JP4727975B2 - Medical system - Google Patents

Description

  The present invention relates to a medical system for rotating and propelling a medical device body in a body cavity.

Various medical devices for inspecting the inside of a body cavity by generating a driving force by rotating the medical device inserted into the body cavity have been proposed.
For example, Japanese Patent Laid-Open No. 2003-299612 discloses a capsule endoscope system that guides the inside of a lumen by rotating a capsule endoscope with a rotating magnetic field. In this conventional example, image data obtained by imaging with a capsule endoscope is transmitted to an image processing apparatus outside the body, and the image processing apparatus associates the received image data with the received image data, and data of a rotating magnetic field. Are stored in a memory or the like.

And the structure which displays an image in the state which does not rotate is disclosed by performing the image process which correct | amends rotation of an image using the data of a rotating magnetic field.
JP 2003-299612 A

However, in the above-described conventional example, there is room for more accurate rotation correction for a configuration in which, for example, when image data is captured by an image processing apparatus outside the body, the image data is associated with information on the rotating magnetic field.
In other words, the rotation correction can be performed with higher accuracy by detecting the rotation state at the timing of imaging, but the configuration is not disclosed in the conventional example.

(Object of invention)
The present invention has been made in view of the above points, and an object of the present invention is to provide a medical system that can perform rotation correction with higher accuracy and obtain an image that can be easily observed when imaging is performed while the medical device body is rotated. And

The medical system of the present invention includes a medical device inserted into a body cavity, a medical device rotating device that rotates the medical device around an insertion axis, an imaging device provided in the medical device, and the imaging device imaging An imaging timing detection device that detects a signal related to the imaging timing performed, a rotation angle acquisition device that receives an output of the imaging timing detection device and acquires a rotation angle of the medical device rotation device at the imaging timing, and An image acquisition device that performs a process of rotating an image captured by the imaging device based on information on the rotation angle acquired by the rotation angle acquisition device, the medical device includes an imaging timing controller, and the imaging The apparatus receives the signal of the imaging timing controller and performs imaging, and transmits image data to the image acquisition apparatus, and the imaging timing Detection device, and detects the start of transmission of the image data.

  According to the present invention, by using information on the rotation angle at the timing of actual imaging, rotation correction can be performed with high accuracy and an image that can be easily observed can be obtained.

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

1 to 10 relate to the first embodiment of the present invention, FIG. 1 shows the overall configuration of the capsule medical system of the first embodiment of the present invention, and FIG. 2 shows the internal configuration of each part of the capsule medical system in FIG. 3 shows a side view and a front view of the capsule body, FIG. 4 shows a schematic configuration and modification of the operation input device, and FIG. 5 shows a coordinate system indicating a normal vector of the rotating magnetic field and a joystick. The capsule body propulsion direction and the like when tilting is shown.
6 shows the stick in the modified example and the propulsion direction of the capsule body by its tilting operation, FIG. 7 shows the operation of this embodiment in a timing chart, FIG. 8 shows the operation of this embodiment in a flowchart, and FIG. 9 shows the operation of the first modification, and FIG. 10 shows the configuration of the capsule medical system of the second modification.

As shown in FIGS. 1 and 2, the capsule medical system 1 according to the first embodiment of the present invention functions as a capsule endoscope that is inserted into a body cavity of a patient (not shown) from the mouth and images the inside of the body cavity. A capsule medical device main body 3 (hereinafter abbreviated as a capsule main body), a rotating magnetic field generator 4 that is arranged around the patient, that is, outside the body, and that applies a rotating magnetic field to the capsule main body 3, and a rotating magnetic field applied to the rotating magnetic field generator 4 A magnetic field generation device 9 including a magnetic field generation control device (or a power supply control device) 5 that performs supply control of a drive current for generating the current.
In this embodiment, the capsule medical device inserted into the body cavity of the patient from the mouth is taken as an example, but the capsule medical device inserted from the anus into the body cavity of the patient may be used.

  The capsule medical system 1 is disposed outside the patient's body, performs a process of performing wireless communication with the capsule body 3, controls the magnetic field generation control device 5, and the direction of the rotating magnetic field applied to the capsule body 3. A processing device 6 that performs processing for controlling the size and the like, a display device 7 that is connected to the processing device 6 and displays an image captured by the capsule body 3, and a processing device 6 that is connected to the processing device 6. For example, a direction input device 8a that generates an instruction signal in the direction of a magnetic field as an operation input device 8 that inputs an instruction signal corresponding to the operation by an operation of the operator. A speed input device 8b for generating a signal, and a function button 8c for generating an instruction signal corresponding to a set function such as generation of a rotating magnetic field eccentrically corresponding to an operation.

As shown in FIG. 3, the capsule body 3 has a capsule shape and is brought into contact with the inner wall of the body cavity (the inner wall of the lumen) by rotation on the outer peripheral surface of the outer container 11 forming the insertion portion to be inserted into the body cavity. A helical projection (or screw part) 12 serving as a thrust generating structure part for generating the above is provided. Further, in the inside sealed by the exterior container 11, an objective optical system 13 constituting an imaging means, an imaging element 14 disposed at the imaging position thereof, and an illumination element 15 that performs illumination for imaging (FIG. 2). In addition to the above, a magnet 16 for magnetically rotating the capsule body 3 is housed.
As shown in FIG. 3, the objective optical system 13 includes a tip cover 11 a made transparent, for example, hemispherically in the outer container 11 so that its optical axis coincides with the central axis C of the cylindrical capsule body 3. Arranged inside, the central portion of the tip cover 11a becomes an observation window 17 as shown in FIG. Although not shown in FIG. 3, the illumination element 15 is disposed around the objective optical system 13.

Accordingly, in this case, the visual field direction of the objective optical system 13 is the optical axis direction of the objective optical system 13, that is, the direction along the cylindrical central axis C of the capsule body 3.
Further, the magnet 16 disposed in the vicinity of the center in the longitudinal direction in the capsule body 3 has an N pole and an S pole disposed in a direction orthogonal to the central axis C as shown in FIG. In this case, the center of the magnet 16 is arranged so as to coincide with the center of gravity of the capsule body 3, and the center of the magnetic force acting on the magnet 16 when a magnetic field is applied from the outside is the center of gravity of the capsule body 3. Thus, the capsule body 3 can be easily magnetically propelled smoothly.
As shown in FIG. 3B, the image sensor 14 is arranged so as to coincide with a specific arrangement direction.
That is, the upward direction when the image captured by the image sensor 14 is displayed is set to the direction from the south pole to the north pole of the magnet 16.

The rotating magnetic field generator 4 applies a rotating magnetic field to the capsule body 3 to magnetically rotate the magnet 16, and the capsule body 3 with the magnet 16 fixed inside is rotated together with the magnet 16. The spiral protrusion 12 provided on the outer peripheral surface of the main body 3 is rotated in contact with the inner wall of the body cavity so that the capsule main body 3 can be propelled.
In addition, in this way, when the capsule body 3 including the magnet 16 is controlled by an external magnetic field, it is determined which direction is the upward direction of the image captured by the capsule body 3 from the direction of the external magnetic field. I want to know.

In the capsule body 3, in addition to the objective optical system 13, the image sensor 14, and the magnet 16 described above, as shown in FIG. 2, a signal picked up by the image sensor 14 is converted into a digital signal and subjected to compression processing. A signal processing circuit 20 to perform, a memory 21 for temporarily storing the compressed digital image data generated by the signal processing circuit 20, and a signal to be wirelessly transmitted by modulating the image data read from the memory 21 with a high frequency signal Capsule control for controlling each part in the capsule main body 3 such as a radio circuit 22 for converting or demodulating a control signal transmitted from the processing device 6 and driving control for the illumination element 15 and the image sensor 14 and the signal processing circuit 20 A circuit 23 and a battery 24 that supplies power for operation to the electrical system inside the capsule body 3 such as the signal processing circuit 20 are housed.
The processing device 6 that performs wireless communication with the capsule body 3 is connected to the wireless circuit 25 that performs bidirectional wireless communication with the wireless circuit 22, and the wireless circuit 25. An image acquisition circuit 26 that performs processing for sending a control signal and signal processing for image data sent from the capsule body 3 and also performs image rotation processing and the like, and a magnetic field generation control device 5 in accordance with an instruction input from the operation input device 8 And a magnetic field control circuit 27 for controlling and the like.

