JP4763732B2 - Medical device control system - Google Patents

Description

  The present invention relates to a medical device control system.

  2. Description of the Related Art In recent years, a capsule type represented by a swallowable capsule endoscope that can be swallowed by a subject such as a subject to pass through a body cavity duct and acquire an image in the body cavity duct at a target position Medical devices are being researched and developed for practical use. This medical apparatus is configured to include an imaging element such as a CCD (Charge Coupled Device) capable of performing the above-described medical practice, and capable of acquiring an image, and acquires an image at a target site in a body cavity duct. .

However, the capsule medical device only moves in the digestive tract by peristalsis, and the position and orientation of the capsule medical device cannot be controlled. Further, in order to guide the capsule medical device in order to facilitate diagnosis using the capsule medical device, it is necessary to detect where the capsule medical device is located in the body cavity duct.
For this reason, a technique has been proposed in which the position of a medical device guided to a place where the position cannot be visually confirmed (such as in a body cavity duct) is detected and guided to a target site (see, for example, Patent Document 1).
The above-described requirements are not limited to capsule-type medical devices, but are also demanded for medical devices having a probe that is guided into a body cavity line of a subject. Therefore, similarly, a technique for detecting the position of a medical device guided to a place where the position cannot be visually confirmed (such as in a body cavity duct) and guiding the medical apparatus to a target site has been proposed (for example, see Patent Document 2). ).

JP 2004-255174 A International Publication No. 00/07641 Pamphlet JP 2003-111720 A

In the above-mentioned Patent Document 1, a medical device inserted into a body cavity is controlled by a magnetic field, and is generated for a medical device based on direction information obtained by a device that detects the direction of the medical device. A technique for determining the magnetic field to be applied is described.
However, Patent Document 1 discloses only a technical idea for determining a magnetic field to be generated for a medical device based on direction information obtained by a device that detects the direction of the medical device. It does not show the general method. Further, similarly to Patent Document 2 described later, when the direction of the medical device and the direction of the magnetic field are greatly deviated, there is a problem that the controllability (induction stability / operability) of the medical device is deteriorated.

In the above-mentioned Patent Document 2, a technique is described in which an operator instructs and determines the direction in which a magnetic field is generated while confirming the position and direction of a catheter with a fluoroscopic device.
However, in the above-described technique, information on the position and direction of the catheter is acquired as image information, and the operator reads the displayed image information to indicate and determine the direction in which the magnetic field is generated. -Direction information may not be monitored.
Therefore, it may not be possible to prevent the occurrence of a state in which the catheter direction and the magnetic field are greatly deviated from each other. If the catheter direction and the magnetic field direction deviate greatly, the controllability of the catheter (induction stability)・ There was a problem that the operability was reduced.

  In Patent Document 3, control is performed so that the force acting on the internal robot is proportional to the force acting on the input device. Therefore, in the above technique, there is a problem that the system becomes complicated because it is necessary to calculate the force acting on the in-vivo robot.

  The present invention has been made in order to solve the above-described problems. The direction of the medical device is controlled by magnetism, and the guidance stability and operability of a medical device that performs a medical act such as examination or treatment in a subject are improved. An object of the present invention is to provide a medical device control system that can be improved.

In order to achieve the above object, the present invention provides the following means.
The present invention includes an insertion portion that is inserted into a subject and whose direction is controlled by magnetism, and a magnetic field response portion that is disposed inside the insertion portion and generates torque according to a magnetic field applied from outside the subject. A direction detection unit that detects an insertion direction of the insertion unit, a user interface in which a control direction of the insertion direction is input by an operator, and a magnetic field that acts on the magnetic field response unit A magnetic field pattern comprising: a magnetic field generation unit; and a magnetic field control unit that controls the magnetic field generation unit based on a deviation between the insertion direction and the control direction, wherein the magnetic field control unit stores a plurality of magnetic field generation patterns A magnetic field pattern to be generated is selected from the plurality of magnetic field generation patterns based on the storage unit and the deviation, and the magnetic field pattern generated by the magnetic field generation unit is changed to the selected magnetic field pattern. To provide a medical device control system comprising a magnetic field pattern change unit for.

  According to the present invention, since the magnetic field control unit can control the magnetic field based on the deviation, the operability of the insertion unit can be prevented from being lowered. In other words, when the magnetic field generated by the magnetic field generation unit is not suitable for guiding the insertion unit in the control direction and the deviation becomes large, the magnetic field generated by the magnetic field generation unit is changed to a magnetic field suitable for guiding the insertion unit. Can be prevented.

