JP4699013B2 - Capsule type medical device body and capsule type medical system - Google Patents

Description

  The present invention relates to a capsule medical device body and a capsule medical system that are sent into a living body and are suitable for propelling the living body.

  Japanese Patent Publication No. 60-56489 discloses a conventional example in which a spiral rotation propulsion unit provided with a spiral projection is rotated to propel the inside of a subject. Japanese Patent Publication No. 60-56489 discloses an intracorporeal guidance device that mounts a relative helical mechanism at the distal end of an endoscope and guides the distal end of the endoscope into a body cavity.

  The intra-body-cavity guidance device described in the above publication includes a spiral rotation propulsion unit in which the spiral protrusions are provided in opposite directions, and is propelled by itself by rotationally driving these spiral rotation propulsion units in opposite directions. It is supposed to be. For this reason, the body cavity guidance device described in the above publication has a simpler insertion procedure than the method of pressing and inserting the distal end portion of the endoscope into the body cavity.

Recently, capsule-type medical systems have come into use. The capsule medical system includes a capsule medical device body (hereinafter simply referred to as a capsule body). The capsule body is formed so that the subject can easily swallow it. The capsule body is fed into the body cavity by being swallowed from the patient's mouth. The capsule body can easily reach the deep part of the body cavity, which is difficult to reach even with an endoscope having an elongated insertion part, such as the vicinity of the small intestine, and can perform medical treatment such as observation / diagnosis or treatment.
Japanese Patent Publication No. 60-56489

  Since the conventional capsule medical system is configured to apply the technique described in the above Japanese Patent Publication No. 60-56489 to the capsule body, there is no portion to replace the endoscope insertion portion that becomes the base of rotation. If they are rotated in opposite directions, the spiral rotation propulsion unit may rotate idle or not rotate at all and may not function properly and cannot be propelled into the body cavity.

  The present invention has been made in view of the above circumstances, and provides a capsule medical device body and a capsule medical system in which a helical rotation propulsion unit functions well and can obtain a propulsive force into a body cavity. With the goal.

The capsule medical device main body of one embodiment of the present invention is a capsule medical device main body that is fed into a living body and propels the living body, and is connected to the base portion and the base portion, and has a spiral shape on the outer surface. A spiral rotation propulsion portion provided with a protrusion, and a rotation means for rotating the spiral rotation propulsion portion relative to the base portion, wherein the spiral rotation propulsion portion provided with the spiral protrusion is the rotation By rotating by means, a propulsive force is generated in the direction of the helical axis to advance and the base portion rotates on the outer surface of the body cavity without obstructing the propulsion of the helical rotation propulsion portion. An anti-rotation means formed by a groove or a protrusion for preventing the rotation is provided.
A capsule medical system body according to one embodiment of the present invention includes a capsule medical device body that promotes in vivo, and an extracorporeal device that is provided outside the body and transmits and receives signals to and from the capsule medical device body. The capsule medical device body includes a base portion, a spiral rotation propulsion portion coupled to the base portion and provided with a spiral protrusion on an outer surface, and the spiral rotation propulsion portion relative to the base portion. Rotating means for rotating automatically, image information obtaining means for obtaining image information in the living body provided integrally with the spiral rotation propulsion section, and relative to the living body or the base section with respect to the spiral rotation propulsion section Angle detection means for detecting a typical rotation angle, information-related means for associating angle information from the angle detection means with image information acquired by the image information acquisition means, and the image information acquisition An in-vivo communication means for transmitting the image information acquired by the stage to the extracorporeal device, and the helical rotation propulsion unit provided with the helical protrusion is rotated in the direction of the helical axis by being rotated by the rotating means. A rotation formed by a groove or a protrusion that moves forward by generating a propulsive force and prevents the rotation of the base portion relative to the inner wall of the body cavity without disturbing the propulsion of the helical rotation propulsion portion on the outer surface of the base portion. And an extracorporeal device that corrects the display angle of the image information based on the angle information and the extracorporeal communication unit that receives the image information transmitted from the in-vivo communication unit of the capsule medical device body. And an angle correction means.

  The capsule medical device main body and the capsule medical system of the present invention have an effect that the helical rotation propulsion unit functions well to obtain a propulsion force into the body cavity.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 to 20 relate to the first embodiment of the present invention, FIG. 1 is an overall configuration diagram showing a schematic configuration of the capsule medical system of the first embodiment, FIG. 2 is an external explanatory diagram of the capsule main body of FIG. 2 is an explanatory view showing the internal configuration of the capsule body of FIG. 2, FIG. 4 is an explanatory view showing the state immediately before the capsule body of FIG. 2 passes through the narrowed portion of the intraluminal duct, and FIG. 5 is from the state of FIG. FIG. 6 is an explanatory view showing the state of the capsule body when it escapes from the narrowed portion of the body cavity conduit by rocking (vibration), and FIG. 6 is immediately after it escapes from the narrowed portion of the body cavity conduit from the state of FIG. FIG. 7 is a schematic diagram showing a capsule body provided with an angle detection sensor, and FIG. 8 shows angle correction processing performed based on angle information detected by the angle detection sensor of FIG. Conceptual diagram, Fig. 9 shows spiral contact using shape memory alloy FIG. 10 is an explanatory view showing the internal structure of the capsule body that constitutes the swing means (vibration means) that is a step, and FIG. FIG. 11 is an explanatory diagram showing the operation of the capsule body of FIG. 10, and FIG. 12 is a spiral rotation propulsion unit that offsets the central axis of the spiral rotation propulsion unit and the rotation axis of the first motor. FIG. 13 is an explanatory view of the main part of the capsule body showing a state in which the motor shaft of the first motor is fitted and fixed to the rear end portion of the first motor. FIG. FIG. 14 is an explanatory view showing the operation of the capsule main body constituting the spiral contact means. FIG. 14 shows that the base part is divided into two parts, each is provided with a rotation motor, and the spiral rotation propulsion part is further eccentric. Of the capsule body FIG. 15 is an explanatory view showing the operation of the capsule body of FIG. 14, FIG. 16 is an explanatory view showing the internal structure of the capsule body in which the helical contact means is configured so that the helical rotation propulsion unit is bent, 17 is an explanatory view showing the operation of the capsule main body of FIG. 16, FIG. 18 is an explanatory view showing the state immediately before the capsule main body of FIG. 16 passes through the bent portion of the intraluminal duct, and FIG. 19 is from the state of FIG. FIG. 20 is an explanatory view showing the capsule body in which the bending means is configured so that the helical rotation propulsion part is bent. FIG. 20 is an explanatory view showing the state of the capsule body when passing through the bent part of the body cavity duct.