Further, the processing device 6 is in a state of the rotating magnetic field generated by the rotating magnetic field generating device 4 via the magnetic field generation control device 5, more specifically, the direction of the normal vector of the rotating magnetic field (the direction of the rotating magnetic field). (Abbreviation) and a storage circuit 28 for storing information on the direction of the magnetic field forming the rotating magnetic field, and a setting circuit 29 for performing function setting by the function button 8c and the like.
In addition, the processing device 6 is connected to the image acquisition circuit 26, and an imaging timing detection circuit 30 that detects imaging timing by the imaging device 14 of the capsule body 3 and a magnetic field at the imaging timing by the imaging timing detection circuit 30. A rotation angle acquisition circuit 31 that acquires information on the magnetic field rotation angle by the control circuit 27. The rotation angle acquisition circuit 31 converts the acquired information on the magnetic field rotation angle into an image via the imaging timing detection circuit 30, for example. The data is output to the acquisition circuit 26.

The image acquisition circuit 26 obtains magnetic field rotation angle information from the rotation angle acquisition circuit 31 in addition to the compression decompression (image expansion) processing on the image data acquired via the wireless circuit 25 (capsule Rotation correction of the image picked up by the image pickup device 14 of the main body 3 is performed. The image acquisition circuit 26 performs image rotation processing so that an image captured by the image sensor 14 and captured via the wireless circuits 22 and 25 becomes an image in a predetermined rotation angle direction. Then, an image picked up while the image pickup device 14 built in the capsule body 3 is rotated is output to the display device 7 as an image in a predetermined direction in which rotation is not performed, and the image in the predetermined direction is displayed. To be displayed.
The magnetic field control circuit 27 receives instruction signals corresponding to operations from the direction input device 8a, the speed input device 8b, and the function buttons 8c constituting the operation input device 8, and the magnetic field control circuit 27 corresponds to the instruction signals. Perform the control action.

In addition, the magnetic field control circuit 27 is connected to the storage circuit 28 and always stores information on the direction of the rotating magnetic field and the direction of the magnetic field generated by the rotating magnetic field generation device 4 via the magnetic field generation control device 5 in the storage circuit 28. I have to. After that, even when an operation for changing the direction of the rotating magnetic field or the direction of the magnetic field is performed, the direction of the rotating magnetic field or the direction of the magnetic field is continuously changed so that the rotating magnetic field can be smoothly changed. Yes. Note that the memory circuit 28 may be provided inside the magnetic field control circuit 27.
The magnetic field generation control device 5 connected to the magnetic field control circuit 27 generates an alternating current and also includes an alternating current generation and control unit 33 including three alternating current generation and control circuits that control the frequency and phase thereof. And the driver section 34 composed of three drivers for amplifying each alternating current, and the output currents of the three drivers are supplied to the three electromagnets 35a, 35b, and 35c constituting the rotating magnetic field generator 4, respectively. Is done.

In this case, the electromagnets 35a, 35b, and 35c are disposed so as to generate magnetic fields in three orthogonal directions as shown in FIG.
Then, by operating the direction input device 8a constituting the operation input device 8 shown in FIG. 4A, rotation corresponding to the operation is generated by generating an instruction signal in the magnetic field direction or operating the speed input device 8b. An instruction signal for a rotating magnetic field of a frequency can be generated, or an eccentric rotating magnetic field can be generated by operating the function button 8c.
Specifically, the operation input device 8 includes a direction input device 8a formed by a joystick Sa protruding upward from the upper surface of the operation box, a speed input device 8b formed by a stick Sb, and, for example, two buttons Ta and Tb. And the function button 8c formed in the above.

Then, when an orthogonal coordinate system is set as shown in FIG. 5A to represent the direction of the normal vector N of the rotating surface of the rotating magnetic field, the direction of the normal vector N is the propulsion of the capsule body 3. This direction can be set by tilting the joystick Sa.
In this case, as shown in FIG. 5B, the propulsion direction can be changed to the lower side, the upper side, the left side, and the right side by tilting the joystick Sa toward the front side, the rear side, the left side, and the right side. . The amount of tilting in this case corresponds to the speed of angle change. In addition, if it inclines in an intermediate direction (for example, a lower left direction or an upper right direction), naturally a propulsion direction can be changed to that direction.
Further, as shown in FIG. 5C, by tilting the stick Sb to the front side and the rear side, the rotation direction can be set to the front side and the rear side, respectively, and the rotation frequency can be changed at the tilt angle. .

Further, the button Ta is generated so as to decenter the direction of the rotating magnetic field (that is, the direction of the rotating magnetic field changes to a conical shape by decentering the rotating magnetic field from a certain direction by an eccentric angle). An instruction signal for starting the eccentricity of the rotating magnetic field is generated, and the magnet 16 incorporated in the capsule body 3 by the eccentricity of the rotating magnetic field performs a so-called jiggling or precession motion (which rotates so that the rotating spinning mandrel is shaken). Will start.
Accordingly, the button Ta functions as an instruction signal for starting jiggling, and the button Tb generates an instruction signal for stopping eccentricity of the rotating magnetic field, and thus an instruction signal for stopping jiggling. It should be noted that the setting of the value of the jiggling angle (angle φ, which will be described later) when instructing the magnetic field strength and the jiggling and the frequency when performing the jiggling can be set in advance by the function of the setting circuit 29.

Further, as a modification of the operation input device 8 shown in FIG. 4 (A), as shown in FIG. 4 (B), the operation input device 8 can be tilted to the top side of the joystick Sc, and by changing the rotation frequency of the rotating magnetic field according to the amount of declination. A lever La for changing the rotation speed of the capsule body 3, a button Tc for instructing the rotation direction of the rotating magnetic field by ON / OFF, and a function button Td as an eccentric function of the rotating magnetic field (in one case, from OFF to ON) In the case of ON, a function from ON to OFF may be provided.
In this way, it can be operated with one hand, and operability can be improved as compared with the case where it is necessary to operate with both hands in FIG.
In FIG. 4A, for example, a foot switch F shown in FIG. 4C may be adopted instead of the stick Sb, and the rotation frequency may be changed by the amount of depression.

FIG. 6 shows an explanatory diagram of the operation function and the like when the joystick Sc shown in FIG. 4B is employed. 6A shows an example of the configuration excluding the function button Td in FIG. 4B, FIG. 6B shows the function of changing the propulsion direction by the tilting operation of the joystick Sc, and FIG. The operation | movement explanatory drawing which actually changes a propulsion direction etc. with respect to the capsule main body 3 is shown.
In this case, FIG. 6B shows a function of changing the propulsion direction of the capsule body 3 by changing the direction in which the rotating magnetic field is generated by tilting the joystick Sc shown in FIG. In the present embodiment, as shown in FIG. 6B (or FIG. 5B), the direction in which the rotating magnetic field is generated is controlled so that the capsule body 3 can be propelled in the operation direction in which the joystick Sc is tilted. I am doing so.

In addition, the rotation frequency is changed by the amount by which the lever La is tilted, and a rotating magnetic field that causes the button Tc to move forward in the Off state and a rotating magnetic field that causes the button Tc to move backward (reverse to forward) is generated. To control.
As shown in FIG. 6B, in order to smoothly change the propulsion direction, it is necessary to constantly grasp the state of the capsule body 3 or the state of the rotating magnetic field. In the present embodiment, the state of the rotating magnetic field (specifically, the direction of the rotating magnetic field and the direction of the magnetic field) is always stored in the storage circuit 28.
Specifically, the operation instruction signal in the operation input device 8 which is the first operation input means in FIG. 2 is input to the magnetic field control circuit 27, and the magnetic field control circuit 27 generates a rotating magnetic field corresponding to the instruction signal. A control signal to be generated is output to the magnetic field generation control device 5, and information on the direction of the rotating magnetic field and the direction of the magnetic field is stored in the storage circuit 28.

Therefore, the storage circuit 28 always stores information on the rotating magnetic field generated by the rotating magnetic field generator 4 and the direction of the periodically changing magnetic field forming the rotating magnetic field.
The storage circuit 28 is not limited to storing information corresponding to the direction of the rotating magnetic field from the magnetic field control circuit 27 and the information corresponding to the control signal of the magnetic field direction, but from the magnetic field control circuit 27 to the magnetic field generation control device 5. Is used to determine the direction of the rotating magnetic field and the direction of the magnetic field that are actually output to the rotating magnetic field generating device 4 via the alternating current generating & controlling unit 33 and the driver unit 34 in the magnetic field generating control device 5 by the control signal output to May be sent from the magnetic field generation control device 5 side to the magnetic field control circuit 27 and stored in the storage circuit 28.