  In the above invention, the magnetic field control unit selects a magnetic field pattern storage unit that stores a plurality of magnetic field generation patterns, and a magnetic field pattern to be generated from the plurality of magnetic field generation patterns based on the deviation, A magnetic field pattern changing unit that changes the magnetic field pattern generated by the magnetic field generating unit to a selected magnetic field pattern.

  According to the present invention, based on the deviation, the magnetic field pattern changing unit selects one magnetic field pattern suitable for control of the operation unit from the plurality of magnetic field patterns stored in the magnetic field pattern storage unit, and is generated by the magnetic field generation unit. It is possible to change the magnetic field pattern to be one selected magnetic field pattern. Therefore, for example, when the magnetic field pattern is not suitable for guiding the insertion portion in the control direction and the deviation becomes large, one magnetic field pattern suitable for guiding the insertion portion is selected and changed to the selected one magnetic field pattern. By doing so, an increase in deviation can be prevented, and a decrease in operability of the insertion portion can be prevented.

  In the above invention, the magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially perpendicular to the insertion direction, and one of the plurality of magnetic field patterns stored in the magnetic field pattern storage unit is the control direction. It is desirable that the rotating magnetic field rotate in a plane substantially perpendicular to.

According to the present invention, the magnetic field response unit is a magnet or the like having a magnetization direction substantially perpendicular to the insertion direction, and the magnet or the like can be rotated by applying a rotating magnetic field to the magnet. Can be rotated with the insertion direction as a rotation axis.
Thus, by rotating the insertion portion, the insertion portion can be stably controlled as compared with, for example, a magnetic field combining a rotating magnetic field and an oscillating magnetic field or a rotating magnetic field.

  In the above invention, the magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially perpendicular to the insertion direction, and one of the plurality of magnetic field patterns stored in the magnetic field pattern storage unit is the control direction. It is desirable that the magnetic field be a combination of a rotating magnetic field that rotates in a plane substantially perpendicular to the axis and an oscillating magnetic field that vibrates in a direction substantially parallel to the control direction.

According to the present invention, the magnetic field response unit is a magnet or the like having a magnetization direction substantially perpendicular to the insertion direction, and a magnetic field pattern that combines the rotating magnetic field and the oscillating magnetic field is applied to the magnet. The rotation surface can be controlled to a predetermined direction, and the head can be swung around the axis in the insertion direction while rotating the tip of the insertion portion.
By moving the insertion portion in this manner, for example, when the insertion portion is advanced into the collapsed body cavity conduit, the body cavity conduit can be pushed and expanded by swinging the insertion portion and swung. The insertion portion can be advanced into the body cavity duct.

  In the above invention, the magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially perpendicular to the insertion direction, and one of the plurality of magnetic field patterns stored in the magnetic field pattern storage unit is the control direction. A changing magnetic field in which the direction of the magnetic field fluctuates in a plane substantially perpendicular to the plane, a line of intersection between the plane substantially perpendicular to the control direction and the plane including the insertion direction and the control direction, and the magnetic field direction in the fluctuating magnetic field It is desirable that the angle formed by fluctuates within a predetermined range.

According to the present invention, the magnetic field response unit is a magnet or the like having a magnetization direction substantially perpendicular to the insertion direction, and a magnetic field that fluctuates within the predetermined range is applied to the magnet. It is possible to always apply a torque that directs the direction to the predetermined range.
For example, by making the predetermined range coincide with the control direction of the insertion portion, a torque that directs the insertion portion in the control direction is always generated, and the insertion portion can be efficiently turned.

In the above invention, the magnetic field pattern changing unit generates a magnetic field pattern in which the magnetic field rotates in a plane substantially perpendicular to the insertion direction after the magnetic field pattern currently generated by the magnetic field generating unit, and then In addition, it is desirable to generate the following magnetic field pattern.
According to the present invention, when changing the currently generated magnetic field pattern to a different magnetic field pattern, first, a magnetic field pattern in which the magnetic field rotates in a plane substantially perpendicular to the insertion direction is generated, and then the above different By generating the magnetic field pattern, the operation stability of the insertion portion can be ensured.
That is, the stability of the control of the insertion portion can be maintained by changing the magnetic field pattern via the rotating magnetic field pattern that can control the insertion portion stably.

