JP4746308B2 - Internal medical device and internal medical system - Google Patents

Description

  The present invention relates to an in-vivo medical device and an in-vivo medical system that perform various medical actions in a living body including examinations and treatments in a body cavity.

  In recent years, swallowable capsule endoscopes have appeared in the field of endoscopes. This capsule endoscope is provided with an imaging function and a wireless communication function. Capsule endoscopes are peristaltic in the body cavity, for example, the stomach, small intestine, etc., after being swallowed from the patient's mouth for observation (examination) and before being spontaneously discharged from the human body. It has the function to move according to and to image sequentially.

  While moving inside the body cavity, image data imaged inside the body by the capsule endoscope is sequentially transmitted to the outside by wireless communication and stored in a memory provided in an external receiver. When the patient carries the receiver having the wireless communication function and the memory function, the patient can freely act even during the period from swallowing the capsule endoscope until it is discharged. Thereafter, the doctor or nurse can make a diagnosis by displaying an organ image on the display based on the image data stored in the memory.

Japanese Patent Laid-Open No. 2003-19111 JP 2003-325438 A JP 2001-137182 A

  However, since the above-described conventional capsule endoscope is fixed in size and shape, medical practices such as inspection and treatment in the body cavity are limited, and flexible and diverse medical practices cannot be performed. There was a problem that.

  The present invention has been made in view of the above, and an object thereof is to provide an in-vivo medical device and an in-vivo medical system capable of performing a flexible and diverse medical practice.

  In order to solve the above-described problems and achieve the object, an in-vivo medical device according to the present invention is an in-vivo medical device that performs a medical action in a living body, and a deformable outer casing whose shape is freely deformed, And in-vivo information acquiring means having a function of acquiring in-vivo information.

  The in-vivo medical device according to the present invention is characterized in that, in the above-mentioned invention, the in-vivo information acquiring means has a variable shape.

  In the in-vivo medical device according to the present invention as set forth in the invention described above, the variable shape external housing includes a gel substance.

  In the in-vivo medical device according to the present invention as set forth in the invention described above, the variable shape external housing includes an artificial muscle, and controls at least the shape of the variable shape external housing by driving the artificial muscle. Control means for controlling the operation of the in-vivo information acquisition means is provided.

  Further, in the in-vivo medical device according to the present invention, in the above-described invention, the in-vivo information acquisition unit includes a light irradiation unit that irradiates light outside the device, an optical element that forms an optical system having a variable shape, And sheet-like imaging means for imaging via the optical element.

  In the in-vivo medical device according to the present invention as set forth in the invention described above, the optical element is a fluid.

  In the in-vivo medical device according to the present invention as set forth in the invention described above, the in-vivo information acquiring means includes a bodily fluid inspection means for inspecting bodily fluids.

  In addition, the in-vivo medical device according to the present invention is characterized in that, in the above-described invention, the in-vivo medical device includes a transmitting / receiving means for transmitting / receiving information to / from the outside of the body.

  In addition, the in-vivo medical device according to the present invention is characterized in that, in the above-described invention, the in-vivo medical device comprises a connecting means for connecting to and separating from another extracorporeal medical device.

  An in-vivo medical system according to the present invention includes one or more in-vivo medical devices according to any of the above-described inventions and the one or more in-vivo medical devices that are wirelessly connected to each other and disposed outside the body. And an extracorporeal medical device for controlling the operation.

  The in-vivo medical device and the in-vivo medical system according to the present invention include at least a variable-shaped external housing whose shape is freely deformed, and in-vivo information acquisition means having a function of acquiring in-vivo information. Since it can be greatly deformed, it is possible to flexibly perform various medical actions including examination and treatment in the body cavity.

  Hereinafter, an in-vivo medical device and an in-vivo medical system which are the best modes for carrying out the present invention will be described.

(Embodiment 1)
1 is a cross-sectional view showing a configuration of an in-vivo medical device according to Embodiment 1 of the present invention. FIG. 2 is a block diagram showing the configuration of the in-vivo medical device according to the first embodiment of the present invention. 1 and 2, the in-vivo medical device 1 includes an optical element 11, an imaging element 12, an EL element 13, and a control board 14 that are covered or wrapped with an insulating gel sheath 18 that is an insulating gel-like substance. The sheet-like battery 15 and the antenna 16 are provided, and have a substantially cylindrical shape. Each part of the expansion / contraction member (Biometal (registered trademark) ) 21, the imaging element 12, the EL element 13, the control board 14, the sheet battery 15, and the antenna 16 that makes the shape of the optical element 11 variable is a conductive gel substance It is connected to the control board 14 by the conductive gel wiring.