Further, in this embodiment, when the application of the rotating magnetic field is started and stopped, or when the direction of the rotating magnetic field (in other words, the direction of the capsule body in the traveling direction) is changed, a sudden force acts on the capsule body 3. Thus, the rotating magnetic field is controlled so as to continuously change so as to operate smoothly.
By controlling in this way, the operation of the capsule body 3 can be maintained smoothly even when the application of the rotating magnetic field is started and when the application of the rotating magnetic field is stopped.
In this embodiment, when the capsule body 3 as the medical device body is guided using the rotating magnetic field, information on the state of the rotating magnetic field that determines the current traveling direction of the capsule body 3 is stored in the storage circuit 28. When changing the traveling direction, the medical device main body is controlled by continuously changing the rotating magnetic field so as to proceed in the next traveling direction with reference to the current information stored in the storage circuit 28. The guidance operation is made so that it can be performed naturally.

In addition, when storing information on the rotating magnetic field in the storage circuit 28, the information on the time when the rotating magnetic field information is stored is stored in association with each other, so that the timing at which the imaging is performed as in the embodiment described later is detected. However, even when previous (past) rotation angle information is required, the corresponding rotation angle information can be obtained with high accuracy.
In addition, since the capsule body 3 is driven to rotate while being driven to rotate, the image directly captured by the capsule body 3 is a rotated image. For this reason, in the present embodiment, image rotation processing is performed on the rotated image, and the image is always displayed on the display device 7 after being corrected to an image in a predetermined direction equal to that in which rotation was not performed.
In the present embodiment, the image acquisition circuit 26 constituting the extracorporeal device transmits an imaging request signal as an instruction signal to be imaged to the capsule body 3, and causes the capsule body 3 to perform imaging using the imaging request signal. .

In addition, the image acquisition circuit 26 sends a timing signal at the time of transmission of the imaging (request) to the imaging timing detection circuit 30 at the timing at which the imaging request signal is transmitted. A signal is detected as an imaging timing.
Upon receiving this timing signal, the timing detection circuit 30 immediately sends to the magnetic field control circuit 27 via the rotation angle acquisition circuit 31 rotation angle information for rotating the capsule body 3 by the rotating magnetic field at that timing. A rotation angle information output request signal for outputting is sent, and the rotation angle information is output from the magnetic field control circuit 27.
As described above, since the magnet 16 is disposed in the capsule body 3 so that the predetermined direction of the image sensor 14 coincides with the direction between the two magnetic poles, the magnet 16 is oriented in the direction of the generated rotating magnetic field. Since the directions of the 16 magnetic poles follow, the imaging direction of the capsule body 3 by the imaging device 14, that is, the direction of the captured image can be determined. Further, it is possible to determine the rotation angle of how much the rotation is based on a predetermined direction.

Then, the rotation angle acquisition circuit 31 acquires information about the rotation angle output from the magnetic field control circuit 27 (rotates the capsule body 3 by the rotating magnetic field generated by the rotating magnetic field generator 4), that is, rotation angle information. This rotation angle acquisition circuit 31 holds the acquired rotation angle information, and when the image acquisition circuit 26 receives image data from the capsule body 3, the rotation angle information is obtained (via the imaging timing detection circuit 30 or directly). The image is sent to the image acquisition circuit 26.
Then, the image acquisition circuit 26 performs image rotation processing for rotating the image to a predetermined rotation angle with respect to the received image data based on the rotation angle information, and then outputs the image data to the display device 7. In this way, the display device 7 displays an image that does not always rotate (aligned in the direction of a predetermined rotation angle), and the user rotates without being aware that the capsule body 3 is rotating and capturing images. In such a configuration, it is possible to observe an image (easy to observe) as if it were captured in a state where no image is captured.
The operation of the present embodiment having such a configuration will be described.

First, the general operation of the present embodiment will be described. When examining the inside of a body cavity with the capsule body 3, the patient swallows the capsule body 3. When the capsule body 3 inserted into the body cavity passes through the body cavity such as the esophagus, the capsule body 3 illuminates with the illumination element 15 in synchronization with the imaging request signal transmitted from the processing device 6, and images with the imaging element 14. To do. An image picked up by the image pickup device 14 is compressed by the signal processing circuit 20, and then wirelessly transmitted to the processing device 6 outside the body through the wireless circuit 22.
The processing device 6 sends the image data received and demodulated by the wireless circuit 25 to the image acquisition circuit 26. The image acquisition circuit 26 accumulates in an image storage device (such as a memory or a hard disk) provided in the inside of the image acquisition circuit 26, and performs decompression processing, image rotation processing, and interpolation processing. The captured image is always displayed at a predetermined (reference) rotation angle that does not rotate.

Next, with reference to FIG. 7, the operation from the imaging by the capsule body 3 to the display after performing the rotation correction on the captured image will be described in detail. Note that the time from the top to the bottom in FIG. 7 indicates the passage of time. The same applies to other timing charts such as FIGS. 9, 11, 13, and 15.
As shown in FIG. 7, the image acquisition circuit 26 in the processing device 6 transmits an imaging request signal to the capsule body 3 via the wireless circuit 25 in synchronization with a predetermined imaging cycle, and detects imaging timing at that timing. A timing signal is sent to the circuit 30.
The capsule body 3 captures an imaging request signal into the capsule control circuit 23 via the wireless circuit 22. Then, the capsule control circuit 23 determines that the command is an imaging request, causes the illumination element 15 to emit light, applies a drive signal to the image sensor 14, and is illuminated by the light emission of the illumination element 15. An imaging signal obtained by imaging is output.

The image signal is subjected to signal processing by the signal processing circuit 20, A / D converted, and further compressed and stored in the memory 21. The image data compressed and stored in the memory 21 is modulated by the radio circuit 22, and the image data is wirelessly transmitted by radio waves. This image data is demodulated via the radio circuit 25 of the external processing device 6. The image is acquired (received) by the image acquisition circuit 26.
On the other hand, when receiving the timing signal, the imaging timing detection circuit 30 detects this timing as the imaging timing, and immediately obtains a rotation angle information output request signal to the magnetic field control circuit 27 in order to obtain information on the rotating magnetic field at this timing. The magnetic field control circuit 27 outputs the rotation angle information of the rotating magnetic field at the timing when this signal is input to the rotation angle acquisition circuit 31.
In FIG. 7, in consideration of a delay time from when the imaging request signal is transmitted to when the image sensor 14 actually performs imaging, the magnetic field control circuit 27 determines from the input timing of the rotation angle output request signal. The rotation angle information after the time corresponding to the delay time is output. For this reason, the rotation angle information is output from the magnetic field control circuit 27 so as to coincide with the central timing of the imaging time as indicated by the dotted line in FIG.

In addition, when a delay time occurs from when an imaging request signal is actually captured to when the imaging request is made, the correction is not limited to the case where the influence is considered on the magnetic field control circuit 27 side. The detection circuit 30 may send a rotation angle information output request signal to the magnetic field control circuit 27 after the delay time from the imaging request timing.
In addition, when the time from the imaging request to the actual imaging is short, the rotation angle information may be generated ignoring the delay time.
The rotation angle acquisition circuit 31 holds the rotation angle information output from the magnetic field control circuit 27. For example, the rotation angle information is displayed at the timing when the image acquisition circuit 26 finishes capturing the image data transmitted from the capsule body 3. The data is output to the acquisition circuit 26.

The image acquisition circuit 26 decompresses the compressed image data with respect to the captured compressed image data, and further refers to the rotation angle information, and rotates the reference rotation angle with respect to the rotated image. An image rotation process for obtaining an image of this image and an interpolation process as appropriate in accordance with the rotation are performed to generate an image that can be displayed by the display device 7 and output it to the display device 7.
The display device 7 displays the image output from the image acquisition circuit 26 to display the image captured by the image sensor 14 in a state in which the rotation correction is performed and the influence of the rotation is eliminated. For example, an image that is easy to observe is displayed such that the upward direction of the image sensor 14 is the upward direction when displaying an image.
When a predetermined time elapses, the image acquisition circuit 26 transmits an imaging request signal to the capsule body 3 again, and at the same time, sends a timing signal to the imaging timing detection circuit 30 and repeats the above-described processing.

Here, the upper direction of the image sensor 14 is arranged so as to coincide with the magnetic pole direction of the magnet 16 (the direction from the S pole to the N pole) and is displayed in the upper direction, but this arrangement relationship (angle) is Arbitrary. For example, an operator inputs an angle formed by the upper direction of the image sensor 14 and the magnetic pole direction of the magnet 16 by the initial setting by the operation input device 8, and the image acquisition circuit 26 considers the rotation angle information and performs the initial setting. Image rotation processing may be performed based on the input angle.
Alternatively, in the state where the capsule body 3 is rotated by the rotating magnetic field generated by the rotating magnetic field generator 4, the operator adjusts the amount of rotation of the image sensor 14 while checking the display image. The angle formed by the magnetic pole direction of the magnet 16 may be estimated, and the image acquisition circuit 26 may be caused to perform image rotation processing based on the angle.