As shown in FIG. 1, a capsule medical system 1 of Example 1 is sent into a living body, a capsule body 2 that propels the living body, and is arranged around the patient, that is, outside the body. And an extracorporeal device 3 that performs transmission and reception.
The capsule body 2 has biological information acquisition means for acquiring in-vivo information, and transmits in-vivo information obtained by the biological information acquisition means as radio waves from a capsule-side antenna (not shown).

  The extracorporeal device 3 receives in vivo information from the capsule body 2 by an extracorporeal antenna 3a, performs signal processing, and displays the in vivo information on the display screen of the monitor 3b.

  In this embodiment, in-vivo image information is acquired as biological information.

  That is, the capsule main body 2 functions as a capsule endoscope that images the inside of the living body, and the extracorporeal device 3 performs signal processing on image information transmitted from the capsule main body 2 and displays it on the display screen of the monitor 3b. Images are displayed.

As shown in FIGS. 2 and 3, the capsule body 2 includes a base portion 10 and a spiral rotation propulsion portion 12 connected to the base portion 10 and provided with a spiral protrusion 11 on the outer surface. Yes.
The spiral projection 11 has a cross-sectional structure such as a substantially hemispherical shape in which the outer surface of the spiral rotation propulsion unit 12 is rounded so as to smoothly contact the inner wall surface of the body.

The spiral rotation propulsion unit 12 has a hemispherical transparent member 13 formed at one end (referred to as a front end), and an imaging device 14 such as a CCD (Charge Coupled Device) facing the transparent member 13 near the center thereof. Are arranged, and lighting devices 15 such as LEDs (Light Emitting Diodes) are arranged at, for example, four places around the periphery.
A first battery 16, an image transmission unit 17, and a control circuit 18 are provided on the rear side of the imaging device 14 and the illumination device 15.

The first battery 16 supplies power to each part inside the spiral rotation propulsion unit 12. The image transmission unit 17 performs transmission processing such as modulation on an image signal obtained by performing signal processing on the imaging signal from the imaging device 14 and transmits the image signal to the extracorporeal device 3 from a capsule-side antenna (not shown). . The image transmission unit 17 may include a capsule-side antenna or may be provided separately.
The control circuit 18 controls the imaging device 14 and the illumination device 15.

  On the other hand, the base unit 10 is provided with a first motor 20 which is a rotating means for rotating the spiral rotation propulsion unit 12. Here, the base unit 10 is defined as including a motor for rotating the spiral rotation propulsion unit 12.

A motor shaft 20 a of the first motor 20 is fitted and fixed to a rear end portion of the spiral rotation propulsion unit 12 to rotate the spiral rotation propulsion unit 12 relative to the base unit 10. Yes.
As a result, the helical rotation propulsion unit 12 rotates relative to the base unit 10 by the rotational force of the first motor 20, and the helical projection 11 converts this rotation into thrust (propulsion force). Thus, a propulsive force can be generated in the direction of the helical axis (direction of the helical axis 21).

  The base unit 10 is provided with a second motor 22 for bringing the spiral protrusion 11 of the spiral rotation propulsion unit 12 into contact with a living body. The second motor 22 is provided with an eccentric rotor 23 so as to generate rocking (vibration) as rocking means (vibrating means).

By driving the second motor 22, the capsule body 2 generates vibration from the eccentric rotor 23, and this vibration is transmitted from the base portion 10 to the helical rotation propulsion portion 12 to swing (vibrate) the entire capsule. It is like that.
As a result, even when the capsule body 2 cannot be propelled because the spiral projection 11 does not contact the inner wall of the body cavity, the spiral projection 11 comes into contact with the body cavity without stopping there due to oscillation (vibration) of the entire capsule. Transition to such a state, it can continue to promote. The first motor 20 and the second motor 22 are supplied with power from a second battery 24 provided in the base portion 10.

In addition, a plurality of groove portions 25 are formed on the outer surface of the base portion 10 in parallel with the longitudinal axis as an anti-rotation means so that the base portion 10 does not rotate.
Thus, the capsule body 2 prevents the base portion 10 from rotating with respect to the inner wall of the body cavity without preventing propulsion.

The operation of the present embodiment having such a configuration will be described.
When examining the inside of a body cavity with the capsule body 2, the patient swallows the capsule body 2. When the capsule body 2 swallowed into the body cavity passes through the esophagus or the like, the capsule body 2 is illuminated by the illumination device 15, and an image in the body cavity is captured by the imaging device 14.

  The capsule body 2 performs transmission processing such as modulation on the image signal obtained by processing the image signal from the imaging device 14 by the image transmission unit 17 and transmits the image signal from the capsule antenna to the extracorporeal device 3 by radio waves.

  The extracorporeal device 3 demodulates radio waves received by the extracorporeal antenna 3a, and obtains image data by performing signal processing on the demodulated image data. The extracorporeal device 3 displays the image data sequentially captured by the capsule body 2 as a capsule image on the display screen of the monitor 3b.

  Here, the capsule body 2 is supplied with power from the second battery 24 to drive the first motor 20, and the helical rotation propulsion unit 12 fitted to the motor shaft 20 a of the first motor 20. Rotates.

  The helical rotation propulsion unit 12 receives a rotational force from the motor shaft 20 a of the first motor 20, and rotates relative to the base unit 10 by the rotational force of the first motor 20. At this time, the base portion 10 prevents rotation with respect to the inner wall of the body cavity without hindering propulsion by the groove portion 25 formed on the outer surface as the rotation preventing means.

  By the rotation of the helical rotation propulsion unit 12, the capsule body 2 moves the helical rotation propulsion unit 12 such that the male screw moves relative to the female screw at the contact portion between the helical protrusion 11 of the helical rotation propulsion unit 12 and the inner wall of the body cavity. Propulsion to advance is generated.

Thereby, the capsule main body 2 can move forward by generating a propulsive force in the spiral axis direction (direction of the spiral axis 21) by the spiral rotation propulsion unit 12.
Therefore, the capsule body 2 can obtain a propulsive force into the body cavity by the function of the helical rotation propulsion unit 12 satisfactorily.

Here, for example, it is assumed that the capsule main body 2 has passed through a portion where the body cavity duct is narrowed as shown in FIG. The narrow space is wide open.
Then, as shown in FIG. 4, in the capsule body 2, the spiral rotation propulsion unit 12 does not come into contact with the inner wall of the body cavity duct and does not move forward.

At this time, the second motor 22 of the capsule body 2 is driven as shown in FIG.
By driving the second motor 22, the capsule body 2 generates vibration from the eccentric rotor 23, and this vibration is transmitted from the base portion 10 to the spiral rotation propulsion portion 12 to swing (vibrate) the entire capsule. .

  Then, as shown in FIG. 6, the capsule body 2 can escape from the narrowed portion of the body cavity conduit by the above-described swinging (vibration), and the spiral rotation propulsion unit 12 returns to the state in contact with the inner wall of the body cavity to return the spiral. Propulsion is continued by the rotation of the rotation propulsion unit 12.