  The EL element 13 is an electroluminescence element and is provided on the front surface of the insulating gel sheath 18 and functions as a light source that irradiates the body cavity with light as illumination light. The optical element 11 has a slime shape and is made of a transparent gel material and is disposed in an opening provided at the front portion of the insulating gel sheath 18. The optical element 11 forms an image using light reflected from a portion illuminated by the EL element 13 as observation light. Around the optical element 11, an elastic member 21, which is a linear and extendable elastic member, is arranged in a mesh shape as shown in FIG. 3, and the optical element 11 is optically adjusted by the expansion and contraction of the elastic member 21. Is called. The elastic member 21 is an artificial muscle, for example, contracts when the current flows more than a predetermined value, and expands when the current is less than the predetermined value. For this reason, the three-dimensional shape of the optical element 11 can be freely changed by controlling the energization amount to each elastic member 21 by the control board 14. For example, as shown in FIG. 4, by applying different energization amounts exceeding a predetermined value to the central expansion / contraction member 21 arranged in the circumferential direction with respect to the columnar optical element 11, the central expansion / contraction member contracts. However, the central portion of the optical element 11 becomes thin, and thereby the optical adjustment of the optical element 11 is performed. An imaging element 12 is provided on the imaging surface of the optical element 11. The image sensor 12 captures an object image in the body cavity imaged by the optical element 11 and transmits it to the control board 14 side. The shape of the imaging element 12 is flexible, and can be deformed corresponding to the deformation of the optical element 11 or the insulating gel sheath 18.

  The control board 14 includes a signal processing circuit 31, a communication circuit 32, a RAM 34, a control circuit 33, a ROM 35, and a drive circuit 36. The signal processing circuit 31 processes image signals sequentially transferred from the image sensor 12 and accumulates images in the RAM 34. The communication circuit 32 is connected to the antenna 16 and sequentially transmits images stored in the RAM 34 to the outside of the body. The drive circuit 36 drives the EL element 13, the sheet battery 15, the elastic member 21, and the like. The ROM 35 stores various programs and data and has an imaging pattern 35a. The control circuit 33 has a timer, executes a predetermined operation schedule by a program or data read into the RAM 34, controls at least each part in the control board 14, and controls the extension member 21 based on the imaging pattern 35a. Drive control is performed.

  The sheet-like battery 15 is a sheet-like battery, is connected to the control board 14 and supplies power to each part, and its shape is flexible. The antenna 16 has a flexible shape, is connected to the communication circuit 32 as described above, and sequentially transmits and outputs images captured by the image sensor 12 to the outside of the body. In addition to the transmission outside the body, the communication circuit 32 may be provided with a reception function so that it can be wirelessly connected to the outside of the body. Further, the antenna 16 and the communication circuit 32 may be deleted as necessary. In this case, the captured image is accumulated in the RAM 34, and the image stored in the RAM 34 may be acquired when the in-vivo imaging device 1 is collected.

  This in-vivo medical device 1 is covered with an insulating gel sheath 18, and this insulating gel sheath 18 can be freely deformed, and even if this insulating gel sheath 18 is deformed, it is connected to each part by the conductive gel wiring 17. Since each part is flexible and can be deformed, the entire internal medical device 1 can be deformed freely. That is, the entire internal medical device 1 has a free shape.

  When applied to the digestive tract of a subject, the in-vivo medical device 1 is introduced into the body orally or transanally. Moreover, when applying to a test subject's blood vessel, it is extruded and inserted in the blood vessel using a syringe or the like. Thereafter, the timer of the control circuit 33 is driven to execute the predetermined operation schedule described above.

  For example, when a predetermined time has elapsed, the control circuit 33 causes the EL element 13 to emit light and illuminates the inserted body cavity. Thereafter, the control circuit 33 receives a part of the light reflected or diffused in the body cavity as the observation light through the optical element 11 and the imaging element 12, and performs processing such as compression on the captured image. The image is stored in the RAM 34 and sequentially transmitted to the outside of the body via the communication circuit 32 and the antenna 16.

