside. On the other hand, at the other end of the endoscope 61, a laser device 62, a light source 63, an image fiber display device 64, and a remote manipulator 65 are installed.
, A light guide 67 is connected to the light source 63, an image guide 68 is connected to the image fiber display device 64, and a micromanipulator 69 is connected to the remote manipulator 65.

In the endoscope having the above-described structure, the illuminating light from the light source 63 illuminates the treatment section 60 via the light guide 67, and the image is projected on the image fiber display device 64 via the image guide 68. At the time of treatment, while viewing the image of the image fiber display device 64, the treatment unit 60 is irradiated with laser light transmitted from the laser device 62 via the laser optical fiber 66, or the remote manipulator 65 is operated. The micromanipulator 69 is driven via wiring and a link mechanism.

In order to operate the tube 70 in a narrow place such as in a blood vessel, a microactuator 71 is attached to the tube 70 itself, and is controlled and driven through a control signal or a link mechanism from an external device through a wiring. Is performed. Therefore, in an endoscope using a conventional micromachine, control signals for operating and driving the micromachine are transmitted and received by a link mechanism connected to the outside, a fine metal wire, or a flat wiring on a substrate. It is performed by the wiring for use. In addition, the measurement signal from the micromachine is taken out to the outside by a fine metal wire connected to the outside or a signal wiring by a planar wiring on a substrate.

[0007]

However, the above-described conventional micromachine has the following problems. (1) In the conventional micromachine, the operable range of the driven micromachine is limited by wiring.

That is, since the conventional micromachine is directly connected to an external device by a wiring used for control or measurement, the reach distance and reachable position of the micromachine are limited by the length of the wiring and the route of the wiring.
For example, since an endoscope or the like performs communication by wiring in a tube, the range in which the distal end can move is the range in which the tube can be introduced. (2) Further, in order to drive a multifunctional micromachine, a large number of signal wirings and link mechanisms are required corresponding to each function, and the mechanism becomes complicated. (3) Further, in a micromachine having a so-called string-less basic configuration, it is essential to ensure the feedback to the measurement system as well as the elimination of the wiring directly connected to the outside.

For example, an implantable therapeutic device, an extracorporeal micromachine pill for measuring, diagnosing, and treating in the digestive tract and other luminal organs, and indwelling in tissues, blood vessels, and body cavities to transmit information inside the body. In a micromachine that measures data while staying for a relatively long period of time, such as an internal micromachine pill that performs treatment, wiring that is directly connected to the outside must be excluded, but the transmission system is used for feedback with the measurement system. Is essential. (4) When a radio system using radio waves is used to transmit a signal for controlling or measuring a micromachine,
There is a risk of malfunction due to interference.

That is, as a means for removing the restriction on the operable range of the micromachine by the wiring described in the above (1), a radio system using radio waves can be generally considered. However, in the case of radio waves, a problem of malfunction due to interference occurs. Malfunctions are not allowed in important application fields such as medical equipment. The present invention has been made to solve the above-mentioned problems, and to provide a communication device for a micromachine in which a so-called stringless micromachine is used, a wiring directly connected to the outside is eliminated, and a highly reliable transmission system without interference is provided. With the goal.

It is another object of the present invention to provide a communication device of a micromachine which enables bidirectional communication and multiplex communication between the micromachine and an external device.

[0012]

Means for Solving the Problems In order to overcome the above-mentioned problems, the present invention first provides a communication device for performing communication between a micromachine and the outside in an external communication device installed outside the micromachine and inside the micromachine. It comprises an internal communication device to be installed, and uses visible light and near-infrared light from 600 nm to 1800 nm as communication means between the communication devices.

As a light emitting source, for example, GaAs or In
Laser diode using P-based compound semiconductor (L
D) and light emitting diodes (LEDs)
Further, a photodiode using Si, InGaAs, or the like can be used for the light receiver.

[0014]

According to the present invention, optical communication using visible light or near-infrared light is used as a communication means of a communication device for performing communication between the micromachine and the outside, so that wiring is not required unlike the related art. In addition, by using light of different wavelengths as light emitting sources and using light receiving devices having different sensitivity characteristics depending on wavelengths, it is possible to easily eliminate the problem of interference which is a problem in communication by radio waves.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a configuration diagram of a micromachine communication device of the present invention. In FIG. 1, 1 is an external communication device, 2 is a control signal source, 3 is a light source, 4 is an optical system, 5 is a light beam, 11 is an internal communication device, 12 is a signal processing circuit,
3 is an optical receiver, 14 is an optical system, 21 is a micromachine main body, 22 is an actuator, 23 is a propulsion device, 31 is a medicine ejector, 32 is a valve, 33 is a medicine tank, 34 is a capture / treatment device, 35 is a sensor, 36 is a sample collection device.