As a result, even when the capsule main body 2 cannot be propelled because the spiral protrusion 11 does not contact the inner wall of the body cavity, the spiral protrusion 11 contacts the inner wall of the body cavity without being stopped by oscillation (vibration) of the entire capsule. Transition to such a state and continue to promote.
As a result, in the capsule medical system 1 according to the present embodiment, the helical rotation propulsion unit 12 can function well to obtain a propulsion force into the body cavity.

In the capsule body 2, since the imaging device 14 is provided in the spiral rotation propulsion unit 12, the obtained capsule image is rotated.
Therefore, angle detection means may be provided in the first motor 20 and the capsule image may be angle-corrected based on the angle information detected by the angle detection means. Alternatively, angle detection means may be provided, and the angle may be obtained based on the integral value of the information.

As shown in FIG. 7, the capsule body 2 </ b> B is configured by providing the first motor 20 with an angle detection sensor 26.
In this case, the image transmission unit 17 relates the angle information from the angle detection sensor 26 to the imaging signal from the imaging device 14 and transmits it to the extracorporeal device 3.

The extracorporeal device 3 performs an angle correction process on the image signal based on the angle information received from the capsule body 2 as shown in FIG.
The angle correction process may be performed by the image transmission unit 17. In this case, the image transmission unit 17 transmits to the extracorporeal device 3 an image signal obtained by performing an angle correction process on the imaging signal from the imaging device 14 based on the angle information from the angle detection sensor 26. You may do it.
Accordingly, the capsule body 2B can obtain a capsule image that does not rotate.

Further, the capsule body may constitute the swing means (vibration means) which is the spiral contact means using a shape memory alloy as shown in FIG. 9 without using the second motor 22.
As shown in FIG. 9, the capsule body 2C uses SMA (Shape Memory Alloy) for the spiral rotation propulsion unit 12 as a swinging means (vibrating means).

  More specifically, the capsule body 2C forms a space 27b in which the weight 27a can move near the outer periphery of the spiral rotation propulsion unit 12. An SMA coil 28 formed of SMA wire is connected to both ends of the weight 27a in the space portion 27b. The SMA coil 28 is expanded and contracted by energization to reciprocate the weight.

The spiral rotation propulsion unit 12 is provided with an SMA drive circuit 29 for energizing the SMA coil 28.
The capsule body 2C is configured such that the weight 27a is reciprocated by the expansion and contraction of the SMA coil 28 at the front end or the rear end in response to a signal from the SMA drive circuit 29, so that the center of gravity of the entire capsule changes.

  As a result, the capsule body 2C can change the center of gravity of the entire capsule continuously to generate the same oscillation or greater vibration (vibration) in the entire capsule as described in the first embodiment. . The capsule body 2C may be configured using a conductive polymer (artificial muscle), a linear actuator, or the like instead of the SMA coil 28.

The capsule main body may constitute the spiral contact means so that the spiral rotation propulsion unit 12 swings with respect to the base unit 10.
As shown in FIG. 10, the capsule body 2D is configured by dividing the base portion 10 into two parts and providing a rotation motor for each.

More specifically, the capsule body 2D is attached so that the first motor 20 for rotating the helical rotation propulsion unit 12 is fitted and fixed to the inclined base member 30 and inclined to the inclined base member 30. .
The inclined base member 30 has the motor shaft 22a of the second motor 22 fitted and fixed to the rear end thereof, and is rotated together with the spiral rotation propulsion unit 12 by the driving of the second motor 22. Yes. The second motor 22 is disposed in the base body 10a.

Thereby, since the rotation axis 31 of the spiral rotation propulsion unit 12 and the central axis 32 of the inclined base member 30 are inclined in the capsule body 2D, as shown in FIG. It rotates while swinging its head against the part 10.
Therefore, in addition to obtaining the same effect as the first embodiment, the capsule body 2D has the opportunity to come into contact with the inner wall of the body cavity because the spiral rotation propulsion unit 12 is constantly moving with respect to the base unit 10. It becomes easier to promote.

Further, the capsule body may constitute the spiral contact means so that the spiral rotation propulsion unit 12 is eccentric with respect to the base unit 10.
As shown in FIG. 12, the capsule main body 2E is disposed at the rear end of the spiral rotation propulsion unit 12 such that the rotation shaft 31 of the spiral rotation propulsion unit 12 and the center axis 32 of the inclined base member 30 are offset. The motor shaft 20a of the first motor 20 is fitted and fixed.

As a result, the capsule body 2E has the spiral rotation propulsion part 12 eccentric with respect to the base part 10, so that the spiral rotation propulsion part 12 always moves relative to the base part 10 as shown in FIG. Become.
Therefore, the capsule body 2E obtains the same effect as the capsule body 2D.

Also, the capsule body is divided into two base parts 10 as in the capsule body 2D, and each is provided with a rotation motor, and the spiral rotation propulsion part 12 is eccentric as in the capsule body 2E. The spiral contact means may be configured as follows.
As shown in FIG. 14, the capsule body 2 </ b> F is attached with the first motor 20 that rotates the spiral rotation propulsion unit 12 fitted and fixed to the base member 33. The base member 33 is fitted and fixed to the motor shaft 22a of the second motor 22 at the rear end so that the center shaft 32 of the inclined base member 30 is offset from the rotation shaft 31 of the spiral rotation propulsion unit 12. The helical rotation propulsion unit 12 is rotated by driving the second motor 22. The second motor 22 is disposed in the base body 10a.

As a result, the capsule body 2F has the spiral rotation propulsion unit 12 eccentric with respect to the base portion 10, so that the spiral rotation propulsion unit 12 rotates about its own rotation axis 31 as shown in FIG. The base part 10 always moves.
Therefore, the capsule body 2F obtains the same effect as the capsule body 2E.

The capsule body may constitute the spiral contact means so that the spiral rotation propulsion unit 12 is bent.
As shown in FIG. 16, the capsule body 2G is configured such that the first motor 20 and the spiral rotation propulsion unit 12 are connected by a flexible shaft 34 having flexibility, and the spiral rotation propulsion unit 12 is bent. ing. That is, the flexible shaft 34 constitutes a bending means.

Thereby, as shown in FIG. 17, the capsule main body 2G can freely tilt while the helical rotation propulsion unit 12 rotates with respect to the base unit 10 with an external force.
Accordingly, when the capsule body 2G reaches the bent portion in the body cavity as shown in FIG. 18, the spiral rotation propulsion section 12 propels when the spiral rotation propulsion section 12 and the inner wall of the body cavity come into contact as shown in FIG. The direction is changed to the lower side, so that it can easily pass through the bent portion.
Furthermore, since the helical rotation propulsion unit 12 rotates so as to rub the neck by the centrifugal force due to the rotation, the capsule body 2G obtains the same effect as the capsule body 2E.