The processing contents of FIG. 7 are as shown in the flowchart of FIG.
In step S1, the image acquisition circuit 26 transmits an imaging request signal to the capsule body 3 and outputs a timing signal to the imaging timing detection circuit 30. The imaging timing detection circuit 30 detects this timing as the imaging timing.
As shown in step S <b> 2, the capsule body 3 receives an imaging request signal, causes the illumination element 15 to emit light, and performs imaging processing for imaging with the imaging element 14. Further, the imaging timing detection circuit 30 sends a rotation angle information output request signal generated by the detection of the timing signal to the magnetic field control circuit 27, so that the rotation angle acquisition circuit 31 sends the signal (or imaging request). Rotation angle information is obtained at a timing corresponding to a time delay from when the image is actually captured to when the image is captured.

As shown in step S3, the capsule body 3 transmits the captured image data by the imaging process, and the image acquisition circuit 26 captures the transmitted image data.
Then, as shown in step S4, the image acquisition circuit 26 receives the rotation angle information sent from the rotation angle acquisition circuit 31, and performs decompression of compressed image data, image rotation processing, and interpolation processing on the captured image data. After that, the data is output to the display device 7.
As shown in step S <b> 5, the display device 7 displays an image input from the image acquisition circuit 26, thereby displaying an image that has been rotationally corrected so as not to rotate.
Then, as shown in step S6, the image acquisition circuit 26 determines whether a predetermined time has elapsed (by the timer output of the imaging timing detection circuit 30), returns to step S1 after the elapse of the predetermined time, and again takes an imaging request signal. Is sent to the capsule body 3 side, and a timing signal is sent to the imaging timing detection circuit 30 at that timing, and the above-described processing is repeated. The predetermined time is used for adjusting the processing time to the imaging cycle (frame rate).
In this way, the image acquisition circuit 26 rotates the image to a predetermined rotation angle with respect to the image actually captured by the image sensor 14 using the rotation angle information that coincides with the imaging timing with high accuracy. Image rotation processing is performed, and each image is displayed in a state where it is aligned at a predetermined rotation angle.

Therefore, according to the present embodiment, even in the case of an image captured by the rotated image sensor 14, the timing at which the image sensor 14 is substantially imaged is detected, and the rotation angle of the rotating magnetic field is detected at that timing. Since the configuration is such that information is detected, it is possible to generate an image that is accurately rotated and corrected so as not to rotate with a simple configuration, and the display device 7 can display the image.
Therefore, the observer can observe images aligned in a predetermined direction without being aware of rotation, and is easy to observe, and the orientation of the displayed image is also changed when trying to change the traveling direction or the like. Easy to operate because it is constant.
Further, even when the image is compressed on the capsule body 3 side, the image capturing timing can be detected without being affected by the time required for the compression. Therefore, the rotation of the image is corrected at the received timing in the conventional example. The rotation of the image at the captured timing can be corrected more accurately than in the case.

In addition, since the timing of imaging can be controlled by wireless transmission from the processing device 6 side arranged outside the body, it is possible to perform control such as focusing on a portion where imaging is desired.
Next, a modification of the present embodiment will be described with reference to the timing chart of FIG. The hardware configuration of this modification is almost the same as that shown in FIGS. The difference is that the image acquisition circuit 26 sends a rotation angle information request signal directly to the magnetic field control circuit 27 when transmitting an imaging request to the capsule body 3, and the timing (or The rotation angle acquisition circuit 31 is set so as to hold the rotation angle information output at a timing delayed by a time delay amount from when the imaging request is made until actual imaging is performed.
In this modification, the image acquisition circuit 26 requests a rotation angle information request to the rotation angle acquisition circuit 31 at the timing when reception of the image data transmitted from the capsule body 3 is completed. And the rotation angle information held by the rotation angle acquisition circuit 31 is received.

The image acquisition circuit 26 transmits an imaging request to the capsule body 3 and starts a rotation angle information output request to the magnetic field control circuit 27 immediately before starting the decompression process on the compressed image data. To send the signal.
That is, in the first embodiment, the image acquisition circuit 26 transmits an imaging request to the capsule body 3 after completing the decompression process on the compressed image data. The image acquisition circuit 26 transmits an imaging request to the capsule body 3 immediately before starting the decompression process or the like on the compressed image data.
By doing in this way, imaging and signal processing are performed on the capsule body 3 side in parallel during the time when the image acquisition circuit 26 is performing decompression processing or the like on the compressed image data, as compared with the case of the first embodiment. The time interval of the imaging cycle can be shortened.

According to this modification, imaging can be performed with a shorter imaging cycle, in other words, the imaging frame rate can be improved, and the time interval of the display cycle in which each captured image is displayed after being rotationally corrected can be shortened. And can display images that are closer to moving images. The other effects are the same as those of the first embodiment.
In the present embodiment (including modifications) and the following embodiments, the imaging timing detection circuit 30 and the rotation angle acquisition circuit 31 in the processing device 6 may be integrated.

Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 10 shows a configuration of a capsule medical system 1B according to the second embodiment of the present invention.
The capsule medical system 1B includes a capsule body 3B, a magnetic field generator 9, a processing device 6B, a display device 7, and an operation input device 8.
The capsule main body 3B is configured to modulate an image signal picked up by the image pickup device 14 in the capsule main body 3 of FIG. That is, the signal processing circuit 20 and the memory 21 for performing A / D conversion and image data compression in FIG. 2 are omitted.
The capsule control circuit 23 includes a timer 23a, and controls the illumination element 15 and the imaging element 14 so that imaging is performed at a predetermined cycle on the capsule body 3B side. The capsule control circuit 23 has a function of an image capture controller that controls the timing at which the image sensor 14 captures an image.

In the present embodiment, the capsule body 3B only transmits the captured image by the wireless circuit 22, and has a configuration in which the function of receiving is omitted.
Further, the processing device 6B receives the image transmitted from the capsule body 3B, and in this case, the processing device 6B regards it as the imaging timing at the head portion that received the image, generates a timing signal, and from the magnetic field control circuit 27 based on the timing signal. Get rotation angle information. Then, image rotation processing and interpolation processing are performed on the received image, and rotation correction of the image received from the capsule main body 3B is performed and output to the display device 7 is performed.
Since the processing device 6B side detects the imaging timing at the time of receiving the image transmitted wirelessly, in order to improve the detection accuracy of the imaging timing, when outputting the rotation angle information from the magnetic field control circuit 27, The previous one may be output for the delay time due to wireless transmission.

Other configurations are the same as those in FIG. Next, the operation of this embodiment will be described with reference to the timing chart of FIG.
In the present embodiment, the capsule body 3 performs imaging at a constant period. Then, the image picked up by the image pickup device 14 is subjected to high frequency modulation by the wireless circuit 22, and the modulated image is sequentially transmitted wirelessly. The processing device 6B demodulates by the wireless circuit 25 and sequentially sends the demodulated images to the image acquisition circuit 26. When the image acquisition circuit 26 detects the leading portion of the image received (input) via the wireless circuit 25, it sends a timing signal to the imaging timing detection circuit 30. When detecting the leading part of an image, a mark may be added to make it easy to detect the leading edge of the signal, or the leading edge part is detected by comparing with a threshold value with a comparator or the like without adding a mark. You may do it.

Upon receiving the timing signal, the imaging timing detection circuit 30 detects the timing signal as an imaging timing, and immediately sends a rotation angle information output request signal to the magnetic field control circuit 27. The magnetic field control circuit 27 outputs the rotation angle information when the signal is input, and the rotation angle acquisition circuit 31 acquires the rotation angle information.
Further, when detecting the end of image reception, the image acquisition circuit 26 immediately sends a rotation angle information request signal (in the rotation angle acquisition circuit 31) held to the rotation angle acquisition circuit 31, and the rotation angle thereof. Get information. Even when the end of image reception is detected, the mark may be added as described above in order to easily detect the end.
When acquiring the rotation angle information, the image acquisition circuit 26 performs image rotation processing and interpolation processing, generates a video signal that can be displayed by the display device 7, and outputs the video signal to the display device 7. The display device 7 displays an image that has been rotationally corrected.
After the image acquisition circuit 26 finishes the process of generating the video signal, the capsule body 3 starts the next imaging. Then, the above processing is repeated.