  Here, the control circuit 33 controls the energization of the elastic member 21, changes the shape of the optical element 11, and performs optical adjustment. For example, when the intracorporeal medical device 1 passes through a thin duct such as a blood vessel, the control circuit 33 performs control to narrow the optical element 11 itself, and by changing the shape so as not to cause aberration of the optical system that occurs at this time. Optical adjustment is performed so that an imaging plane can be formed on the image sensor 12.

  In the case of the in-vivo medical device 1 that does not have the antenna 16 and the communication circuit 32, the image stored in the RAM 34 is taken out when the in-vivo medical device 1 is taken out of the body.

  The internal medical device 1 can be deformed as a whole. For example, when the internal medical device 1 is inserted into a thick conduit 41 such as a digestive tract, as shown in FIG. When the image acquisition process is performed by the optical element 11 and the image pickup element 12 as the in-vivo information acquisition means through the terminal 41 and passes through a thin conduit 42 such as a blood vessel as shown in FIG. And the deformation of the optical element 21 and the flexibility of the shape of each part makes the shape according to the pipeline 42, and image acquisition processing and the like are performed.

  Therefore, according to the in-vivo medical device 1, the in-vivo medical device 1 itself is deformed even when a duct such as a blood vessel is thin, and is deformed so as not to interfere with processing such as image acquisition processing. Therefore, in-vivo information can be acquired flexibly.

  In the extracorporeal medical device 1 described above, the EL element 13 is used as a light source. However, as shown in FIG. 7, a luminescent material 53 may be provided instead of the EL element 13. This luminescent substance 53 may be a substance that emits light itself, or may be a substance that emits light by chemically reacting two or more substances. For example, Silium (R) can be used. At this time, the control circuit 33 performs control to emit light by applying an electrical stimulus to the luminescent material 53. Further, the luminescent material 53 may be a material that emits light by being composed of a biological material such as a cell or tissue.

  In addition, the optical element 11 may be provided with optical materials having different refractive indexes inside to control the above-described stretchable member 21 so that the optical characteristics can be maintained. In other words, the optical element 11 may be a gradient index (GRIN) lens. The refractive index change at this time may be controlled by deformation of the elastic member 21.

  Further, as shown in FIG. 8, instead of the conductive gel wiring 17, an expandable member such as a spring-shaped spring wiring 57 may be used. Further, as shown in FIG. 9, an external power feeding coil 55 may be provided in place of the sheet battery 15. In this case, it is necessary to apply a feeding electromagnetic or magnetic field from the outside to the external feeding coil 55. However, since power can be continuously supplied, a long-term in-vivo medical practice can be performed, and a large amount of power can be obtained by providing power storage means.

  Further, as the above-mentioned in-vivo information acquisition means, image acquisition processing has been shown as an example, but is not limited thereto, for example, a bodily fluid inspection means for collecting body fluid, a medicine administration means for administering medicine into the body, a sound in the body In-vivo recording means for collecting such information may be provided.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. In the first embodiment described above, the entire in-vivo medical device 1 is passively deformable by the insulating gel sheath 18, but in this second embodiment, the entire in-vivo medical device is actively deformed and exercised. I can do it.

FIG. 10 is a diagram showing a schematic configuration of an in-vivo medical device according to Embodiment 2 of the present invention. FIG. 11 is a cross-sectional view showing the configuration of the in-vivo medical device 2 shown in FIG. Further, FIG. 12 is a block diagram showing a configuration of the in-vivo medical device 2. 10, 11, and 12, the in-vivo medical device 2 includes a linear elastic member (Biometal (registered trademark) ) 22 and a ring-shaped member that are covered with a mesh on the peripheral surface of the insulating gel sheath 18. An elastic member (Biometal (registered trademark) ) 23 is provided, and the elastic members 22, 23 and the control board 14 are connected by a conductive gel wiring 17. Here, the expandable members 22 and 23 are members that contract when the current flows more than a predetermined value, for example, and expand when the current is less than the predetermined value. In addition to the imaging pattern 35a, the ROM 35 stores an exercise pattern 35b using the elastic member 22 and a treatment pattern 35c using the elastic member 23. The control circuit 63 stores the exercise pattern 35b and the treatment pattern 35c. Originally, the movement of the whole internal medical device 2 and the treatment operation by the internal medical device 2 are controlled. Further, a pressure sensor 61 is provided on the peripheral surface of the insulating gel sheath 18, and the control circuit 33 controls the deformation of the intracorporeal medical device 2 based on the pressure detected by each pressure sensor 61. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  Here, the entire internal medical device 2 and local deformation can be actively performed by the expansion / contraction control of the expansion / contraction member 22. Accordingly, as shown in FIG. 13, the imaging system such as the EL element 13 and the optical element 11 can be bent vertically with respect to the control board 14, so that the part that can be imaged can be greatly expanded. Moreover, since a desired part can be imaged from the front, an image of the observation target region can be acquired with a large angle of view.