The micromachine communication device of the present invention comprises an external communication device 1 and an internal communication device 11. The external communication device 1 is placed outside the body, and the light from the light emitting source 3, whose light emission is controlled by the control signal source 2, is directed as a light beam 5 through the optical system 4 toward the micromachine body 21 inside the body. Irradiated. Therefore, the control signal is transmitted using light as a medium.

On the other hand, the internal communication device 11 is provided in the main body 21 of the micromachine. The internal communication device 11 receives the light beam 5 emitted from the external communication device 1 by the optical system 14 and the light receiving device 13 and converts the received light signal into a signal. The signal is converted into an electric signal in the processing circuit 12. The signal from the signal processing circuit 12 of the internal communication device 11 controls the micromachine body 21.

The micromachine main body 21 has, for example, the following medical equipment in addition to the internal communication device 11. The movement of the micromachine body 21 is performed by a propulsion device 23 driven by an actuator 22. The propulsion device 23 includes, for example, a flagellar motor. Further, from the actuator 22, a medicine ejector 31 projects its tip outside the micromachine body 21, and ejects the medicine stored in the medicine tank 33. The control of the injection of the medicine is performed by the valve 32, and the medicine can be locally administered. A capture / treatment device 34 protrudes from the actuator 22 to the outside of the micromachine main body 21, and can perform capture and various treatments on an affected part or the like. Further, a sensor 35 is transmitted from the actuator 22 to the micromachine main body 21.
From the outside to perform various measurements. The measurement items include, for example, temperature, pressure, p
H, detection of bleeding site, enzyme activity, oxygen partial pressure, carbon dioxide partial pressure, chloride ion, etc.

A sample collection device 36 is provided on the actuator 22 and protrudes from the micromachine body 21 to the outside, so that a sample from each part can be collected. The sample can be analyzed inside the micromachine body 21 or taken out of the body. Said,
The various functions of the micromachine 21 are based on the internal communication device 11.
Is controlled by the control signal received by the controller.

In the micromachine communication device of the present invention, visible light and near-infrared light having a wavelength of 600 nm to 1800 nm are used as optical communication means instead of wireless means using radio waves. In general, it is known that the wavelength range of near-infrared light that easily passes through the inside of a living body is usually 700 nm to 1500 nm. In addition, the attenuation tends to gradually decrease at the longer wavelength side, and in consideration of the wavelength characteristics of absorption loss due to moisture and the characteristics of the light emitting source and the light receiving element, the wavelength range usable for communication is 600 nm. From 1800n
m.

A laser diode (LD) using a GaAs or InP compound semiconductor as the light source.
And a light emitting diode (LED). On the other hand, a photodiode using Si, InGaAs, or the like can be used for the light receiver. Next, the state of light transmission in a living body will be described.

FIG. 2 is a transparent conceptual diagram of the micromachine communication device of the present invention. In the figure, 1 is an external communication device, 1
1 is an internal communication device, 21 is a micromachine main body, 41 is an outer wall of a living body, and 42 is an inner wall of a living body. External communication device 1
Is transmitted through the outer wall 41 of the living body and received by the internal communication device 11 of the micromachine body 21 inside the living body.

Rather than penetrating the living tissue by a single transmission into the living body, the light is repeatedly reflected by the inner wall 42 and the opposing outer wall 43 inside the living body, and reaches the internal communication device 11 after multiple reflection. This internal reflection is performed about four times at the maximum. Therefore, it is necessary to limit the signal speed so that an error does not occur in the received signal due to multiple interference due to multiple reflection. For example, in the case of a human head, the impulse response time is about 10 ns. Therefore, in the case of a digital signal system, the upper limit of the signal speed is on the order of approximately 50 Mbps. This signal speed is a speed sufficient for ordinary communication capacity, and does not hinder practical use.

In the embodiment of the micromachine communication device of the present invention, the internal communication device 11 on the micromachine side is used.
Shows an example of one-sided communication in which only reception is performed. Next, embodiments of two-way communication and multiplex communication will be described. First, an embodiment of bidirectional communication will be described. FIG. 6 is a conceptual diagram of bidirectional communication of the second embodiment of the micromachine communication device of the present invention.