  In the above invention, the magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially parallel to the insertion direction, and one of a plurality of magnetic field patterns stored in the magnetic field pattern storage unit has the control direction. It is an oscillating magnetic field centered, and an angle formed by the oscillating magnetic field and the control direction is preferably within a predetermined range.

According to the present invention, the magnetic field response unit is a magnet or the like having a magnetization direction substantially parallel to the insertion direction, and an oscillating magnetic field whose magnetic field direction fluctuates within the predetermined range is applied to the magnet. Can be vibrated around the control direction.
For example, the insertion portion can be oscillated and swung by applying an oscillating magnetic field that oscillates around the control direction. Therefore, when inserting the insertion portion into the collapsed body cavity conduit, the body cavity conduit can be expanded by swinging the insertion portion, and the insertion portion can be advanced into the expanded body cavity conduit. .

In the above invention, the magnetic field pattern changing unit generates a magnetic field pattern of a magnetic field substantially parallel to the direction of the insertion unit after the magnetic field pattern currently generated by the magnetic field generation unit, and then It is desirable to generate a magnetic field pattern.
According to the present invention, when changing the currently generated magnetic field pattern to a different magnetic field pattern, first, the magnetic field is generated in a direction substantially parallel to the direction of the insertion portion, and then the different magnetic field pattern is changed. By generating it, the stability of the operation of the insertion portion can be ensured.
That is, the stability of the control of the insertion portion can be maintained by changing the magnetic field pattern via the magnetic field pattern substantially parallel to the direction of the insertion portion where the insertion portion can be stably controlled.

In the above invention, it is desirable that the magnetic field control unit is provided with a magnetic field strength changing unit that changes the magnetic field strength based on the deviation.
According to the present invention, the direction changing force acting on the insertion portion can be increased by increasing the magnetic field. Therefore, when the deviation increases, the control can be performed in a more stable state by increasing the magnetic field than by further increasing the deviation.

  According to the medical device control system of the present invention, since the magnetic field control unit controls the magnetic field generation unit based on the deviation, guidance according to the situation is possible, and the inductivity can be improved with a simple system.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a diagram illustrating an outline of a configuration of a capsule endoscope control system according to the present embodiment.

  As shown in FIG. 1, a capsule endoscope control system (medical device control system) 1 includes a capsule endoscope (insertion unit, medical device) 3 to be inserted into a subject, and the position of the capsule endoscope 3. A position detection sensor (direction detection unit) 5 that detects information and direction information, a three-axis Helmholtz coil (magnetic field generation unit) 7 that forms a magnetic field that acts on a permanent magnet mounted on the capsule endoscope 3, and three axes A power source 9 that supplies power to the Helmholtz coil 7, an extracorporeal device 11 that receives image information transmitted from the capsule endoscope 3, an operation unit 13 that receives control information for the capsule endoscope 3, and a capsule From a display unit 15 that displays image information and the like transmitted from the endoscope 3, and a control unit (user interface control unit) 17 that controls the triaxial Helmholtz coil 7, the operation unit 13, the display unit 15, and the like. It is substantially constituted.

FIG. 2 is a schematic diagram illustrating the system configuration of the capsule endoscope control system 1 of FIG.
In the capsule endoscope control system 1, an operation unit 13 to which control information to the capsule endoscope 3 input from an operator is input, and a display unit 15 to present image information acquired by the capsule endoscope 3 and the like. A user interface 19 is provided. The control unit 17 includes a magnetic field control unit (magnetic field pattern storage unit, magnetic field pattern change unit, predetermined value change unit) 21 that controls the direction of the magnetic field formed by the three-axis Helmholtz coil 7 based on input control information and the like. And a presentation information determination unit (user interface control unit) 25 that determines information to be presented on the user interface 19.

A control signal from the control unit 17 is input to the power source 9 and is arranged to supply power to the three-axis Helmholtz coil 7 based on the control signal.
The position detection sensor 5 detects the induced magnetism generated from the capsule endoscope 3 and outputs a signal based on the detected induced magnetism to the control unit 17. The extracorporeal device 11 receives the image information acquired by the capsule endoscope 3 and transmitted to the outside, and outputs the received image information to the control unit 17.

FIG. 3 is a block diagram illustrating the capsule endoscope control system 1 of FIG.
First, the direction of the capsule endoscope 3 input from the position detection sensor 5 to the control unit 17 and the control direction of the capsule endoscope 3 to be described later are input to the presentation information determination unit 25, and the direction information, the control information, Based on the deviation, data to be output to the display unit 15 and the operation unit 13 is generated.
An operation input from the operator is performed on the user interface 19, and the next control direction is determined.