  Moreover, the deformation | transformation of the whole internal medical device 2 can make the diameter of the extracorporeal medical device 2 active variable by controlling the expansion-contraction operation | movement of the expansion-contraction member 22 of radial direction, for example. Therefore, when the diameter of the inserted tube is larger than the diameter of the internal medical device 2 in the initial state, the diameter of the internal medical device 2 itself can be increased and matched to the tube diameter. In this case, since the diameter of the optical element 11 can be increased, imaging with a large field of view can be performed.

  As shown in FIG. 14, the expansion / contraction member 22 does not have to have a mesh shape around the entire periphery, and the expansion / contraction member 22 only in the radial direction may be provided in the central region E2. In this case, the control board 14 is disposed at the center, and as shown in FIG. 15, the amount of expansion and contraction in the axial direction is reduced, so that the stress applied to the control board 14 can be reduced.

  Here, the exercise pattern 35b and the treatment pattern 35c stored in the ROM 35 will be described. FIG. 16 schematically shows a stretching motion pattern which is one of the motion patterns 35b. Since the expansion / contraction member 22 contracts when the current amount is increased, when the current amount is increased uniformly with respect to the radial expansion / contraction member 22 as shown in FIG. It gets thinner. If the amount of current is controlled to be opposite, the diameter of the internal medical device 2 as a whole becomes thicker.

  FIG. 17 schematically shows a bending motion pattern which is one of the motion patterns 35b. As shown in FIG. 17, the in-vivo medical device 2 can be bent in a desired direction by increasing the energization amount with respect to a part of the elastic members 22 in the longitudinal direction and the elastic members 22 in the radial direction intersecting therewith. it can.

  FIG. 18 schematically shows a pattern of a progressive motion that is one of the motion patterns 35b. As shown in FIG. 18, the expansion / contraction member 22 is controlled so that the expansion / contraction member on the end side in the longitudinal direction, which is not provided with the imaging system, swings in the axial direction. Thereby, the exercise | movement of a dolphin kick is implement | achieved and the in-body medical device 2 will be able to swim actively and can be advanced.

  FIG. 19 schematically shows another pattern of the progressive movement that is one of the movement patterns 35b. As shown in FIG. 19, the in-vivo medical device 2 performs progress control by forming a sparse / dense expansion / contraction of the radial expansion / contraction member and performing a control to continuously drive this sparse / dense wave. That is, a peristaltic movement is performed.

  FIG. 20 schematically shows a treatment pattern for polypectomy, which is one of the treatment patterns 35c. As shown in FIG. 20, when the polyp P is found, the control circuit 33 drives the elastic member 22 to move the in-vivo medical device 2 so that the ring-shaped elastic member 2 is arranged on the polyp P side. Thereafter, the control circuit 63 increases the ring diameter by reducing the energization amount to the elastic member 23 so that the polyp P is taken into the internal medical device 2. When the polyp P is taken into the internal medical device 2, the control circuit 63 increases the energization amount to the expansion / contraction member 23, gradually decreases the ring diameter, and the polyp P is removed by reducing the ring diameter. To do. Note that the polyp P can be taken out of the body by taking out the in-vivo medical device 2 while maintaining this state. That is, the polyp P can be transported outside the body.

  In the second embodiment, the expansion and contraction members 22 and 23 are provided, and by controlling the expansion and contraction, the entire extracorporeal medical device 2 is actively moved or a treatment action is executed. Can be done flexibly.

(Embodiment 3)
Next, a third embodiment of the present invention will be described. In Embodiment 3, an extracorporeal medical device is provided to control the in vivo medical device from outside the body.

  FIG. 21 is a block diagram showing a configuration of an in-vivo medical system according to Embodiment 3 of the present invention. As shown in FIG. 21, this in-vivo medical system 10 includes one or more in-vivo medical devices 2 shown in Embodiment 2 and an extra-corporeal medical device 3 installed outside the body. The device 2 is wirelessly connected to the extracorporeal medical device 3, and each in-vivo medical device 2 is controlled by the extracorporeal medical device 3.