In the figure, 6 is an external communication device, 16 is an internal communication device, 21 is a micromachine main body, 81 is a light emitter, 82 is a light receiver, 91 is a light emitter, and 82 is a light receiver. The external communication device 6 has a light emitter 81 and a light receiver 82, while the internal communication device 16 has a light emitter 91 and a light receiver 92. The light emitter 81 emits an optical signal according to the control of the control signal, and is received by the light receiver 92. After the signal received by the light receiver 92 is signal-processed, the control of the micromachine main body 21 and the control of various devices provided in the micromachine main body 21 are performed.

On the other hand, the status signal of the micromachine main body 21 and the measurement signals of various devices provided in the micromachine main body 21 are transmitted from the light emitter 91 to the external communication device 11 outside the body in the form of optical signals, and are transmitted to the light receiver 82. Received by With the above configuration, bidirectional communication can be performed between the external communication device and the internal communication device on the micromachine side.

In the above two-way communication, the wavelength of light used between the light emitting device 81 of the external communication device 6 and the light receiving device 92 of the internal communication device 16, the light emitting device 91 of the internal communication device 16, and the external communication device By making the wavelength of the light used between the light receiving device 82 and the sixth light receiving device 82 different from each other, it is possible to prevent interference between the two communications. Next, an embodiment of multiplex communication will be described.

FIG. 7 is a conceptual diagram of the multiplex communication of the third embodiment of the micromachine communication device of the present invention. In the figure,
7 is an external communication device, 17 is an internal communication device, 21 is a micromachine main body, 80 is a control signal source, 81, 83,.
9n is a light emitting device, 90 is a signal processing circuit, 92, 94,.

The external communication device 7 includes a control signal source 80 and a light emitter 81 which emits light in response to a transmission signal from the control signal source 80;
8m, while the internal communication device 16 is a light receiver 9 for receiving optical signals from the light emitters 81, 83,.
, 9n and a signal processing circuit 90.
The interference can be prevented by making the wavelengths of the light emitted by the light emitters 81, 83,... 8m different from each other. The wavelength of the emitted light can be changed by changing the light emission characteristics of the light emitting elements constituting the light emitters 81, 83,.

For example, AlGaAs, GaAsP, and GaP light emitting diodes that emit light in the 600 nm to 700 nm band, AlGaAs light emitting diodes that emit light in the 800 nm band, and InG light that emits light in the 1000 nm band.
aAsP light emitting diode or the like can be used.
nm, 780 nm, 850 nm, 880 nm, 1300
The wavelengths, such as nm and 1550 nm, can be wavelength ranges available from existing light sources.

On the other hand, the light receiving sensitivities of the light receivers 92, 94,... 9n are different from each other. For example, the light receiving sensitivity of the light receiver 92 is a sensitivity suitable for receiving the wavelength of light emitted from the light emitter 81. The light receiving sensitivity of the light receiving device 94 is
Is a sensitivity suitable for receiving the wavelength of the light emitted, and similarly, the light receiving sensitivity of the light receiver 9n is a sensitivity suitable for receiving the wavelength of the light emitted by the light emitter 8m.

With the configuration of the light emitting device and the light receiving device, it is possible to prevent interference of transmission light. That is, the light emitting device 81
9n pass through the body and reach the photodetectors 92, 94,... 9n on the micromachine side, but only the photodetector 92 can receive the light emitted from the photodetector 81 because of the light receiving sensitivity. is there. Similarly, only the light receiver 94 can receive the light emitted from the light emitter 83, and only the light receiver 9n can receive the light emitted from the light emitter 8m. Other light receivers cannot receive light with a kind of filter due to light receiving sensitivity, and can prevent interference.

In the following, description will be made on wavelength selection in the case of multiplex communication of the micromachine communication apparatus of the present invention. FIG.
9 is a wavelength characteristic diagram of the micromachine communication device of the present invention. FIG. 8A shows the spectrum of the transmission light emitted from the external transmission device 7. In the figure, 800 is used as an example.
Two wavelengths, a wavelength in the nm band and a wavelength in the 1300 nm band, are shown. When the 800 nm band wavelength and the 1300 nm band wavelength are emitted from the light emitters 81 and 83, the two wavelengths reach the light receiver 92. Here, assuming that the light receiving sensitivity of the light receiver 92 is, for example, the light receiving sensitivity of Si as shown in FIG. 8B, the wavelength received by the light receiver 92 is the wavelength in the 800 nm band as shown in FIG. It can be.

On the other hand, FIG. 9 shows a case where a wavelength in the 1300 nm band is received. FIG. 9A shows the spectrum of the transmission light emitted from the external transmitter 7 transmitting two wavelengths, 800 nm band wavelength and 1300 nm band wavelength, similarly to FIG. 8A. When the light emitting device 81 and the light emitting device 83 emit light of a wavelength of 800 nm band and a wavelength of 1300 nm band,
The two wavelengths reach the receiver 94. Here, the light receiver 94
The light receiving sensitivity of InGa as shown in FIG.
Assuming the light receiving sensitivity of As, the wavelength that can be received by the light receiver 94 can be a wavelength in the 1300 nm band.