  The determined control direction is returned to the presentation information determination unit 25 and input to the magnetic field control unit 21. Further, the direction of the capsule endoscope 3 is input to the magnetic field control unit 21, and the power source connected to the three-axis Helmholtz coil 7 is controlled based on the deviation between the control direction and the direction of the capsule endoscope 3.

FIG. 4 is a diagram for explaining selection of the magnetic field pattern of FIG.
As shown in FIG. 4, a plurality of magnetic field patterns are stored inside the magnetic field control unit 21. A predetermined magnetic field pattern is selected based on the information input to the magnetic field control unit 21 and an output based on the selected magnetic field pattern is made.

FIG. 5 is a diagram for explaining the outline of the capsule endoscope 3 and the extracorporeal device 11 of FIG.
As shown in FIG. 5, the capsule endoscope 3 includes an exterior 27 that houses various devices therein, an imaging unit 29 that images an inner wall surface of a body cavity duct of a subject, and an imaging unit 29. A battery 31 to be driven, an induction magnetism generating unit 33 that generates induction magnetism by the above-described three-axis Helmholtz coil 7, and a permanent magnet (magnetic field response unit) 35 that is a driving magnet for driving the capsule endoscope 3 It is roughly structured.
An electromagnet may be used as a driving magnet instead of the permanent magnet 35 and is not particularly limited.

The exterior 27 includes a cylindrical capsule main body having a rotation axis (insertion direction, central axis) R of the capsule endoscope 3 as a central axis, a transparent hemispherical tip cover 37 covering the front end of the main body, and a rear end of the main body. The capsule container is formed from a hemispherical rear end portion covering the end and sealed with a watertight structure.
Further, the outer peripheral surface of the main body of the exterior 27 is provided with a spiral portion (propulsive force generating portion) 39 in which a wire having a circular cross section around the rotation axis R is spirally wound.

  By providing the spiral portion 39, the rotation around the rotation axis R of the capsule endoscope 3 can be converted into forward / reverse driving force. Further, for example, when the lumen is curved, an external force is applied from the wall surface of the luminal organ, and the external force is directed in the direction in which the capsule endoscope 3 should proceed, so that the automatic insertion property is improved.

  The imaging unit 29 includes a CCD (charge coupled device) 47 that acquires an image of the inner wall surface of the body cavity passage of the subject, and a lens that forms an image of the inner wall surface of the body cavity passage of the subject on the CCD 47. 43, an LED (Light Emitting Diode) 45 that illuminates the inner wall surface of the body cavity duct, a processing circuit 41, and a wireless element 49 that transmits an image signal to the extracorporeal device 11.

  The induction magnetism generating unit 33 includes at least a magnetic induction coil 51 that forms an induction magnetic field by a magnetic field formed by the triaxial Helmholtz coil 7. The magnetic induction coil 51 may be arranged such that its central axis substantially coincides with the rotation axis R of the capsule endoscope 3, and a core member made of ferrite, for example, may be arranged on the inner peripheral surface thereof. Further, a resonance circuit including the magnetic induction coil 51 as a component may be formed.

  As shown in FIG. 5, the extracorporeal device 11 includes an antenna 53 that receives image information transmitted from the capsule endoscope 3, a processing circuit 55 that performs arithmetic processing on the received image information, and an arithmetically processed image. An input / output unit 57 that outputs information to the control unit 17 and the like, and a control circuit 59 that controls them are roughly configured.

FIG. 6A is a diagram for explaining display on the display unit 15, and FIG. 6B is a diagram for explaining display when the deviation exceeds a boundary condition (deviation amount, duration).
As shown in FIG. 6A, the display unit 15 displays each of an acquired image display 61, an absolute coordinate system display 63, a deviation over display 65, and a time over display 67.
The acquired image display 61 is a part for displaying the image information acquired by the imaging unit 29, and is the current traveling direction of the capsule endoscope 3 and the cross mark indicating the center of the image and the control direction by the magnetic field. A control direction mark 69 shown is superimposed on the image information (superimposed).

  Thus, by displaying the current traveling direction of the capsule endoscope 3 and the control direction in an overlapping manner, for example, an operator who inputs the control direction can intuitively grasp the control state. Therefore, the operability of the capsule endoscope 3 can be improved.