According to the present embodiment, the capsule body 3 automatically captures an image, and the extracorporeal processing device 6B receives the image transmitted from the capsule body 3B and captures the leading portion of the received image at that time. By acquiring rotation angle information from the magnetic field control circuit 27 at that timing and performing image rotation processing using the rotation angle information, an image that does not rotate can be displayed with a simple configuration.
In addition, when the timing at which the head portion of the received image is detected is delayed from the timing at which the image is actually captured, if the previous rotation angle information is acquired by the delay time, the image with the rotation corrected with high accuracy is displayed. You can also

Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 12 shows a configuration of a capsule medical system 1C according to the third embodiment of the present invention.
In the present embodiment, the capsule body 3C performs the operation of transmitting the captured image as in the case of the capsule body 3B shown in FIG. 9, but the signal processing circuit 20 and the memory 21 are incorporated as in the case of the first embodiment. Then, the compressed image data is transmitted.
In this embodiment, after the compressed image data is transmitted, the next imaging operation is started when a set time has elapsed. That is, on the processing device 6C side, the capsule body 3C side performs the next imaging operation in parallel with the operation for performing processing such as decompression of the compressed image data.

The capsule control circuit 23 has a built-in timer 23a as in the case of FIG. Then, after image processing is started by the image sensor 14, signal processing including compression is performed, and then an image is transmitted after a predetermined time to elapses from the timing of image capturing by the image sensor 14.
That is, even when the compression time fluctuates, the image is always transmitted after a predetermined time to elapses from the timing at which imaging is started by the imaging device 14 or the central timing in the imaging time.
On the processing device 6 </ b> C side that receives the transmitted image, the image acquisition circuit 26 transmits a rotation angle information output request signal to the magnetic field control circuit 27 when detecting the leading portion of the transmitted image. In this case, the image acquisition circuit 26 sends a rotation angle information output request signal for outputting the rotation angle information of the past timing traced back from this signal by a predetermined time to the magnetic field control circuit 27.

The magnetic field control circuit 27 reads out and outputs the past rotation angle information that goes back a predetermined time to from the timing of receiving this signal from the storage circuit 28.
Then, the image acquisition circuit 26 performs image rotation processing using the rotation angle information at a time that goes back a predetermined time to. For this reason, in this embodiment, the storage circuit 28 connected to the magnetic field control circuit 27 always stores at least the past rotation angle information for a predetermined time to. Note that the image acquisition circuit 26 may send a rotation angle information output request signal for outputting the rotation angle information at a timing retroactive to the storage circuit 28 by a predetermined time to.
Other configurations are the same as those in FIG.

FIG. 13 shows a timing chart of the operation of this embodiment. As shown in FIG. 13, the capsule body 3 </ b> C captures an image at a substantially constant cycle, and the captured image is A / D converted by the signal processing circuit 20 and then compressed. Then, the capsule control circuit 23 causes the wireless circuit 22 to transmit when a predetermined time to elapses from the imaging timing.
When the image acquisition circuit 26 detects the leading portion of the transmitted image data via the wireless circuit 25, the processing device 6C sends a rotation angle information output request signal to the magnetic field control circuit 27. , A rotation angle information output request signal for outputting rotation angle information at a timing retroactive from this signal by a predetermined time to is sent.
The magnetic field control circuit 27 reads out and outputs the rotation angle information traced back for a predetermined time to from the timing of receiving this signal. This rotation angle information is held in the rotation angle acquisition circuit 31, and when the image acquisition circuit 26 finishes receiving the image data transmitted from the capsule body 3C, the rotation angle information held in the rotation angle acquisition circuit 31 is stored. The image is rotated with reference to the image, and the image subjected to the rotation correction is displayed on the display device 7.

On the other hand, the capsule body 3C side starts the next imaging operation when the set time elapses after the wireless transmission of the image data ends.
According to the present embodiment that operates in this way, even in a configuration in which image data is wirelessly transmitted from the capsule body 3C to the processing device 6C without performing bidirectional wireless communication, imaging on the capsule body 3C side is performed. The timing can be detected with high accuracy, the corresponding rotation angle information can be obtained, and the rotation can be corrected with high accuracy.
Further, since the capsule body 3C can perform the next imaging operation while the processing device 6C side is performing data decompression, image rotation processing, and the like, it is possible to perform imaging at shorter time intervals.
Also in the case of the present embodiment, since images aligned in a predetermined direction can be displayed by the rotation correction, it is possible to improve operability when performing propulsion or the like with a rotating magnetic field while observing.

In the present embodiment, the compressed image data is wirelessly transmitted after a predetermined time to elapses from the imaging timing. However, when the time varies due to the compression, time information is added to the image data. Thus, it may be transmitted immediately after compression.
The capsule control circuit 23 performs control so that the time information (time information) from the timing of imaging by the imaging device 14 to the start of transmission after the compression processing is completed is added to the head portion of the image and transmitted.
In this case, when the compression processing is completed, the signal processing circuit 20 sends an end signal to the capsule control circuit 23, and the capsule control circuit 23 calculates an elapsed time from the timing of imaging until the reception of the end signal. The time information of the elapsed time is sent to the wireless circuit 22, and the wireless circuit 22 adds the time information and starts transmitting image data.

Then, the extracorporeal processing device 6C reads the time information added to the head portion of the received image, and sends the time information to the rotation angle information output request signal to the magnetic field control circuit 27 for transmission. .
The magnetic field control circuit 27 outputs the rotation angle information at a timing that goes back by the time t of the time information from the timing at which the rotation angle information output request is input. The rotation angle information is held by the rotation angle acquisition circuit 31. The
The image acquisition circuit 26 is configured to perform decompression processing, image rotation processing, and the like of the compressed image using the rotation angle information.

FIG. 14 shows an operation timing chart in the first modification.
Under the control of the capsule control circuit 23, the capsule body 3 </ b> C causes the illumination element 15 to emit light, for example, at a constant period, and causes the imaging element 14 to capture an image. At the imaging timing, the capsule control circuit 23 starts the timer 23a, and the timer 23a starts measuring time.
The image signal picked up by the image pickup device 14 is A / D converted by the signal processing circuit 20, and further the image data is compressed, and the imaged image data is stored in the memory 21.

When the image data compression is completed and transmission is performed from the wireless circuit 22, the signal processing circuit 20 informs the capsule control circuit 23 that the data compression is completed, and the capsule control circuit 23 uses the timer 23a to start imaging. The time t from the timing is obtained, and the information of the time t is added to the head of the image data and transmitted.
The image acquisition circuit 26 reads the information of the time t added to the head portion when the image data is received, and causes the magnetic field control circuit 27 to output the rotation angle information of the time that goes back by this time t. .
When the acquisition of the image data to be transmitted is completed, the image acquisition circuit 26 performs decompression of the compressed image data, image rotation processing with reference to the rotation angle information, and the like, and displays the rotation corrected image on the display device 7. To do.
On the other hand, on the capsule body 3C side, the capsule control circuit 23 starts the next imaging when a predetermined time has elapsed since the previous imaging.

According to this modified example that operates in this way, it is necessary to add the time information of the imaging timing and transmit it. However, the time until the end of the compression process varies mainly due to compression of the image data. Even in this case, there is a merit that the image data can be wirelessly transmitted immediately at the end.
In other words, according to the present modification, even when the image compression time varies depending on the captured image, it is possible to reliably detect the imaging timing, and therefore it is possible to display the image accurately with a simple configuration without rotating.
Next, a second modification will be described. In the third embodiment, the capsule body 3C side starts the next imaging operation even when the processing device 6C side performs decompression processing of the compressed image data after wirelessly transmitting the image data. However, after the processing device 6C side performs decompression processing of the compressed image data, the next imaging operation may be started.

FIG. 15 shows a timing chart of the operation in this case. In FIG. 15, the image sensor 14 that performs imaging in the capsule body 3 </ b> C in FIG. 13, the signal processing circuit 20 that performs A / D conversion and image data compression processing, and the compressed image data stored in the memory 21 are wirelessly transmitted. The operation contents are shown separately for the wireless circuit 22 for transmission.
In FIG. 15, as shown in FIG. 13, wireless transmission of image data is started from the wireless circuit 22 of the capsule body 3 </ b> C after a predetermined time to has elapsed from the imaging timing. However, in FIG. 15, for simplification, the imaging timing is shown as the imaging start timing.
The image acquisition circuit 26 sends a rotation angle information output request signal to the magnetic field control circuit 27 at the head when receiving image data transmitted wirelessly, and the rotation angle at a time point that is traced back by a predetermined time to from this signal. Information is output, and the rotation angle acquisition circuit 31 holds the rotation angle information.