The capsule body may constitute the bending means so that the spiral rotation propulsion unit 12 bends.
As shown in FIG. 20, the capsule main body 2H is formed of an elastic body in which the helical rotation propulsion unit 12H is deformed by an external force as the bending means.
Thereby, the capsule body 2H obtains the same effect as the capsule body 2G.

  In this embodiment, the present invention is applied to a capsule body that functions as a capsule endoscope that images the inside of a body cavity. However, the present invention is not limited to this, and sampling for collecting biological tissue is performed. The present invention may be applied to a tissue-collecting capsule medical device having a means, a drug-releasing capsule medical device that releases a drug, and an ablation type capsule medical device that cauterizes a living tissue.

  FIGS. 21 to 31 relate to the second embodiment of the present invention, FIG. 21 is an external explanatory view showing the capsule body of the second embodiment, FIG. 22 is an explanatory view showing the internal configuration of the capsule body of FIG. 21, and FIG. FIG. 24 is an explanatory view showing the internal configuration of the capsule body that configures the spiral contact means so as to give a stimulus; FIG. 24 is an explanatory view showing the internal configuration of the capsule body that configures the spiral contact means by providing a suction mechanism that sucks the inside of the body cavity; FIG. 25 is an explanatory view of the main parts of the first motor and the second motor of FIG. 24, and FIG. FIG. 27 is an external view of a capsule body in which a spiral protrusion is formed by a balloon to form a diameter variable means, and FIG. 28 is an explanatory view of a base portion provided with a caterpillar as a rotation preventing means. 29 FIG. 30 is an explanatory view of a base portion provided with fin-like protrusions as rotation preventing means, and FIG. 31 is an explanatory view of a base portion provided with brushes as rotation preventing means. FIG.

  In the first embodiment, one spiral rotation propulsion unit 12 is provided and connected to the base unit 10. In Example 2, two spiral rotation propulsion units 12 are provided around the base unit 10. Constitute. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

As shown in FIGS. 21 and 22, the capsule main body 50 according to the second embodiment is configured by providing two spiral rotation propulsion units 12 around the base unit 10.
More specifically, the capsule body 50 includes a base 10 and a front side that rotates relative to the base 10 by a first motor 20 and a second motor 22 attached to the base 10. It has a spiral rotation propulsion unit 12a and a rear side spiral rotation propulsion unit 12b. The front-side spiral rotation propulsion unit 12a and the rear-side spiral rotation propulsion unit 12b are formed such that the spiral protrusions 11 provided on the outer surface are opposite to each other. The front is defined as the direction in which the imaging device 14 is facing.

The base 10 includes a first motor 20 that rotates the front spiral rotation propulsion unit 12a, a second motor 22 that rotates the rear spiral rotation propulsion unit 12b, and the first motor 20 and the second motor. A second battery 24 that supplies power for driving 22 is provided.
Thereby, even if one capsule rotation propulsion unit 12 (the front side spiral rotation propulsion unit 12a or the rear side spiral rotation propulsion unit 12b) cannot be propelled without contacting the inner wall of the body cavity, the capsule body 50 can rotate the other spiral rotation. The propulsion unit 12 (the rear side spiral rotation propulsion unit 12b or the front side spiral rotation propulsion unit 12a) can continue to be assisted and propelled so as to contact the inner wall of the body cavity.

The capsule body may constitute the spiral contact means so as to apply electrical stimulation.
As shown in FIG. 23, the capsule main body 50B is configured to maintain the state in which the spiral rotation propulsion unit 12 always contacts the intestinal inner wall by contraction of the intestinal tract that is a body cavity channel by applying electrical stimulation. .

  More specifically, the capsule body 50B forms an electrode (not shown) on the spiral protrusion 11 and outputs an electric signal to the electrode as an electric stimulus, and drives the electric stimulus control circuit 61. And a third battery 62 that supplies power for power supply. The spiral projection 11 has one end electrically connected to the electrical stimulation control circuit 61 and the other end electrically connected to the electrical stimulation control circuit 61 via a slip ring (not shown) to form a closed circuit. It is composed.

  As a result, the capsule body 50B applies electrical stimulation from the spiral projection 11 to the intestinal tract, which is a body cavity, whereby the intestinal tract contracts and the base portion 10 and the spiral rotation propulsion portion 12 (front side spiral) The rotation propulsion unit 12a or the rear spiral rotation propulsion unit 12b) always maintains a contact state with the inner wall of the intestinal tract and stably propels it.

Further, the capsule body may be provided with a suction mechanism for sucking the inside of the body cavity to constitute the spiral contact means.
As shown in FIG. 24, the capsule body 50C is configured to suck the inside of the intestinal tract, which is an intracorporeal duct, by a suction mechanism so that the spiral rotation propulsion unit 12 is always in contact with the inner wall of the intestinal tract.

  More specifically, the capsule body 50C includes a suction device 63 for sucking fluid such as air and body fluid in the intestinal tract, a suction pipe 64 connected to the suction device 63 and sucking fluid, and a suction device. And a discharge pipe 65 for discharging the fluid.

  The suction device 63 is disposed in the rear spiral rotation propulsion unit 12b. For this reason, in the front side spiral rotation propulsion unit 12 a, the suction pipe 64 is connected to the suction device 63 via the base unit 10.

The suction pipe 64 is connected via the first motor 20 and the second motor 22.
As shown in FIG. 25, in the first motor 20 and the second motor 22, the rotation shaft 71 in which the through passage 71 a is formed is hermetically configured by an O-ring 72 in the motor internal space, thereby forming a suction pipe 64. ing. The motors 20 and 22 include a rotor 71b and a stator 71c.

  As a result, the capsule body 50C sucks fluid such as air or body fluid into the intestinal tract which is a body cavity duct, so that the intestinal tract contracts in the same manner as the capsule body 50B, and the base portion 10 and the spiral rotation The propulsion part 12 always keeps a contact state with the inner wall of the intestinal tract and stably propels.

Further, the capsule main body may constitute the spiral contact means by a diameter variable means for providing an air supply mechanism to change the outer diameter of the spiral rotation propulsion unit 12.
As shown in FIG. 26, the capsule main body 50D is configured so that the spiral rotation propulsion unit 12 and the base unit 10 are inflated by the air supply mechanism and are always in contact with the inner wall of the intestinal tract.

  More specifically, the capsule body 50D includes a suction conduit 80 that takes in fluid such as air and body fluid in the intestinal tract, and an air supply device 81 that is connected to the suction conduit 80 and feeds the taken fluid. A balloon 82 provided in the base 10 and the spiral rotation propulsion unit 12 and an air supply conduit 83 for supplying fluid from the air supply device 81 to the balloon 82 are configured. . That is, the balloon 82 constitutes the diameter variable means.

