JP4709594B2 - 磁気誘導医療システム - Google Patents

磁気誘導医療システム Download PDF

Info

Publication number
JP4709594B2
JP4709594B2 JP2005192628A JP2005192628A JP4709594B2 JP 4709594 B2 JP4709594 B2 JP 4709594B2 JP 2005192628 A JP2005192628 A JP 2005192628A JP 2005192628 A JP2005192628 A JP 2005192628A JP 4709594 B2 JP4709594 B2 JP 4709594B2
Authority
JP
Japan
Prior art keywords
magnetic field
unit
electromagnet
posture
magnetic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2005192628A
Other languages
English (en)
Japanese (ja)
Other versions
JP2006068501A (ja
JP2006068501A5 (enExample
Inventor
宏尚 河野
良次 佐藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2005192628A priority Critical patent/JP4709594B2/ja
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to US11/632,760 priority patent/US20070270628A1/en
Priority to PCT/JP2005/014608 priority patent/WO2006014011A1/en
Priority to KR1020077002674A priority patent/KR100889160B1/ko
Priority to EP05770789.5A priority patent/EP1773230B8/en
Priority to CN2005800336539A priority patent/CN101035484B/zh
Publication of JP2006068501A publication Critical patent/JP2006068501A/ja
Publication of JP2006068501A5 publication Critical patent/JP2006068501A5/ja
Application granted granted Critical
Publication of JP4709594B2 publication Critical patent/JP4709594B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/50—Instruments, other than pincettes or toothpicks, for removing foreign bodies from the human body
    • A61B17/52—Magnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/733—Arrangement of the coils or magnets arranged only on one side of the patient, e.g. under a table

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Endoscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
JP2005192628A 2004-08-03 2005-06-30 磁気誘導医療システム Expired - Fee Related JP4709594B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2005192628A JP4709594B2 (ja) 2004-08-03 2005-06-30 磁気誘導医療システム
PCT/JP2005/014608 WO2006014011A1 (en) 2004-08-03 2005-08-03 Magnetic guiding medical system
KR1020077002674A KR100889160B1 (ko) 2004-08-03 2005-08-03 자기 안내 의료 장치
EP05770789.5A EP1773230B8 (en) 2004-08-03 2005-08-03 Magnetic guiding medical system
US11/632,760 US20070270628A1 (en) 2004-08-03 2005-08-03 Magnetic Guiding Medical System
CN2005800336539A CN101035484B (zh) 2004-08-03 2005-08-03 磁引导医疗系统

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2004227214 2004-08-03
JP2004227214 2004-08-03
JP2005192628A JP4709594B2 (ja) 2004-08-03 2005-06-30 磁気誘導医療システム

Publications (3)

Publication Number Publication Date
JP2006068501A JP2006068501A (ja) 2006-03-16
JP2006068501A5 JP2006068501A5 (enExample) 2008-06-26
JP4709594B2 true JP4709594B2 (ja) 2011-06-22

Family

ID=35094304

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2005192628A Expired - Fee Related JP4709594B2 (ja) 2004-08-03 2005-06-30 磁気誘導医療システム

Country Status (6)

Country Link
US (1) US20070270628A1 (enExample)
EP (1) EP1773230B8 (enExample)
JP (1) JP4709594B2 (enExample)
KR (1) KR100889160B1 (enExample)
CN (1) CN101035484B (enExample)
WO (1) WO2006014011A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230031296A (ko) * 2020-07-24 2023-03-07 인터내셔널 비지네스 머신즈 코포레이션 내부 및 외부 근접 스캐닝