Further, the image acquisition circuit 26 performs decompression of the compressed image data, image rotation processing with reference to the rotation angle information, and the like, and then outputs to the display device 7 to display the rotation-corrected image. It is displayed on the device 7.
On the capsule body 3C side, when a predetermined time elapses until the display device 7 displays an image, the next imaging operation starts.
Next, a third modification will be described. In the present modification, the second modification is changed, and images can be picked up at shorter time intervals than in the case of the third embodiment, and rotation of the picked-up images can be corrected and sequentially displayed.
In this modification, the image acquisition circuit 26 takes in image data from the wireless circuit 25 and stores it in a memory or the like, and compression / decompression processing on the image data stored in the image data storage unit 26a. The image processing unit 26b performs image rotation processing and interpolation processing.

Even when the image processing unit 26b performs compression / decompression processing, the image data storage unit 26a can perform the operation of receiving (storing) the next image data in parallel to improve the imaging frame rate. I can do it. The reference numerals of the image data storage unit 26a and the image processing unit 26b are shown in FIG.
FIG. 16 shows a timing chart of the operation of the third modified example. In FIG. 16, the image acquisition circuit 26 in FIG. 15 is replaced with an image data storage unit 26a configured by a memory or the like that sequentially stores image data from the wireless circuit 25, and image data stored in the image data storage unit 26a. The image processing unit 26b performs compression / decompression processing, image rotation processing, and interpolation processing.
In the case of FIG. 16, on the capsule body 3C side, when imaging with the imaging device 14 is completed, the signal processing circuit 20 subsequently performs A / D conversion on the image and starts image data compression processing, The compression process ends.

In this case, when a predetermined time ti elapses from the imaging timing, an operation of wirelessly transmitting the compressed image data from the wireless circuit 22 is started, and the imaging element 14 performs the next imaging (under the control of the capsule control circuit 23). Start operation.
When the image data is wirelessly transmitted, the image data storage unit 26a of the processing device 6C sends a rotation angle information output request signal to the magnetic field control circuit 27 at the head portion of the received image data, and from this signal for a predetermined time to The rotation angle information at the time of going back is output, and the rotation angle acquisition circuit 31 holds the rotation angle information.
When the image data storage unit 26a receives (stores) all the image data, the image data storage unit 26a sends a signal to the rotation angle acquisition circuit 31 so as to send the rotation angle information held to the image processing unit 26b, and subsequently the image processing unit. 26b performs compression / decompression of the image data stored in the image data storage unit 26a, image rotation processing with reference to the rotation angle information, etc., and outputs the rotation-corrected image to the display device 7. The image is displayed.

In the capsule body 3C, following the next imaging operation, the signal processing circuit 20 A / D-converts the image and starts the compression processing of the image data. As described above, a predetermined time ti has elapsed from the imaging timing. Then, the operation of wirelessly transmitting the compressed image data from the wireless circuit 22 is started, and the imaging element 14 further starts the next imaging operation (under the control of the capsule control circuit 23).
According to this modified example that operates in this way, the image is captured at a time interval that is even shorter than in the case of Example 3, and rotation correction is performed on the captured image, and an observation equivalent to the state in which the rotation is stopped is observed. Easy images can be displayed.
In addition, this system can perform a more suitable operation when the sum of the imaging time and the processing time in the capsule body 3C is longer than the time for transmitting data from the capsule body 3C to the image acquisition circuit 26. it can.

Next, a fourth embodiment of the present invention will be described with reference to FIG. FIG. 17 shows a configuration of a capsule medical system 1D according to the fourth embodiment of the present invention.
In the capsule medical system 1D of the present embodiment, for example, in the capsule medical system 1 of the first embodiment shown in FIG. 2, an oscillator 41 and an output magnetic field from the oscillator 41 are further generated in the capsule body 3 and an alternating magnetic field is generated around it. The capsule body 3D is provided with a coil 42.
Further, outside the capsule body 3D, a direction / position detection device 43 that detects the direction (direction) of the capsule body 3D in the longitudinal direction from the AC magnetic field of the coil 42 and also detects the position, and is built in the capsule body 3B. A magnetic pole sensor 44 for detecting the direction (direction) of the magnet 16 and a direction detection device 45 for detecting the direction of the magnet from the output of the magnetic pole sensor 44 are provided.

In the capsule body 3D, in the capsule body 3 shown in FIG. 3A, for example, the coil 42 is wound in a predetermined direction inside the vicinity of the rear end of the outer container 11, specifically, the coil 42 is wound in a solenoid shape. The solenoid is stored in a state where the orientation of the solenoid is set to the longitudinal direction of the capsule body 3D.
The direction / position detection device 43 includes, for example, a plurality of sense coils that detect an alternating magnetic field, and detects the orientation and position of the coil 42 from signals detected by the sense coils. The magnetic pole sensor 44 includes a plurality of magnetic pole sensors 44 and detects the direction of the magnetic pole of the magnet 16 from the output signals of the plurality of magnetic pole sensors. Further, the orientation of the capsule body 3D in the longitudinal direction can be detected by the arrangement state of the coil 42 and the magnet 16 arranged in the capsule body 3D.
Note that an antenna may be employed instead of the coil 42, and radio waves radiated from the antenna may be received by the direction / position detection device 43 to detect the longitudinal direction and position of the capsule body 3D.

Information detected by the direction / position detection device 43 and the direction detection device 45 is input to the magnetic field control circuit 27 of the processing device 6D.
The configuration of the processing device 6D is the same as that of the processing device 6 of FIG. 2, but the operation of the magnetic field control circuit 27 is partially different.
When the operation input device 8 is operated, the magnetic field control circuit 27 generates a rotating magnetic field based on information stored in the storage circuit 28 and information detected by the direction / position detection device 43 and the direction detection device 45. Or controlling the direction of the generated rotating magnetic field to be within an appropriate range.
More specifically, when the operation input device 8 is operated to change the direction of the rotating magnetic field, for example, the magnetic field control circuit 27 includes information detected by the direction / position detection device 43 and the direction detection device 45, It is determined from the current direction of the magnet 16 of the capsule body 3D and the direction of the rotating magnetic field whether the current direction of the capsule body 3D and the direction of the rotating magnetic field are within appropriate ranges. If it is within the appropriate range, the direction of the rotating magnetic field is changed according to the operation input, and if it deviates from the appropriate range, the operation input is temporally suppressed (that is, the rate of change is temporally changed). To keep it within the proper range.

In this way, the capsule body 3D can be controlled by suppressing the direction of the rotating magnetic field, the frequency change, and the like within an appropriate range with respect to the operation input of the operation input device 8 in consideration of the response on the capsule body 3D side. It is possible to smoothly control the propulsion operation by the rotation of the.
In addition, since the capsule body 3D is rotated by the rotating magnetic field, it can be assumed that a rotation follow-up delay occurs due to inertia or friction. In particular, when the rotational speed is high, it can be expected that the delay will increase.
In this case, the amount of delay may be obtained as an empirical value or a calculated value and taken into account during the image rotation process. In this case, rotation correction can be performed with higher accuracy, and an image that can be easily observed can be obtained.

Other functions and effects are the same as those in the first embodiment.
In addition, although the present Example was demonstrated by the case where it applied to Example 1 of FIG. 2, it is clear that it can be applied to the modification of Example 1, Example 2, or Example 3, etc., in that case In addition, as described above, by keeping the operation input of the operation input device 8 within an appropriate range, the capsule body can be propelled more smoothly.

Next, a fifth embodiment of the present invention will be described with reference to FIGS. FIG. 18 shows a configuration of a medical system 1E according to the fifth embodiment of the present invention. In the above-described embodiment, the rotation speed of the capsule body 3 and the like can be changed by the rotating magnetic field. However, in the present embodiment, the rotating drive means rotates without using the rotating magnetic field as described below. It is configured to drive.
As shown in FIG. 18, this medical system 1E includes a medical device body 3E having a capsule-shaped portion 51 provided at the tip of a flexible tube 52, a motor 53 that rotationally drives the medical device body 3E, and the rotational speed of the motor 53. And the like, and a processing device that controls the rotation of the motor 53 and performs signal processing on the imaging signal of the imaging device 14 built in the medical device body 3E in response to an operation input from the operation input device 54 6E and a display device 7 that displays an image captured by the image sensor 14.