  The extracorporeal medical device 3 has an extracorporeal medical device main body 3a, and the input device 4, the power feeding device 5, and the display device 6 are connected to the extracorporeal medical device main body 3a. The input device 4 is realized by a keyboard, a mouse, a joystick, and the like, and sends various instruction inputs to the extracorporeal medical device body 3a.

  The power feeding device 5 supplies power to the external power feeding coil 55 in the internal medical device 2. The display device 6 displays and outputs information acquired by the in-vivo medical device 2. The display device 6 may perform, for example, a three-dimensional display process in which the acquired information is three-dimensionally displayed in a translucent / opaque manner, or may be realized by a projection projector, a hologram display device, or the like. Also good.

  The extracorporeal medical device body 3 a includes an arithmetic circuit 71, a storage unit 72, a control circuit 73, an image processing circuit 74, a RAM 75, a communication circuit 76, and an antenna 77. The arithmetic circuit 71 performs arithmetic processing on the information input from the input device 4 and delivers it to the control circuit 73. The storage unit 72 includes a pattern index 72a that indicates each index of the imaging pattern 35a, the exercise pattern 35b, and the treatment pattern 35c stored in the ROM 35. The image processing circuit 74 performs image processing for output to the display device 6. The RAM 75 temporarily stores programs used by the control circuit 73 and various data. The communication circuit 76 and the antenna 77 perform wireless communication processing with the internal medical device 2.

  Control performed by the extracorporeal medical device 3 on the in-vivo medical device 2 is divided into manual operation control and automatic operation control. The manual operation control is sent from each in-vivo medical device 2 and based on the information displayed on the display device 6, the operator gives an instruction via the input device 4 each time to operate the in-vivo medical device 2. Control. On the other hand, in the automatic operation control, the operator instructs a predetermined program, and the extracorporeal medical device 3 controls the operation of the in-vivo medical device 2 based on the instructed program. In any case, the control circuit 73 performs control using the imaging pattern 35a, the exercise pattern 35b, and the treatment pattern 35c.

  In addition, for the control of the plurality of in-vivo medical devices 2 by the extracorporeal medical device 3, for example, a unique ID is assigned to each in-vivo medical device 2, and each in-vivo medical device 2 is distinguished and software controlled using this ID. Alternatively, a different code or frequency may be assigned to each in-vivo medical device 2, and control may be performed by distinguishing hardware.

  In the third embodiment, since the in-vivo control device 2 can be controlled in real time by the extracorporeal control device 3, the medical action can be performed with higher accuracy and flexibility.

(Embodiment 4)
Next, a fourth embodiment of the present invention will be described. In Embodiments 1 to 3 described above, each in-vivo medical device operates independently, but in this Embodiment 4, each in-vivo medical device is separated or connected in units that play a specific role. Like to do.

  FIG. 22 is a cross-sectional view showing a configuration of an in-vivo medical device according to Embodiment 4 of the present invention. As shown in FIG. 22, each in-vivo medical device 102 has a connecting portion 81 for connecting to or separating from another in-vivo medical device. Other configurations are the same as those of the second embodiment. The connecting portion 81 has a flexible shape and is connected to the control board 14 by the conductive gel wiring 17.

  In FIG. 22, since the same in-vivo medical device 102 is coupled, for example, when reaching the place to be observed or treated in the body, the in-vivo medical device 102 is sequentially separated and separated. Can be observed or treated in any place.

  The in-vivo medical device 102 shown in FIG. 22 is the same in-vivo medical device, but as shown in FIG. 23, in-vivo medical devices having different functions may be connected to each other. The in-vivo medical device 103 shown in FIG. 23 has a sheet-like battery 105 having a large capacity, and functions as a booster in a rocket. That is, when moving inside the body, the in-vivo medical device 102 consumes the power of the sheet-like battery 105 of the in-body medical device 103 via the connecting portion 81, and then the power of the sheet-like battery 105 is consumed. The connection part 81 is cut off, and the in-vivo medical device 102 moves alone to perform treatment.

  Alternatively, as shown in FIG. 24, the in-vivo medical device 104 having the treatment unit 83 and the in-vivo medical device 102 mainly having an imaging system are connected, and the in-vivo medical device 104 is separated at a place where the treatment unit 83 is necessary. You may do it.