Families Citing this family (77)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5084200B2 (ja) * 2006-08-29 2012-11-28 オリンパスメディカルシステムズ株式会社 カプセル誘導システム
JP5132564B2 (ja) * 2006-09-12 2013-01-30 オリンパスメディカルシステムズ株式会社 カプセル型内視鏡システム
WO2008032815A1 (en) * 2006-09-14 2008-03-20 Olympus Medical Systems Corp. Medical guidance system and method of controlling medical device
CA2667732C (en) 2006-11-16 2017-07-25 Stryker Corporation Wireless endoscopic camera
DE102007012360B4 (de) * 2007-03-14 2015-06-18 Siemens Aktiengesellschaft Navigationseinrichtung
JP4885788B2 (ja) * 2007-05-10 2012-02-29 オリンパス株式会社 無線給電システム
TWI342199B (en) * 2007-07-06 2011-05-21 Univ Nat Taiwan Endoscope and magnetic field control method thereof
CN101778592B (zh) 2007-08-13 2013-10-02 奥林巴斯医疗株式会社 体内观察系统
DE102007051861B4 (de) * 2007-10-30 2020-03-12 Olympus Corporation Verfahren zur Führung eines Kapsel-Endoskops und Endoskopsystem
DE102008012342A1 (de) * 2008-03-03 2009-09-10 Siemens Aktiengesellschaft Medizinsystem
JP5135007B2 (ja) * 2008-03-10 2013-01-30 オリンパスメディカルシステムズ株式会社 カプセル誘導システム
EP2143370A1 (en) * 2008-07-08 2010-01-13 Olympus Medical Systems Corporation Guiding system, position controlling apparatus, and guiding method
CN101623196B (zh) * 2008-07-08 2013-04-03 奥林巴斯医疗株式会社 引导系统以及引导方法
US8423122B2 (en) * 2008-07-10 2013-04-16 Given Imaging Ltd. Localization of capsule with a synthetic source of quadrupoles and dipoles
DE102008049198B4 (de) 2008-09-26 2017-03-02 Siemens Healthcare Gmbh Spulensystem, medizinisches Gerät und Verfahren zur berührungslosen magnetischen Navigation eines magnetischen Körpers in einem Arbeitsraum
US9186128B2 (en) 2008-10-01 2015-11-17 Covidien Lp Needle biopsy device
US11298113B2 (en) 2008-10-01 2022-04-12 Covidien Lp Device for needle biopsy with integrated needle protection
US8968210B2 (en) 2008-10-01 2015-03-03 Covidien LLP Device for needle biopsy with integrated needle protection
US9782565B2 (en) 2008-10-01 2017-10-10 Covidien Lp Endoscopic ultrasound-guided biliary access system
JP4902620B2 (ja) * 2008-10-21 2012-03-21 オリンパスメディカルシステムズ株式会社 カプセル誘導システム
EP2338402A4 (en) 2008-10-24 2013-03-20 Olympus Medical Systems Corp CAPSUED ENDOSCOPY SYSTEM
DE102008064379A1 (de) * 2008-12-22 2010-07-15 Siemens Aktiengesellschaft Magnetspulenanordnung mit festen und beweglichen Spulen
KR100892239B1 (ko) * 2009-01-16 2009-04-09 아이쓰리시스템 주식회사 내시경, 그를 구비한 내시경 시스템 및 내시경 제어방법
WO2010087368A1 (ja) 2009-01-28 2010-08-05 オリンパスメディカルシステムズ株式会社 カプセル型医療装置システム
DE102009010286B3 (de) * 2009-02-24 2010-11-25 Siemens Aktiengesellschaft Vorrichtung zum berührungslosen Führen eines Körpers in einem Arbeitsraum nebst zugehöriger Magnetfelderzeugungseinrichtung und zugehörigem magnetischen Körper
DE102009013354B4 (de) * 2009-03-16 2011-02-17 Siemens Aktiengesellschaft Spulensystem, medizinische Vorrichtung sowie Verfahren zur berührungslosen magnetischen Navigation eines magnetischen Körpers in einem Arbeitsraum
DE102009039484A1 (de) * 2009-08-31 2011-03-03 Siemens Aktiengesellschaft Spulensystem für eine magnetisch geführte Kapselendoskopie
EP2502543B1 (en) * 2009-11-19 2017-09-27 Olympus Corporation Capsule medical device guidance system
EP2347699B1 (en) * 2010-01-22 2018-11-07 Novineon Healthcare Technology Partners Gmbh Capsule type endoscope including magnetic drive
WO2011118253A1 (ja) * 2010-03-26 2011-09-29 オリンパスメディカルシステムズ株式会社 カプセル型医療装置用誘導システムおよびカプセル型医療装置の誘導方法
EP2647328B1 (en) 2010-11-29 2018-08-08 Olympus Corporation Antenna apparatus
EP2606813B1 (en) 2011-02-23 2014-05-14 Olympus Medical Systems Corp. Position information estimation system
JP5924641B2 (ja) * 2011-10-17 2016-05-25 学校法人東京電機大学 医療用チューブの先端位置検出システムおよび当該システムに適用する医療用チューブ