  A plurality of groove portions 25 are formed on the outer surface of the base-side balloon 82a provided on the base portion 10 in parallel with the longitudinal axis as an anti-rotation means. On the other hand, the spiral projection 11 is provided on the spiral balloon 82 b provided in the spiral rotation propulsion unit 12.

  The air supply device 81 is disposed in the rear spiral rotation propulsion unit 12b. For this reason, the first motor 20 and the second motor 22 are provided on the balloon 82 provided in the base portion 10 and the front spiral rotation propulsion portion 12a, as in the capsule body 50B. A part is formed and connected to the air supply device 81.

  As a result, the capsule body 50D takes in fluid such as air or body fluid into the intestinal tract that is a body cavity duct, and supplies the fluid to the balloon 82 (base side balloon 82a, spiral side balloon 82b). The base portion 10 and the spiral rotation propulsion portion 12 are constantly in contact with the inner wall of the intestinal tract and stably propelled.

Further, the capsule body may form a diameter variable means by forming a spiral projection with a balloon.
As shown in FIG. 27, the capsule body 50E is provided with a spiral balloon 84 in which a spiral projection is formed by a balloon. That is, the spiral balloon 84 constitutes a diameter variable means. Although not shown, the capsule body 50E has an air supply line 83 connected to the spiral balloon 84.

  As a result, the capsule body 50E inflates these balloons by taking fluid such as air or body fluid into the intestinal tract that is a body lumen and feeding them to the balloon 82 and the spiral balloon 84 of the base portion 10. Thus, the base portion 10 and the spiral rotation propulsion portion 12 are always in stable contact with the inner wall of the intestinal tract and stably propelled.

The base portion 10 may be configured as shown in FIGS. 28 to 31 as the rotation preventing means.
As shown in FIG. 28, the base portion 10 is provided with a caterpillar 90 as the rotation preventing means. The caterpillar 90 is configured such that a plurality of roller-shaped tires 91 (three in the figure) are rotatably provided around a fulcrum (not shown), and a belt 92 is hung on these roller-shaped tires 91. In addition, the said caterpillar 90 is provided with two or more (four in the figure up-down front-back direction with respect to the paper surface).

Further, as shown in FIG. 29, the base portion 10 is provided with only a plurality of roller tires 91 as the rotation preventing means. In addition, as shown in FIG. 30, the base portion 10 is provided with a plurality of fin-like projections 93 as the rotation preventing means. Further, as shown in FIG. 31, the base portion 10 is provided with a brush 94 in a circumferential shape as the rotation preventing means.
With the rotation preventing means configured as shown in FIGS. 28 to 31, the capsule body 50 prevents the base portion 10 from rotating relative to the body cavity without disturbing the propulsion of the spiral rotation propulsion portion 12.

  32 and 33 relate to the third embodiment of the present invention, FIG. 32 is an external explanatory view showing the capsule main body of the third embodiment, and FIG. 33 is a spiral rotation propulsion portion formed in a sheath shape and the imaging device is used as a base portion. It is explanatory drawing which shows the internal structure of the provided capsule main body.

  In the first and second embodiments, the imaging device 14 is provided in the spiral rotation propulsion unit 12 and the capsule image to be captured is rotated. However, in the third embodiment, the captured capsule image is not rotated. Constitute. Since other configurations are substantially the same as those of the first and second embodiments, the same components are denoted by the same reference numerals and description thereof is omitted.

As shown in FIG. 32, the capsule body 100 of the third embodiment is configured by providing the imaging device 14 in the base unit 10 so that the capsule image to be captured does not rotate.
More specifically, in the capsule body 100, a hemispherical transparent member 13 is formed at the end (referred to as the front end) of the base portion 10, and the imaging device 14 is disposed near the center of the capsule body 100 so as to face the transparent member 13. In addition, for example, lighting devices 15 such as LEDs are arranged in four places around the periphery.

Although not shown, the spiral rotation propulsion unit 12 is provided with the first battery 16, the image transmission unit 17, and the control circuit 18 as in the first embodiment. The imaging device 14 and the illumination device 15 are electrically connected to each other and driven. The other configuration is the same as that of the first embodiment, and a description thereof will be omitted.
Thereby, since the capsule body 100 to be imaged does not rotate, the capsule body 100 can obtain a capsule image with a simple configuration without the need for image processing.

Moreover, the capsule main body may be provided with the imaging device 14 in the base unit 10 by forming the spiral rotation propulsion unit 12 in a sheath shape so that the capsule image to be captured does not rotate.
As shown in FIG. 33, the capsule body 100B is configured such that a sheath-like spiral rotation propulsion portion 101 formed in a sheath shape covers the base portion 10B.

  The sheath-like spiral rotation propulsion unit 101 is configured to be rotatable by a bearing unit 102 with respect to the base unit 10B. Further, the sheath-like spiral rotation propulsion unit 101 is engaged with the pinion 21b on the motor shaft 20a of the first motor 20 provided on the base unit 10B.

  Thereby, the sheath-like spiral rotation propulsion unit 101 rotates so as to cover the base portion 10 </ b> B by driving the first motor 20. That is, the sheath-like spiral rotation propulsion unit 101 is a sheath-like rotating body.

The base portion 10B is formed with a hemispherical transparent member 13 at an end portion (referred to as a front end), and an imaging device 14 is disposed near the center of the base portion 10B so as to face the transparent member 13. An illumination device 15 such as an LED is disposed. The first battery 16, the image transmission unit 17, and the control circuit 18 are provided on the rear side of the imaging device 14 and the illumination device 15.
Thereby, since the capsule body 100B does not rotate the captured capsule image, the capsule body 100B obtains the same effect as the capsule body 100.

  FIGS. 34 to 36 relate to the fourth embodiment of the present invention, FIG. 34 is an external explanatory view showing the capsule body of the fourth embodiment, FIG. 35 is an explanatory view showing the internal configuration of the capsule body of FIG. 34, and FIG. It is explanatory drawing which shows the internal structure of the capsule main body which comprised the helical contact means so that the longitudinal axis of a part and the longitudinal axis of a helical rotation promotion part might be bent.

  In the first to third embodiments, a plurality of grooves 25 are formed on the outer surface of the base portion in parallel with the longitudinal axis as rotation preventing means. In the fourth embodiment, the spiral protrusion 11 is provided on the outer surface of the base portion. Constitute. Since other configurations are substantially the same as those of the first and second embodiments, the same components are denoted by the same reference numerals and description thereof is omitted.

As shown in FIGS. 34 and 35, the capsule body 110 according to the fourth embodiment includes a helical protrusion 11 on the outer surface of a base portion 111 provided with the first motor 20 for rotating the helical rotation propulsion unit 12. Is provided.
The base portion 111 is configured to rotate reversely with respect to the spiral rotation propulsion unit 12 by an inertia force with respect to the rotation of the spiral rotation propulsion unit 12 driven by the first motor 20.