  Each of the in-vivo medical devices shown in FIGS. 22 to 24 can be connected to each other at the time of movement or the like to perform exercise or action together to facilitate control. It should be noted that the in-vivo medical devices that have been separated once may be coupled via the connecting portion 81 and then act together. Such control may be performed autonomously by each in-vivo medical device, or may be controlled via the extracorporeal medical device 3 as described in the third embodiment.

  22 to 24, the connecting portion 81 is provided at the end opposite to the imaging system. However, as shown in FIG. 25, the connecting portion 91 is provided at each end in the longitudinal direction. The part and the rear part may be connected like a train.

  FIG. 25 shows a state in which the internal medical devices 102a to 102c that have separated the functions of one internal medical device 102 are connected and controlled by a signal S of one control system at the time of movement. Each of the in-vivo medical devices 102a to 102c is controlled by signals Sa to Sc of its own control system. Each of the in-vivo medical devices 102a to 102c needs to include at least transmission / reception means, control means, and imaging means. In addition, an in-vivo information acquisition unit unique to each in-vivo medical device 102a to 102c may be provided. Of course, like a trailer, a vehicle having only an in-vivo information acquisition unit may be towed through a connecting unit.

  In addition, as a form of connection and coupling, as described above, the observation unit or treatment unit and the power unit are coupled with each other, and the observation unit or treatment unit is placed in a separated place, or the operation unit and the energy storage unit. There is something that separates the energy storage when the energy is used up, and it can be said that these are the types that are separated when they are no longer needed. On the other hand, there is a type that is separated and exhibits the effect. For example, it is a combination of an observation part and a treatment part, and the state of treatment can be observed after separation. Moreover, it is a combination of a treatment part and a treatment part, and a complicated treatment can be performed by arranging a treatment tool. In the combination of the light emitting part and the light receiving part, the observation performance can be improved. For example, fluorescence observation becomes possible. Moreover, in the combination of a light emission part and a light-scattering part, a wide range can be illuminated by light scattering.

  In this Embodiment 4, since each internal medical device can be combined and separated, a more flexible medical practice can be performed.

  The in-vivo medical devices shown in the first to fourth embodiments described above can further have the following functions. For example, sound wave generation means may be provided. Thereby, the ultrasonic treatment with respect to an affected part can be performed. In addition, a high frequency may be applied to the conductive wire to burn out the affected part or to have a treatment part for hemostasis.

  Furthermore, a function that can form a shape surrounding the affected area may be provided so that radiation from a radiation source that is harmless to the human body is converged on the affected area. Similarly, the ultrasonic wave may be converged. Furthermore, you may make it converge the heavy particle beam irradiated from the outside using a magnetic body. That is, the intracorporeal medical device may be used as an indirect treatment tool such as a convergence process.

  Moreover, since the above-mentioned internal medical device can clamp an affected part using a ring-shaped expansion-contraction member etc., the treatment which interrupt | blocks the flow of the blood and nutrient to an affected part can be easily performed by this fastening.

  Furthermore, since the internal medical device can enlarge the whole internal medical device using a ring-shaped elastic member or the like and press the inner wall of the tube, the affected part can be easily pressed down, and the injection needle can be inserted. It can be done easily.

  Moreover, it can be set as the mechanism which has the function to store a chemical | medical solution, and sends out a chemical | medical solution by deformation | transformation of a medical device in a body. In addition, as a mechanism which sends out a chemical | medical solution, you may use the cone spring actuator which consists of an electrode and a cone electrode (coil spring), for example. A chemical solution bag can be easily delivered from the surface by holding a chemical solution bag below the conical electrode of the conical spring actuator and crushing the chemical solution bag.

  In addition, although the connection and separation in the above-described fourth embodiment are performed using the connection portion, the present invention is not limited to this, and for example, as a mechanism that separates by a change in the pH of the body, reaction with a body fluid, or the like. Also good. Such a connecting portion includes, for example, apoptosis and dissolution reaction of rock salt.