JP5502248B1 (ja) 2012-04-26 2014-05-28 オリンパスメディカルシステムズ株式会社 位置検出装置、カプセル型内視鏡システム、及び位置検出プログラム
WO2013168710A1 (ja) 2012-05-07 2013-11-14 オリンパスメディカルシステムズ株式会社 誘導装置
JP5475208B1 (ja) * 2012-05-07 2014-04-16 オリンパスメディカルシステムズ株式会社 磁界発生装置及びカプセル型医療装置誘導システム
WO2013172312A1 (ja) * 2012-05-14 2013-11-21 オリンパスメディカルシステムズ株式会社 カプセル型医療装置及び医療システム
US10199147B2 (en) * 2012-10-18 2019-02-05 University Of Utah Research Foundation Omnidirectional electromagnet
CN103071237B (zh) * 2013-01-04 2014-12-31 温雪峰 磁体位置可调的仿生地磁发生器及其调整方法
CN103169443A (zh) * 2013-03-29 2013-06-26 哈尔滨工业大学深圳研究生院 基于灵巧机器人的磁控主动式胶囊内窥镜运动控制系统
JP5810246B2 (ja) * 2013-08-22 2015-11-11 オリンパス株式会社 位置検出装置及び位置検出システム
WO2015029033A1 (en) * 2013-08-29 2015-03-05 Given Imaging Ltd. System and method for maneuvering coils power optimization
CN104739411B (zh) * 2015-04-01 2017-04-05 南京医科大学 一种使用磁传感器对磁性目标进行检测定位的方法
CN107105981B (zh) 2015-04-17 2019-04-02 奥林巴斯株式会社 胶囊型医疗装置引导系统
US11109774B2 (en) * 2015-07-06 2021-09-07 Biosense Webster (Israel) Ltd. Flat location pad using nonconcentric coils
CN107529948B (zh) 2015-12-02 2019-11-15 奥林巴斯株式会社 位置检测系统和位置检测系统的工作方法
CN107405052B (zh) * 2016-03-04 2019-03-26 奥林巴斯株式会社 引导装置以及胶囊型医疗装置引导系统
CN106580476A (zh) * 2017-01-20 2017-04-26 深圳希思凯科技有限公司 一种用于脑血管手术的机器人及其操控装置、系统
WO2018168037A1 (ja) * 2017-03-16 2018-09-20 オリンパス株式会社 位置検出装置、位置検出システム及び位置検出方法
JP6928307B2 (ja) * 2017-03-28 2021-09-01 愛知製鋼株式会社 マーカ検出システム及びマーカ検出方法
US11564747B2 (en) 2017-04-20 2023-01-31 Medtronic Navigation, Inc. Navigation system and method
KR102061263B1 (ko) * 2017-07-21 2020-01-02 주식회사 우영메디칼 전자기 코일시스템 제어 장치 및 방법
WO2019036536A1 (en) * 2017-08-16 2019-02-21 Boston Scientific Scimed Inc. ELECTROMAGNETIC MONITORING SYSTEM USING ROTARY FIELDS GENERATED FROM TRANSMITTERS
CN114680797A (zh) * 2018-06-02 2022-07-01 上海安翰医疗技术有限公司 胶囊内窥镜控制设备
CN109444773B (zh) * 2018-10-12 2020-10-27 北京理工大学 一种固连外部磁体和磁传感器阵列的磁源检测装置
CN109805883A (zh) * 2019-02-02 2019-05-28 佛山职业技术学院 一种胶囊内窥镜驱动系统
US12478446B2 (en) * 2019-07-26 2025-11-25 Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) Magnetic drive system and microrobot control method
CN111541309A (zh) * 2019-08-26 2020-08-14 上海交通大学 用于胃肠道微型机器人的无线能量发射装置
CN112438803B (zh) * 2019-08-28 2024-06-14 湖南早晨纳米机器人有限公司 微纳米机器人的控制系统和控制方法
CN110575118B (zh) * 2019-09-11 2022-01-11 安翰科技(武汉)股份有限公司 胶囊内窥镜控制系统及电子设备
CN111091947B (zh) * 2019-12-14 2024-12-20 深圳先进技术研究院 梯度磁场发生装置和空间伺服运动系统
CN211460328U (zh) * 2019-12-20 2020-09-11 深圳市资福医疗技术有限公司 一种用于微创手术的床下式磁控设备
CN111134638B (zh) * 2020-01-09 2023-06-06 心韵恒安医疗科技（北京）有限公司 智能健康监测支架及健康参数监测方法
KR102357307B1 (ko) * 2020-01-13 2022-02-03 주식회사 엔도핀 3d 초음파 영상 획득을 위한 캡슐 내시경 시스템
WO2021198717A1 (en) * 2020-04-01 2021-10-07 Artedrone A medical device, a method for controlling a device, and a system comprising a device
KR102379538B1 (ko) * 2020-07-07 2022-03-28 재단법인 한국마이크로의료로봇연구원 마이크로 로봇 이동제어를 위한 베드 통합형 전자기장 장치 및 이를 이용한 마이크로 로봇 구동 방법
CN114376727B (zh) * 2020-10-16 2025-03-07 常州朗合医疗器械有限公司 医疗系统
CN114376728B (zh) * 2020-10-16 2025-03-07 常州朗合医疗器械有限公司 医疗系统
CN113332565B (zh) * 2021-06-01 2022-10-11 浙江大学 一种基于安培力的柔性导管及其控制方法
KR102697834B1 (ko) * 2021-07-02 2024-08-21 한양대학교 산학협력단 자기장 발생 모듈 및 이를 포함하는 자기장 발생 장치
KR102601095B1 (ko) * 2021-11-05 2023-11-13 서울대학교산학협력단 최소 상한 노름 전류해를 이용한 자기장 합성 제어장치
US20240024693A1 (en) * 2022-07-21 2024-01-25 Henry Gonzalez System for applying magnetic field to anesthetize a patient
KR102816088B1 (ko) * 2022-07-26 2025-06-04 재단법인 한국마이크로의료로봇연구원 베드 통합형 전자기장 장치를 이용한 마이크로 로봇의 이동 제어 및 위치 인식 동시화 방법
CN116019565B (zh) * 2022-10-28 2024-07-05 中国科学院深圳先进技术研究院 一种用于微型机器人的半开放式磁操控装置
KR20250030079A (ko) * 2023-08-24 2025-03-05 재단법인대구경북과학기술원 자기구동시스템
KR20250063867A (ko) * 2023-10-27 2025-05-09 재단법인 한국마이크로의료로봇연구원 베드 통합형 전자기장 장치와 그립형 카테터 피더 장치를 이용한 카테터 공급 장치 및 이를 이용한 카테터 공급 방법
CN119184620B (zh) * 2024-09-19 2025-12-09 天津大学 一种介入式器械及粘弹性测量方法