A medical device main body 3E shown in the side view of FIG. 19A and the front view of FIG. 19B has a capsule-shaped portion 51 having a capsule-shaped outer container 11 in substantially the same manner as the capsule main body 3 shown in FIG. The distal end of the elongated flexible tube 52 is connected to the rear end. In this case, the distal end of the flexible tube 52 is attached along the central axis C of the capsule-shaped portion 51.
In Examples 1 to 4 described above, only the capsule body 3 was inserted into the body cavity as the medical device body. However, in this embodiment, the capsule-shaped portion 51 and the flexible elongated member connected thereto are used. The flexible tube 52 forms an insertion portion to be inserted into the body cavity. As shown in FIG. 19B, the front view of the medical device main body 3E has almost the same shape as that in FIG. 3B. However, in this embodiment, the structure is made to rotate by the motor 53 without using the rotating magnetic field, so the magnet 16 is not provided in the capsule-shaped portion 51.

Further, in this embodiment, the outer surface of the flexible tube 52 is provided with a spiral protrusion 55 having the same pitch as the spiral protrusion 12 provided on the outer peripheral surface of the capsule-shaped portion 51. 55 is configured to function as a larger thrust generation structure than in the case of only the spiral protrusion 12.
Inside the capsule-shaped portion 51, as shown in FIG. 18, an illumination element, an image pickup element 14, and the like are accommodated. The capsule-shaped portion 51 contains the capsule body 3 of FIG. 2 excluding the magnet 16 and the wireless circuit 22. Although the battery 24 is also built in, the power may be supplied from the external processing device 6E.
The memory 21 and the capsule control circuit 23 built in the capsule-shaped portion 51 are connected to one end of the signal line 56 inserted into the flexible tube 52, and the other end is the rear end (base end) of the flexible tube 52. Are connected to contacts provided on the outer peripheral surface of the connector 57. The contact of this connector 57 is connected to the rotating shaft of the motor 53, and a slip ring 58 with the connector 57 as the rotor side is formed outside this rotating shaft, and is provided on the inner peripheral surface of this slip ring 58. The signal line connected to the stator side contact is connected to the image acquisition circuit 26 of the processing device 6E.

The image acquisition circuit 26 sends an image pickup request signal to the capsule control circuit 23 as in the case of the first embodiment, and receives image data picked up by the image pickup device 14 and subjected to signal processing by the signal processing circuit 20. .
In the first embodiment, signals are transmitted and received wirelessly via the wireless circuit 22 and the like, but in the present embodiment, signals are transmitted and received through the signal line 56.
2 is provided with a motor control circuit 59 for controlling the rotational speed of the motor 53 in place of the magnetic field control circuit 27 in the processing apparatus 6 shown in FIG. 2. The motor control circuit 59 is an operation input device. Control is performed to change the rotational speed of the motor 53 in response to an operation input by the controller 54.
The operation input device 54 is provided with a speed input device 8b and a function button 8c as in the case of the first embodiment, and does not include the direction input device 8a.

Other configurations are the same as those of the first embodiment.
In the first embodiment, when detecting the imaging timing, the processing device 6 acquires the rotation angle information of the rotating magnetic field by the magnetic field control circuit 27 and rotates the image with respect to the image data captured from the capsule body 3. In the present embodiment, the processing device 6E rotates the motor 53 by the motor control circuit 59 when detecting the imaging timing, although the image rotation processing is performed to obtain the image in the direction of the predetermined rotation angle. The angle information is acquired, and the image data captured from the capsule shape unit 51 is subjected to image rotation processing for rotating the image so as to obtain an image in a predetermined rotation angle direction.

The rotation correction operation according to this embodiment is almost the same as the operation in which the magnetic field control circuit 27 is replaced with the motor control circuit 59 in the timing chart of FIG. Also in the present embodiment, as in the case of the first embodiment, even when the capsule-shaped portion 51 is driven to rotate, an image can be displayed with a rotation angle in a predetermined direction.
FIG. 20 shows a configuration of a modified medical system 1F. This medical system 1F is a medical device main body 3F that employs a capsule-shaped portion 51B having a structure that does not include the signal processing circuit 20 and the memory 21 in the capsule-shaped portion 51 in the medical system 1F of FIG. That is, in this modification, the image acquisition circuit 26 acquires an image captured by the image sensor 14 via the signal line 56. Other configurations are the same as those in FIG.

  According to this modification, the same effects as in the case of the fifth embodiment can be obtained at a lower cost than in the fifth embodiment.

In this modification, the imaging request signal is transmitted from the image acquisition circuit 26 to the capsule control circuit 23. However, the capsule shape unit 51 performs imaging at a predetermined timing or the like, and at that time, the capsule control circuit 23 may send a signal for detecting the imaging timing to the image acquisition circuit 26 or the imaging timing detection circuit 30.
Note that embodiments configured by partially combining the above-described embodiments also belong to the present invention.

[Appendix]
(Effect of Claim 1)
A rotation angle acquisition device that has a timing detection device that detects the timing of performing imaging, receives the output of the timing detection device and acquires the rotation angle information of the medical device rotation device, and provides information on the rotation angle at the time of imaging To get. Based on this, the image picked up by the image pickup device is rotated. As a result, the image can be accurately rotated. In addition, an image that is not conscious of rotation of the imaging device can be obtained with a simple configuration.
(Effect of claim 2)
When having a timing detection device that detects the timing of performing imaging and providing a rotation angle acquisition device that receives the output of the timing detection device and acquires information on the rotation angle of the rotating magnetic field generated by the magnetic field generation device. Get information about the rotation angle of. Based on this, the image picked up by the image pickup device is rotated so as to have a predetermined rotation angle. As a result, the image can be accurately rotated. In addition, an image that is not conscious of rotation of the imaging device can be obtained with a simple configuration.

(Effect of claim 3)
An effect similar to that of the first aspect can be obtained in a medical system in which an imaging request is made from the device side arranged outside the body to the medical device body side.
(Effect of claim 4)
The same effect as that of the first aspect can be obtained also in a medical system in which image data is sent to the image acquisition device by imaging control on the medical device main body side.
1. The medical device main body is a capsule endoscope having an in-vivo wireless communication device, the image acquisition device has an extracorporeal wireless communication device, and wirelessly communicates between the in-vivo wireless communication device and the extracorporeal wireless device. The medical system according to claim 2.
(Effect of Claim 5)
The medical system of Claims 1-4 WHEREIN: The display which is not made aware of rotation of a medical device main body is realizable.

(Effects of Appendix 1)
An effect similar to that of the second aspect can also be obtained in the capsule endoscope.

2. The image acquisition device transmits an imaging request signal to the imaging device and transmits an imaging timing signal to the imaging timing detection device, and the imaging timing detection device sends a rotation angle acquisition request signal to the rotation angle acquisition device. The imaging device receives the imaging request signal and performs imaging, and the rotation angle acquisition device receives the rotation angle acquisition request signal and acquires information on the rotation angle, whereby the imaging device performs imaging. The medical system according to claim 2, wherein the information on the rotation angle of the rotating magnetic field is acquired.
(Effects of Appendix 2)
In a medical system that requests imaging from the device side arranged outside the body to the medical device main body side, the same effect as in claim 2 and supplementary note 1 can be obtained.
3. The rotation angle acquisition device acquires information on the rotation angle of the rotating magnetic field after receiving a rotation angle acquisition request signal and after a delay time from when the imaging request signal is generated until the imaging device performs imaging. Supplementary note 2 medical system characterized.
(Effects of Appendix 3)
In a medical system in which an imaging request is made from the device side arranged outside the body to the medical device main body side, the same effect as in Appendix 2 can be obtained even in a system in which the communication speed is slow and the delay time is generated.
This is particularly effective when the medical device body constitutes a capsule endoscope.

4). A data compression device that compresses image data captured by the imaging device is provided in the medical device body, the compressed data compressed by the data compression device is transmitted to the image acquisition device, and the compressed data is decompressed The medical system according to appendix 2 or appendix 3, wherein a data decompressing device is provided outside the body.
(Effects of Appendix 4)
The same effects as those of Supplementary Note 2 and Supplementary Note 3 can be obtained even in the case where a device for compressing data in which the compression processing time and the data transmission time differ depending on the image.
5. The medical device body has an imaging timing controller,
The imaging device receives a signal from the imaging timing controller and performs imaging,
The medical system according to claim 2, wherein the image acquisition device transmits image data, and the imaging timing detection device detects the start of transmission of the image data.
(Effects of Appendix 5)
In the medical system in which image data is sent to the image acquisition device by the imaging control on the medical device main body side, the same effects as those of Supplementary Note 1 and Supplementary Note 2 can be obtained.