It is sectional drawing which shows the structure of the internal medical device concerning Embodiment 1 of this invention. It is a block diagram which shows the structure of the in-body medical device shown in FIG. It is a perspective view which shows the structure of an optical element. It is a perspective view which shows the state which deform | transformed using the expansion-contraction member provided around the optical element. It is a schematic diagram which shows the state of the internal medical device which moves the pipe line with a large diameter. It is a schematic diagram which shows the state of the internal medical device which moves the pipe line with a small diameter. It is sectional drawing which shows the structure of the modification of the in-body medical device concerning Embodiment 1 of this invention. It is sectional drawing which shows the structure of the modification of the in-body medical device concerning Embodiment 1 of this invention. It is sectional drawing which shows the structure of the modification of the in-body medical device concerning Embodiment 1 of this invention. It is a perspective view which shows the structure of the internal medical device concerning Embodiment 2 of this invention. It is sectional drawing which shows the structure of the internal medical device concerning Embodiment 2 of this invention. It is a block diagram which shows the structure of the internal medical device concerning Embodiment 2 of this invention. It is a schematic diagram which shows the state which the internal medical device bent. It is a perspective view which shows the state which made the diameter of the internal medical device thick. It is a perspective view which shows the state which made the diameter of the internal medical device thin. It is a schematic diagram which shows the exercise | movement pattern of the expansion-contraction exercise | movement of an internal medical device. It is a schematic diagram which shows the exercise | movement pattern of the bending exercise | movement of an internal medical device. It is a schematic diagram which shows an example of the exercise | movement pattern of the advance exercise | movement of an internal medical device. It is a schematic diagram which shows an example of the exercise | movement pattern of the advance exercise | movement of an internal medical device. It is a schematic diagram which shows the process pattern of the treatment part of an internal medical device. It is a block diagram which shows the structure of the internal medical system concerning Embodiment 3 of this invention. It is sectional drawing which shows the structure of the internal medical device concerning Embodiment 4 of this invention. It is sectional drawing which shows an example of the coupling | bonding form of an internal medical device. It is sectional drawing which shows an example of the coupling | bonding form of an internal medical device. It is a figure which shows the relationship of the coupling | bonding and isolation | separation state of a some in-vivo medical device, and a control signal.

Explanation of symbols

1, 2, 102-104, 102a-102c In-vivo medical device 3 In-vitro medical device 3a In-vitro medical device body 4 Input device 5 Power feeding device 6 Display device 11 Optical element 12 Imaging element 13 EL element 14 Control board 15 Sheet-like battery 16, 77 Antenna 17 Conductive gel wiring 18 Insulating gel exterior 21, 22, 23 Elastic member (Biometal (registered trademark) )
31 Signal processing circuit 32, 76 Communication circuit 33, 73 Control circuit 34, 75 RAM
35 ROM
35a Imaging pattern 35b Movement pattern 35c Treatment pattern 36 Drive circuit 41, 42, 43 Pipe line 53 Luminescent substance 55 External power supply coil 57 Spring wiring 61 Pressure sensor 71 Arithmetic circuit 72 Storage unit 72a Pattern index 74 Image processing circuit 81, 91 Connection Part 83 Treatment part

Claims (5)

An in-vivo medical device that performs medical actions in a living body,
A variable shape outer housing whose shape is freely deformable,
In vivo information acquisition means having a function of acquiring information in the living body and having a variable shape;
A first elastic member disposed around the in-vivo information acquisition means;
A second elastic member provided around the deformable outer casing;
A pressure sensor that detects external pressure;
The shape of the in-vivo information acquisition unit is controlled by driving the first expansion / contraction member based on the pressure detected by the pressure sensor, and the second expansion / contraction member based on the pressure detected by the pressure sensor. Control means for controlling the shape of the deformable external casing by driving the body information acquisition means,
An in-vivo medical device comprising:   The in-vivo medical device according to claim 1, wherein the deformable outer casing includes a gel substance. A third elastic member having a ring shape;
The in-vivo medical device according to claim 1 or 2, wherein the control means performs control for reducing a ring diameter of the third expansion member to cut off a body tissue. The in-vivo information acquisition means
Light irradiation means for irradiating light outside the device;
An optical element forming an optical system having a variable shape;
Sheet-like imaging means for imaging via the optical element;
With
The in-vivo medical device according to any one of claims 1 to 3, wherein the control unit performs optical adjustment by driving the first elastic member to actively deform the optical element. . One or more in-vivo medical devices according to any of claims 1-4;
An extracorporeal medical device that is wirelessly connected to one or more in-vivo medical devices and disposed outside the body to control the operation of the in-vivo medical device;
An in-vivo medical system characterized by comprising:

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