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1035205A (en) 1962-11-30 1966-07-06 Yeda Res & Dev Improvements in the remote controlled propulsion of a body
US5681260A (en) * 1989-09-22 1997-10-28 Olympus Optical Co., Ltd. Guiding apparatus for guiding an insertable body within an inspected object
US5645065A (en) * 1991-09-04 1997-07-08 Navion Biomedical Corporation Catheter depth, position and orientation location system
US5445150A (en) * 1991-11-18 1995-08-29 General Electric Company Invasive system employing a radiofrequency tracking system
JP3935943B2 (ja) * 1996-02-15 2007-06-27 バイオセンス・インコーポレイテッド カテーテル較正システム及び使用状況モニタリングシステム
US6212419B1 (en) * 1997-11-12 2001-04-03 Walter M. Blume Method and apparatus using shaped field of repositionable magnet to guide implant
US6311082B1 (en) * 1997-11-12 2001-10-30 Stereotaxis, Inc. Digital magnetic system for magnetic surgery
US6241671B1 (en) * 1998-11-03 2001-06-05 Stereotaxis, Inc. Open field system for magnetic surgery
US6330467B1 (en) * 1999-02-04 2001-12-11 Stereotaxis, Inc. Efficient magnet system for magnetically-assisted surgery
US6292678B1 (en) * 1999-05-13 2001-09-18 Stereotaxis, Inc. Method of magnetically navigating medical devices with magnetic fields and gradients, and medical devices adapted therefor
JP4499861B2 (ja) * 1999-12-28 2010-07-07 オリンパスメディカルシステムズ株式会社 移動可能なマイクロマシンの移動制御システムおよび医用マイクロマシン誘導システム
GB0031287D0 (en) * 2000-12-21 2001-01-31 Oxford Instr Ltd Magnetic field generating system and method
EP1359845B1 (en) * 2001-01-22 2012-11-14 Spectrum Dynamics LLC Ingestible device
US6842324B2 (en) * 2001-04-05 2005-01-11 Fsu Research Foundation, Inc. Apparatus and method for controlling movement of an object through a medium using a magnetic field
JP4088087B2 (ja) * 2002-03-08 2008-05-21 オリンパス株式会社 医療用磁気誘導装置
JP3917885B2 (ja) * 2002-04-08 2007-05-23 オリンパス株式会社 カプセル内視鏡システム
EP1496798A1 (en) * 2002-04-10 2005-01-19 Stereotaxis, Inc. Systems and methods for interventional medicine
US7769427B2 (en) * 2002-07-16 2010-08-03 Magnetics, Inc. Apparatus and method for catheter guidance control and imaging