Thereby, the capsule main body 110 is configured to prevent the entire capsule from rotating with respect to the inner wall of the body cavity due to the reverse rotation of the base portion 111.
In addition, the capsule body 110 is provided with an angular velocity sensor 112 in the first motor 20. The angular velocity sensor 112 detects that when the spiral rotation propulsion unit 12 idles, the load is removed and the rotation speed changes. Thereby, the rotation speed of the spiral rotation propulsion unit 12 is optimized, and efficient propulsion can be realized.

  Although not shown, the capsule body 110 is provided with a second motor 22 provided with the eccentric rotor 23 similar to the capsule body 2 described in the first embodiment or an SMA coil 28 similar to the capsule body 2C. The spiral contact means is provided, for example, to contract the intestinal tract by applying the same electrical stimulus as that of the capsule body 50B. Thereby, the capsule main body 110 can recover and promote the contact state between the helical rotation propulsion unit 12 and the body cavity inner wall.

Note that the capsule body may constitute the spiral contact means such that the longitudinal axis of the base portion and the longitudinal axis of the spiral rotation propulsion portion are bent.
As shown in FIG. 36, the capsule body 110B is configured to maintain a state in which the longitudinal axis 113 of the base portion 111B and the longitudinal axis 114 of the spiral rotation propulsion portion 12B are bent.

More specifically, the capsule body 110B is connected by the first motor 20 so that the base portion 111B and the spiral rotation propulsion portion 12B form a square shape.
Accordingly, the capsule body 110B always maintains a good contact state with the inner wall of the body cavity by rotating with the longitudinal axis 113 of the base portion 111B and the longitudinal axis 114 of the spiral rotation propulsion portion 12B being bent. be able to.

  FIGS. 37 to 40 relate to the fifth embodiment of the present invention, FIG. 37 is an external explanatory view showing the capsule body of the fifth embodiment, FIG. 38 is an explanatory view showing the internal configuration of the capsule body of FIG. 37, and FIG. FIG. 40 is an explanatory view showing a state immediately before the capsule body 37 passes through the bent part of the body cavity duct, and FIG. 40 shows the state of the capsule body when passing through the bent part of the body cavity pipe from the state of FIG. It is explanatory drawing shown.

  In the second embodiment, the base portion 10 is configured not to change the outer shape, but in the fifth embodiment, the base portion is configured to have a joint and bend. Since the other configuration is substantially the same as that of the second embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

As shown in FIGS. 37 and 38, the capsule body 120 of the fifth embodiment is configured by providing two spiral rotation propulsion units 12 around a base 121.
More specifically, the capsule body 50 includes a base portion 121 and a front side that rotates relative to the base portion 121 by a first motor 20 and a second motor 22 attached to the base portion 121. It has a spiral rotation propulsion unit 12a and a rear side spiral rotation propulsion unit 12b. The front spiral rotation propulsion unit 12a and the rear spiral rotation propulsion unit 12b are formed such that the spiral protrusions 11 provided on the outer surfaces thereof are opposite to each other.

  The base 121 has a front joint 122a and a rear joint 122b. The shafts 123a and 123b of the joints 122a and 122b are connected by a ball joint 124 and the shafts 123a and 123b are bent so as to be bent. For example, four SMA coils 125 are connected around the periphery as bending means. Further, the base portion 121 covers the space between the front joint 122a and the rear joint 122b with a bellows 129.

The base 121 may be configured using a flexible shaft (not shown) instead of the ball joint 124.
A first motor 20 that rotates the front spiral rotation propulsion unit 12a is disposed at the front joint 122a, and a second battery 24 that supplies power to drive the first motor 20 is provided. Yes.

  On the other hand, the rear joint 122b is provided with a second motor 22 for rotating the rear spiral rotation propulsion unit 12b, and an SMA drive circuit 131 for supplying current to the SMA coil 125. A third battery 132 that supplies power for driving the two-motor 22 and the SMA drive circuit 131 is provided.

  Accordingly, when the capsule body 120 is energized from the SMA drive circuit 131, the four SMA coils 125 expand and contract, and the base portion 121 can be bent in an arbitrary direction. In the figure, the capsule body 120 has an upper SMA coil 125 extending and a lower SMA coil 125 contracted so that the base portion 121 is bent downward and the front spiral rotation propulsion portion 12a is lowered. It is in a state facing the side.

That is, the joints 122a and 122b and the SMA coil 125 which is the bending means constitute a propulsion direction changing means.
Therefore, when the capsule body 120 reaches the bent portion in the body cavity as shown in FIG. 39, the front side spiral rotation propulsion unit 12a propels by bending the base portion 121 as shown in FIG. The direction is changed to the lower side of the direction, and the bent portion is easily passed.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the invention.

[Appendix]
(Additional item 1)
A capsule-type medical device body that is sent into a living body and promotes the living body,
A base part;
A spiral rotation propulsion unit connected to the base unit and provided with a spiral projection on the outer surface;
A rotating means for rotating the helical rotation propulsion unit relative to the base unit;
Comprising
The capsule medical device main body characterized in that the helical rotation propulsion unit provided with the helical protrusion generates a propulsive force in the direction of the helical axis by being rotated by the rotating means.

(Appendix 2)
The capsule mold according to claim 1, wherein the two spiral rotation propulsion portions are provided around the base portion, and the spiral protrusions provided on the two spiral rotation propulsion portions are opposite to each other. Medical device body.
(Additional Item 3)
The capsule medical device main body according to appendix 1 or 2, wherein the base portion is formed in a substantially cylindrical shape and includes a rotation preventing means for preventing the base portion from rotating with respect to the living body.

(Appendix 4)
The capsule medical device main body according to appendix 1, wherein the base portion includes the spiral protrusion opposite to the spiral rotation propulsion portion.
(Appendix 5)
The capsule medical device main body according to any one of appendices 1 to 4, further comprising a spiral contact means for bringing the spiral projection of the spiral rotation propulsion unit into contact with a living body.

(Appendix 6)
A capsule medical system having a capsule medical device main body for propelling in a living body and an extracorporeal device provided outside the living body for transmitting and receiving signals to and from the capsule medical device main body,
The capsule medical device body is:
A base part;
A spiral rotation propulsion unit connected to the base unit and provided with a spiral projection on the outer surface;
A rotating means for rotating the helical rotation propulsion unit relative to the base unit;
An image information acquisition unit that is provided integrally with the spiral rotation propulsion unit and acquires in-vivo image information;
An angle detection means for detecting a relative rotation angle of the living body or the base portion with respect to the spiral rotation propulsion unit;
Information-related means for associating angle information from the angle detection means with image information acquired by the image information acquisition means;
In-vivo communication means for transmitting the image information acquired by the image information acquisition means to the extracorporeal device;
Comprising
The extracorporeal device is:
Extracorporeal communication means for receiving image information transmitted from the in-vivo communication means of the capsule medical device body;
An angle correcting means for correcting a display angle of the image information based on the angle information;
A capsule-type medical system comprising:

(Appendix 7)
The capsule medical device main body according to appendix 3, wherein the base portion is provided with a propulsion direction changing means having a joint that bends freely and a bending means for bending the joint.
(Appendix 8)
The capsule medical device main body according to appendix 3, wherein the rotation preventing means has a caterpillar that is rotatable in the propulsion direction.