6). A storage device for storing the rotation angle of the rotating magnetic field in the past;
The rotation angle acquisition device receives the imaging timing signal from the imaging timing detection device, and the rotational magnetic field that is earlier by the time from when the imaging device performs imaging until the image data is transmitted to the image acquisition device. The medical system according to appendix 5, wherein the rotation angle is acquired from the storage device.
(Effects of Appendix 6)
Even in a medical system in which an imaging timing signal arrives at a timing detection device arranged outside the body after an image is acquired on the medical device main body side, the same effect as in Appendix 5 can be obtained. In particular, the same effect as in Supplementary Note 5 can be obtained even in a medical system in which the medical device body is a capsule endoscope and a delay time occurs in communication in which image data is transmitted by wireless communication.

7). It has magnetic field operation means operated by an operator connected to the magnetic field control device, and by operating the magnetic field operation means, position control of the medical device body in an arbitrary direction within a body cavity is characterized. The medical system according to any one of claims 1 to 6, wherein:
(Effects of Appendix 7)
In addition to the effects of Claim 2 and Supplementary Notes 1 to 6, the operator can control the orientation and position of the medical device main body by operating the magnetic field generator, so that efficient observation can be performed.

8). The medical device main body is a capsule endoscope having an in-vivo wireless communication device, the image acquisition device has an extracorporeal wireless communication device, and wirelessly communicates between the in-vivo wireless communication device and the extracorporeal wireless device. The medical system according to claim 1.
(Effects of Appendix 8)
The effect similar to that of the first aspect can also be obtained in the capsule endoscope.
9. Information about the rotation angle of the rotation device for the medical device after the rotation angle acquisition device receives a rotation angle acquisition request signal and is delayed by a delay time from when the imaging request signal is generated until the imaging device performs imaging. The medical system according to claim 3.
(Effects of Appendix 9)
In a medical system in which an imaging request is made from the device side arranged outside the body to the medical device side, the same effect as in Supplementary Note 3 can be obtained even in a system in which the communication speed is slow and the delay time is generated. This is particularly effective when the medical device constitutes a capsule endoscope. 10. A data compression device that compresses image data captured by the imaging device is provided in the medical device body, the compressed data compressed by the data compression device is transmitted to the image acquisition device, and the compressed data is decompressed 13. The medical device system according to claim 3, wherein a data decompression device is provided outside the body.
(Effects of Appendix 10)
The same effects as those of claims 3 and 9 can be obtained even in the case of having a device for compressing data, in which the compression processing time and data transmission time differ depending on the image.

11. A storage device for storing a rotation angle of the past rotation device for the medical device;
For the medical device, the rotation angle acquisition device is earlier by the time from when the imaging timing detection device receives an imaging timing signal until the imaging device performs imaging until image data is transmitted to the image acquisition device. The medical system according to claim 4, wherein the rotation angle of the rotation device is acquired from the storage device.
(Effects of Appendix 11)
An effect similar to that of the fourth aspect can be obtained in a system in which an imaging timing signal arrives at a timing detection device disposed outside the body after an image is acquired on the medical device side.
In particular, even in a system in which the medical device is a capsule endoscope and a delay time occurs in communication such as transmission of image data by wireless communication, the same effect as in Appendix 8 can be obtained.
12 The medical device body is rotated by a motor constituting a medical device rotating device.

13. The medical system according to claim 4, wherein the imaging timing controller adds imaging timing information to the image data to be transmitted.
(Effects of Supplementary Note 13)
Since the information of the imaging timing is added, the imaging timing can be reliably detected without causing the transmission cycle to be constant, accurate rotation correction can be performed, and an easily observable image can be obtained.
14 The medical system according to claim 1, further comprising a storage device that stores information on a rotation angle of the rotation device for the medical device in association with time.
(Effects of Appendix 14)
Even when the time at which the imaging timing is detected is later than the actual imaging timing, information on the rotation angle at the imaging timing can be acquired with high accuracy.

  By detecting the timing of imaging and using the information of the rotation angle at that timing, the orientation of the image to be captured also changes with the rotational movement for efficiently propelling the medical device body within the body cavity. By performing image rotation correction, images aligned in a predetermined direction can be displayed, and observation and guidance are facilitated.

BRIEF DESCRIPTION OF THE DRAWINGS The whole block diagram of the capsule type medical system of Example 1 of this invention. The block diagram which shows the internal structure of each part of the capsule type medical system of Example 1 of this invention. The side surface and front view of a capsule main body. The figure which shows the structure of an outline of an operation input device, a modification, etc. The figure which shows the propulsion direction etc. of the capsule main body at the time of tilting the joystick and the coordinate system which shows the normal vector of a rotating magnetic field. The figure which shows the propulsion direction of the capsule main body by the stick in the modification, and its tilting operation. The timing chart figure which shows the operation | movement of a present Example. The flowchart figure which shows the operation | movement of a present Example. The timing chart figure which shows the operation | movement of a modification. The block diagram which shows the internal structure of each part of the capsule type medical system of Example 2 of this invention. The timing chart figure which shows the operation | movement of a present Example. The block diagram which shows the internal structure of each part of the capsule type medical system of Example 3 of this invention. The timing chart figure which shows the operation | movement of a present Example. The timing chart figure which shows the operation | movement of a 1st modification. The timing chart figure which shows the operation | movement of a 2nd modification. The timing chart figure which shows the operation | movement of a 3rd modification. The block diagram which shows the internal structure of each part of the capsule type medical system of Example 4 of this invention. The block diagram which shows the internal structure of each part of the capsule type medical system of Example 5 of this invention. The figure which shows the side and front of a medical device main body. The block diagram which shows the internal structure of each part of the capsule type medical system of a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Capsule type medical system 3 ... Capsule main body 4 ... Rotating magnetic field generator 5 ... Magnetic field generation control device 6 ... Processing device 7 ... Display device 8 ... Operation input device 8a ... Direction input device 8b ... Speed input device 8c ... Function button 9 DESCRIPTION OF SYMBOLS ... Magnetic field generator 11 ... Exterior container 11a ... Tip cover 12 ... Spiral projection 14 ... Imaging element 15 ... Illumination element 16 ... Magnet 20 ... Signal processing circuit 22, 25 ... Radio circuit 26 ... Image acquisition circuit 27 ... Magnetic field control circuit 28 ... Memory circuit 29 ... Setting circuit 30 ... Imaging timing detection circuit 31 ... Rotation angle acquisition circuit 33 ... AC current generation & control unit 34 ... Driver unit 35a-35c ... Electromagnet Agent Patent attorney Susumu Ito

Claims (12)

A medical device inserted into a body cavity;
A rotating device for a medical device that rotates the medical device around an insertion axis;
An imaging device provided in the medical device;
An imaging timing detection device that detects a signal related to an imaging timing at which the imaging device has performed imaging;
A rotation angle acquisition device that receives an output of the imaging timing detection device and acquires a rotation angle of the medical device rotation device at the imaging timing;
An image acquisition device that performs a process of rotating an image captured by the imaging device based on information on the rotation angle acquired by the rotation angle acquisition device;
Comprising
The medical device has an imaging timing controller;
The imaging device receives a signal of the imaging timing controller, performs imaging, and transmits image data to the image acquisition device,
The imaging timing detection device detects the start of transmission of the image data.
A medical system characterized by that . The medical system according to claim 1, wherein the image acquisition device has a function of transmitting an imaging request signal to the imaging device and transmitting an imaging timing to the imaging timing detection device . The rotation angle acquisition device acquires the rotation angle of the rotating magnetic field after a delay time from when the output of the imaging timing detection device is received until the imaging device performs imaging. The medical system described . The medical device has a data compression device that compresses the image, and transmits the compressed data compressed by the data compression device to the image acquisition device,
The medical system according to claim 1, wherein the image acquisition device includes a data decompression device that decompresses the compressed data . The medical device rotating device has a storage device for storing past rotation angles;
The medical system according to claim 1, wherein the rotation angle acquisition device refers to the past rotation angle . The medical system according to claim 5, wherein the rotation angle acquisition device acquires a rotation angle in the past from the imaging timing by a time during which the imaging timing detection device detects the signal . The medical system according to claim 1, wherein the imaging timing controller adds imaging timing information to the image data to be transmitted . The medical system according to claim 5, wherein the storage device stores information on a rotation angle of the rotation device for the medical device in association with time . The medical system according to claim 1, wherein the imaging timing controller controls the interval between the imaging timing and the transmission start timing of the image data to be constant . The medical system according to claim 1, wherein the imaging timing controller performs control to simultaneously set an imaging timing and a transmission start timing of the image data . The medical system according to claim 1, wherein the image acquisition device obtains a rotation follow-up delay amount of the medical device and corrects it by image rotation processing . The medical system according to claim 1, wherein the rotation angle acquisition device acquires the rotation angle that coincides with a central timing of an imaging time required for the imaging device to perform imaging .

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