As described above, by making the light receiving sensitivity of the light receiver different, even if optical signals of different wavelengths reach the micromachine communication device at the same time, they can be separated and sorted. In some cases, wavelength separation and selection is performed by using a wavelength selective filter,
The wavelength separation / selection characteristics can also be improved. For example, as shown in FIG.
This can be realized by arranging 0.

Various functions of the micromachine can be controlled by the multiplex communication. In the embodiment of the multiplex communication, one-way communication has been described. However, two-way communication may be used. In this case, various status signals and measurement signals from the micromachine can be transmitted to the external communication device.

FIG. 10 shows another embodiment of the transmitting section of the external communication device. In the figure, 1 is an external communication device, 8 is an optical fiber cord, and 9 is a radiator. In this embodiment, an optical fiber cord 8 is used as a part of the light guide section of the transmitting section, and transmission light is emitted from a radiator 9 installed at the tip of the optical fiber cord 8.

With the above configuration, it is possible to easily control the direction of the light emitted from the external communication device 1. That is, the direction of the light beam 5 from the radiator 9 can be adjusted according to the position of the micromachine main body 21 in the body and the direction of the light receiving system 14 of the internal communication device 11 of the micromachine. The evaluation of the appropriateness of the direction of the irradiation light can be performed by, for example, measuring the intensity of a signal transmitted from a micromachine.

It should be noted that the present invention is not limited to the above embodiment, and various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[0040]

As described above, according to the present invention, (1) the operable range of the micromachine is not restricted by the wiring, and the operation position and the operation distance can be improved. (2) Further, by multiplex communication with less possibility of interference, multifunctional micromachines can be driven without using many signal wirings and complicated link mechanisms. (3) Wiring directly connected to the outside can be eliminated and feedback with the measurement system can be ensured. (4) A signal for controlling or measuring a micromachine can be transmitted without causing a malfunction due to interference, and a highly reliable transmission system can be secured. (5) Two-way communication and multiplex communication can be performed between the micromachine and the external device.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a micromachine communication device of the present invention.

FIG. 2 is a transparent conceptual diagram of the micromachine communication device of the present invention.

FIG. 3 is a view showing the use of an endoscope using a conventional micromachine.

FIG. 4 is a cross-sectional view of an endoscope using a conventional micromachine.

FIG. 5 is a structural diagram of an endoscope using a conventional micromachine.

FIG. 6 is a conceptual diagram of bidirectional communication of a second embodiment of the micromachine communication device of the present invention.

FIG. 7 is a conceptual diagram of multiplex communication of a third embodiment of the micromachine communication device of the present invention.

FIG. 8 is a wavelength characteristic diagram of the micromachine communication device of the present invention.

FIG. 9 is a wavelength characteristic diagram of the micromachine communication device of the present invention.

FIG. 10 is another embodiment of the transmitting section of the external communication device of the present invention.

[Explanation of symbols]

1, 6, 7 ... external communication device, 2, 80 ... control signal source, 3
... Light-emitting source, 4 ... Optical system, 5 ... Light beam, 8 ... Optical fiber cord, 9 ... Emitter, 11, 16, 17 ... Internal communication device, 12, 90 ... Signal processing circuit, 13 ... Light receiver, 14 ...
Optical system, 21: Micromachine body, 22: Actuator, 23: Propulsion device, 31: Drug injector, 32: Valve, 33: Drug tank, 34: Capture / treatment device, 35: Sensor, 36: Sample collection device, 41 ... the outer wall of the living body, 42 ...
Inner wall of a living body, 81, 83, 8 m, 91 ... light emitting device, 82,
92, 94, 9n: light receiver, 100: filter

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-112305 (JP, A) JP-A-60-180788 (JP, A) JP-A-4-164581 (JP, A) JP-A 62-180 102771 (JP, A) JP-A-53-135665 (JP, A) JP-A-55-90145 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 17/00 H04B 10 / 00 H04B 10/22 H04Q 9/00

Claims (1)

(57) [Claims] An external communication device installed outside the micromachine; and an internal communication device installed inside the micromachine, wherein communication between the communication devices is performed with visible light and / or near-infrared light of 600 nm to 1800 nm. And a bi-directional communication using different wavelengths in each communication direction to perform communication between inside and outside a living body.