(Appendix 9)
The capsule medical device according to item 3, wherein the rotation preventing means includes a tire that is rotatable in a propulsion direction.
(Appendix 10)
The capsule medical device according to item 3, wherein the rotation preventing means has fin-like protrusions.
(Appendix 11)
The capsule medical device according to Additional Item 3, wherein the rotation preventing means includes a brush.

(Appendix 12)
The capsule medical device body according to claim 4, further comprising an angular velocity sensor that detects a relative angle between the base portion and the spiral rotation propulsion portion.
(Additional Item 13)
The capsule medical device body according to claim 5, wherein the spiral contact means is a vibration means for vibrating the spiral rotation propulsion unit with respect to the base portion.

(Appendix 14)
The capsule medical device body according to claim 5, wherein the spiral contact means is a swinging means for swinging the spiral rotation propulsion unit with respect to the base portion.
(Appendix 15)
6. The capsule medical device main body according to claim 5, wherein the spiral contact means is a bending means for bending the spiral rotation propelling portion with respect to the base portion.

(Appendix 16)
The capsule medical device main body according to claim 5, wherein the spiral contact means is a diameter variable means for changing an outer diameter of the spiral rotation propulsion unit.
(Appendix 17)
The capsule medical device main body according to appendix 5, wherein the spiral contact means is configured by eccentrically setting a rotation axis of the spiral rotation propulsion unit and a central axis of the base portion.

(Appendix 18)
6. The capsule medical device body according to claim 5, wherein the spiral contact means is provided with an electrode on the spiral protrusion of the spiral rotation propulsion unit so as to apply electrical stimulation to a living body.
(Appendix 19)
The capsule medical device main body according to appendix 5, wherein the spiral contact means is provided with a suction mechanism for sucking the inside of the body cavity in order to contract the body passage in the traveling direction.

(Appendix 20)
The capsule medical device main body according to appendix 7, wherein the joint includes a ball joint or a flexible shaft.
(Appendix 21)
The capsule medical device main body according to appendix 7, wherein the bending means includes an SMA (shape memory alloy) coil or an SMA wire that pulls the spiral rotation propulsion unit.

(Appendix 22)
14. The capsule medical device main body according to appendix 13, wherein the vibration means vibrates the helical rotation propulsion portion with respect to the base portion by operation of an eccentric rotor.
(Appendix 23)
14. The supplementary item 13, wherein the vibration means vibrates the spiral rotation propulsion unit with respect to the base unit by reciprocating a weight by an operation of an SMA (shape memory alloy) coil or an SMA wire. Capsule medical device body.

(Appendix 24)
The capsule medical device main body according to Additional Item 15, wherein the bending means is a flexible shaft.
(Appendix 25)
The capsule medical device main body according to appendix 15, wherein the bending means is configured such that the spiral rotation propulsion portion is formed of an elastic body.

(Appendix 26)
The capsule medical device main body according to appendix 16, wherein the diameter varying means is a balloon, and the spiral protrusion is provided on the balloon.
(Appendix 27)
The capsule-type medical device body according to appendix 16, wherein the diameter varying means is the spiral protrusion configured to be extendable and contractible.

(Appendix 28)
A capsule medical system having a capsule medical device main body for propelling in a living body and an extracorporeal device provided outside the living body for transmitting and receiving signals to and from the capsule medical device main body,
The capsule medical device body is:
A base part;
A spiral rotation propulsion unit connected to the base unit and provided with a spiral projection on the outer surface;
A rotating means for rotating the helical rotation propulsion unit relative to the base unit;
Biometric information acquisition means for acquiring in vivo information;
In-vivo communication means for transmitting the biometric information acquired by the biometric information acquisition means to the extracorporeal device;
Comprising
The extracorporeal device is:
An extracorporeal communication means for receiving biological information transmitted from the in-vivo communication means of the capsule medical device main body.

(Appendix 29)
29. The capsule medical system according to appendix 28, wherein the biological information acquisition means is image information acquisition means for acquiring an in-vivo image and is provided integrally with the spiral rotation propulsion unit.
(Appendix 30)
The capsule medical system according to appendix 28, wherein the biological information acquisition means is image information acquisition means for acquiring an in-vivo image and is provided integrally with the base portion.

(Appendix 31)
The capsule medical device main body includes an angle detection sensor for detecting the relative rotation angle of the spiral rotation propulsion unit with the living body or the base unit, and angle information from the angle detection sensor is the image information acquisition unit. In association with the image information acquired in the above, transmitted to the extracorporeal device by the in-vivo communication means,
30. The capsule medical system according to claim 29, wherein the extracorporeal device has angle correction means for correcting a display angle of the image information based on the angle information transmitted by the in-vivo communication means.
(Appendix 32)
The capsule medical device body according to item 30, wherein the spiral rotation propulsion unit is configured by a sheath-like rotating body.

(Appendix 33)
A capsule-type medical device body that is sent into a living body and promotes the living body,
A spiral rotation propulsion unit having a spiral protrusion on the outer surface;
A rotating means for rotating the helical rotation propulsion unit;
A base portion provided with the rotating means and connected to the spiral rotation propulsion portion;
Comprising
The capsule rotation propulsion unit generates a propulsive force in the direction of the spiral axis of the spiral projection by being rotated relative to the base unit by driving the rotation unit. The device body.

  The capsule medical device main body and the capsule medical system of the present invention are suitable for the medical field because the helical rotation propulsion unit functions well to obtain a propulsion force into the body cavity.