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230031296A (ko) * 2020-07-24 2023-03-07 인터내셔널 비지네스 머신즈 코포레이션 내부 및 외부 근접 스캐닝
KR102895626B1 (ko) 2020-07-24 2025-12-03 인터내셔널 비지네스 머신즈 코포레이션 내부 및 외부 근접 스캐닝

Also Published As

Publication number Publication date
EP1773230B8 (en) 2016-11-09
CN101035484B (zh) 2010-05-05
KR20070041555A (ko) 2007-04-18
CN101035484A (zh) 2007-09-12
JP2006068501A (ja) 2006-03-16
EP1773230A1 (en) 2007-04-18
WO2006014011A1 (en) 2006-02-09
KR100889160B1 (ko) 2009-03-17
EP1773230B1 (en) 2016-09-28
US20070270628A1 (en) 2007-11-22

Similar Documents

Publication Publication Date Title
JP4709594B2 (ja) 磁気誘導医療システム
EP1955644B1 (en) Medical device position detecting system, medical device guiding system, and position detecting method for medical device
CN101351143B (zh) 胶囊型医疗装置引导系统
CN1929773B (zh) 胶囊医疗装置位置/姿势检测系统
US8010182B2 (en) Detecting system of position and posture of capsule medical device
US20070244388A1 (en) Position Detection System, Guidance System, Position Detection Method, Medical Device, and Medical Magnetic-Induction and Position-Detection System
US20080139883A1 (en) Position Detection System for a Medical Device and Medical-Device Guidance System
JP4542326B2 (ja) カプセル型医療装置誘導システム
US20110301497A1 (en) Diagnostic and therapeutic magnetic propulsion capsule and method for using the same
JP2005081147A (ja) 磁石コイルシステムを用いた動作空間内の磁性体の非接触移動および／または固定装置
JPH0928662A (ja) 内視鏡形状検出装置
JP2005192631A (ja) 被検体内位置検出システム
JP6169301B1 (ja) 位置検出システム及び位置検出システムの作動方法
JP2007175188A (ja) カプセル型医療装置誘導システム
JP2006271520A (ja) カプセル型医療装置の位置検出システム、カプセル型医療装置誘導システムおよびカプセル型医療装置の位置検出方法
JP4472410B2 (ja) カプセル型医療装置位置・姿勢検出システム
WO2022198976A1 (zh) 磁控和无线充电系统
CN112294238A (zh) 控制胶囊内窥镜在组织腔体内移动的方法
KR20070023659A (ko) 캡슐 의료 장치 위치ㆍ자세 검출 시스템

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20080508

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20080508

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20101207

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110207

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20110301

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20110318

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

LAPS Cancellation because of no payment of annual fees