1 is an overall configuration diagram showing a schematic configuration of a capsule medical system of Example 1. FIG. FIG. 2 is an explanatory view of the appearance of the capsule body of FIG. 1. It is explanatory drawing which shows the internal structure of the capsule main body of FIG. It is explanatory drawing which shows a mode just before the capsule main body of FIG. 2 passes through the narrow part of the body cavity duct. FIG. 5 is an explanatory diagram showing a state of the capsule body when it escapes from the narrowed portion of the body cavity duct by swinging (vibration) from the state of FIG. 4. It is explanatory drawing which shows the mode of the capsule main body immediately after escaping from the narrow part of the body cavity duct from the state of FIG. It is the schematic which shows the capsule main body provided with the angle detection sensor. It is a conceptual diagram which shows the angle correction process performed based on the angle information detected by the angle detection sensor of FIG. It is explanatory drawing which shows the internal structure of the capsule main body which comprised the rocking | swiveling means (vibration means) which is a spiral contact means using a shape memory alloy. It is explanatory drawing which shows the internal structure of the capsule main body which comprised the helical contact means so that a helical rotation promotion part swung with respect to the base part. It is explanatory drawing which shows operation | movement of the capsule main body of FIG. The main part of the capsule main body showing a state in which the motor shaft of the first motor is fitted and fixed to the rear end portion of the spiral rotation propulsion unit so as to offset the central axis of the spiral rotation propulsion unit and the rotation shaft of the first motor. FIG. It is explanatory drawing which shows operation | movement of the capsule main body which comprised the helical contact means so that a helical rotation promotion part might be eccentric with respect to a base part by the structure of FIG. It is explanatory drawing which shows the internal structure of the capsule main body which divided | segmented the base part into two, provided the motor for rotation in each, and also comprised the helical contact means so that a helical rotation propulsion part might be eccentric. It is explanatory drawing which shows operation | movement of the capsule main body of FIG. It is explanatory drawing which shows the internal structure of the capsule main body which comprised the helical contact means so that a helical rotation promotion part might bend. It is explanatory drawing which shows operation | movement of the capsule main body of FIG. It is explanatory drawing which shows a mode just before the capsule main body of FIG. 16 passes the bending part of a body cavity duct. It is explanatory drawing which shows the mode of the capsule main body at the time of passing the bending part of a body cavity duct from the state of FIG. It is explanatory drawing which shows the capsule main body which comprised the bending means so that a helical rotation promotion part might be bent. FIG. 6 is an external appearance explanatory view showing a capsule body of Example 2. It is explanatory drawing which shows the internal structure of the capsule main body of FIG. It is explanatory drawing which shows the internal structure of the capsule main body which comprised the helical contact means so that electrical stimulation might be given. It is explanatory drawing which shows the internal structure of the capsule main body which provided the suction mechanism which attracts | sucks the inside of a body cavity, and comprised the helical contact means. It is principal part explanatory drawing of the 1st motor of FIG. 24, and a 2nd motor. It is explanatory drawing which shows the internal structure of the capsule main body which comprised the air contact mechanism and comprised the helical contact means with the diameter variable means which changes the outer diameter of a helical rotation propulsion part. It is an external view of the capsule main body which formed the helical processus | protrusion with the balloon and comprised the diameter variable means. It is explanatory drawing of the base part which provided the caterpillar as a rotation prevention means. It is explanatory drawing of the base part which provided the roller-shaped tire as a rotation prevention means. It is explanatory drawing of the base part which provided the fin-shaped protrusion as a rotation prevention means. It is explanatory drawing of the base part which provided the brush as a rotation prevention means. FIG. 6 is an external appearance explanatory view showing a capsule body of Example 3. It is explanatory drawing which shows the internal structure of the capsule main body which formed the helical rotation promotion part in the sheath shape, and provided the imaging device in the base part. FIG. 6 is an external appearance explanatory view showing a capsule main body of Example 4. It is explanatory drawing which shows the internal structure of the capsule main body of FIG. It is explanatory drawing which shows the internal structure of the capsule main body which comprised the helical contact means so that the longitudinal axis of a base part and the longitudinal axis of a spiral rotation promotion part might be bent. FIG. 10 is an external appearance explanatory view showing a capsule body of Example 5. It is explanatory drawing which shows the internal structure of the capsule main body of FIG. It is explanatory drawing which shows a mode just before the capsule main body of FIG. 37 passes the bending part of a body cavity duct. It is explanatory drawing which shows the mode of the capsule main body at the time of passing the bending part of a body cavity duct from the state of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Capsule type medical system 2 Capsule body 3 Extracorporeal device 10 Base part 11 Helical protrusion 12 Spiral rotation propulsion part 14 Imaging device 16 1st battery 17 Image transmission unit 18 Control circuit 20 1st motor 21 Spiral shaft 22 2nd motor 23 Eccentricity Rotor 24 Second Battery 25 Groove Agent Patent Attorney Susumu Ito

Claims (6)

A capsule-type medical device body that is sent into a living body and promotes the living body,
A base part;
A spiral rotation propulsion unit connected to the base unit and provided with a spiral projection on the outer surface;
A rotating means for rotating the helical rotation propulsion unit relative to the base unit;
Comprising
The spiral rotation propulsion unit provided with the spiral protrusion generates a propulsive force in the direction of the spiral axis by being rotated by the rotating means and moves forward, and the outer surface of the base unit is provided with the spiral rotation propulsion unit. A capsule medical device main body comprising a rotation preventing means formed by a groove or a protrusion for preventing rotation of the base portion relative to the inner wall of the body cavity without hindering propulsion.   2. The capsule type according to claim 1, wherein two spiral rotation propulsion portions are provided around the base portion, and the spiral protrusions provided on the two spiral rotation propulsion portions are opposite to each other. Medical device body.   The capsule medical system according to claim 1 or 2, wherein image information acquisition means for acquiring an image for a living body is provided in the base portion.   The capsule-type medical device body according to claim 1, wherein the base portion includes the spiral protrusion opposite to the spiral rotation propulsion portion.   The capsule medical device main body according to any one of claims 1 to 4, further comprising: a spiral contact unit that contacts the living body with the spiral protrusion of the spiral rotation propulsion unit. A capsule medical system having a capsule medical device main body for propelling in a living body and an extracorporeal device provided outside the living body for transmitting and receiving signals to and from the capsule medical device main body,
The capsule medical device body is:
A base part;
A spiral rotation propulsion unit connected to the base unit and provided with a spiral projection on the outer surface;
A rotating means for rotating the helical rotation propulsion unit relative to the base unit;
An image information acquisition unit that is provided integrally with the spiral rotation propulsion unit and acquires in-vivo image information;
An angle detection means for detecting a relative rotation angle of the living body or the base portion with respect to the spiral rotation propulsion unit;
Information-related means for associating angle information from the angle detection means with image information acquired by the image information acquisition means;
In-vivo communication means for transmitting the image information acquired by the image information acquisition means to the extracorporeal device;
Comprising
The spiral rotation propulsion unit provided with the spiral protrusion is advanced by generating a propulsive force in the direction of the spiral axis by being rotated by the rotating means, and on the outer surface of the base unit, the spiral rotation propulsion unit Providing rotation prevention means formed by grooves or protrusions that prevent rotation of the base portion relative to the inner wall of the body cavity without hindering propulsion,
The extracorporeal device is:
Extracorporeal communication means for receiving image information transmitted from the in-vivo communication means of the capsule medical device body;
An angle correcting means for correcting a display angle of the image information based on the angle information;
A capsule-type medical system comprising:

Images