In the absolute coordinate system display 63, the current direction of the capsule endoscope 3 indicated by a solid line and the control direction indicated by a broken line are displayed in an overlapping manner.
The deviation over display 65 is lit as shown in FIG. 6B when the deviation amount between the current direction of the capsule endoscope 3 and the control direction exceeds a predetermined boundary condition. Similarly, the time over display 67 is turned on when the deviation amount exceeds a predetermined value and exceeds a predetermined duration.
As shown in FIG. 6C, a display bar may be provided to indicate the deviation and the boundary condition of the deviation. The length of the lighting part of the display bar changes according to the deviation.
Thus, by displaying the deviation amount between the direction of the capsule endoscope 3 and the control direction, for example, an operator who inputs the control direction can easily grasp the control status.

FIG. 7A is a diagram for explaining the concept of the control direction display on the display unit 15, and FIG. 7B is a diagram for explaining a state in which the control direction is displayed on the acquired image display 61. .
As shown in FIG. 7A, when there is a difference between the direction of the rotation axis R that is the traveling direction of the capsule endoscope 3 and the control direction C, the control direction C and the capsule endoscope 3 are different. Is displayed on the acquired image display 61 so that the control direction mark 69 is displayed at the intersection P with the tip cover 37 (see FIG. 7B).

FIG. 8A is a schematic diagram illustrating the operation unit 13 of FIG.
The operation unit 13 is input with a direction control lever 69 to which the direction control information of the capsule endoscope 3 is input, a forward / reverse lever 71 to which forward / reverse information is input, and speed information at the time of forward / reverse. An accelerator 73, a feedback switching unit 75 for switching a feedback method of deviation information, and a magnetic field change pattern switching unit 77 for switching a magnetic field pattern generated by the three-axis Helmholtz coil 7.

The feedback switching unit 75 includes an automatic insertion mode switch 79, a deviation information display switch 81, a direction feedback switch 83, and a force feedback switch 85.
The magnetic field change pattern switching unit 77 includes a normal magnetic field switch 87, a torque maximizing switch 89, and a jiggling switch 91.

FIG. 8B is a schematic diagram illustrating the structure of the direction control lever of FIG.
The direction control lever 69 includes a lever main body (movable body) 93 and a support portion 95 that rotatably supports the lever main body 93. The support unit 95 is provided with a shaft 97 that supports the lever main body 93 so as to be rotatable around directions orthogonal to each other. The shaft 97 is provided with a feedback unit 99 that is controlled by the control unit 17 based on deviation information. ing. The feedback unit (deviation information transmission unit, vibrator, reaction force generation unit, load generation unit) 99 includes an encoder (not shown) for sensing the tilt angle of the lever main body 93 and the lever main body 93 based on the deviation information. And a motor (not shown) that generates a reaction force to incline the lever main body 93 to the opposite side.

  The motor may generate a reaction force as described above, or may vibrate the lever main body 93. Alternatively, a resistance to the tilting operation of the lever main body 93 may be generated.

  By configuring the direction control lever 69 as described above, information based on the deviation can be transmitted to the outside as a generated vibration by the feedback unit 99. Alternatively, information based on the deviation can be transmitted to the outside as a reaction force against the movement of the lever main body 93. Alternatively, information based on the deviation can be transmitted to the outside as a load for the movement of the lever main body 93.

Fig.9 (a) is a figure explaining another structural example of the direction control lever of FIG.8 (b). FIG. 9B is a view for explaining still another configuration example of the direction lever of FIG.
As a configuration for vibrating the lever main body 93, a motor may be arranged as shown in FIG. 8B, but as shown in FIG. 9A, an eccentric motor 101 is arranged in the lever main body 93, The lever main body 93 may be vibrated by rotating the eccentric motor (deviation information transmission unit, vibrating body) 101.

  By using the eccentric motor 101, the configuration of the direction control lever 69 can be simplified. Further, by controlling the eccentric motor 101 based on the deviation information, the vibration frequency and the vibration width of the generated vibration can be changed, and the deviation information can be transmitted to the operator. For example, information based on the deviation can be transmitted by increasing the frequency of vibration generated when the deviation increases and decreasing the frequency of vibration when the deviation decreases.

  Further, as a configuration for generating a resistance force against the tilting operation of the lever main body 93, a motor may be arranged as shown in FIG. 8B, or as shown in FIG. A sphere part (deviation information transmission part, load generation part) 103 is formed, and a friction part (deviation information transmission part, load generation part) 105 pressed against the sphere part 103 and a linear actuator 107 pressing the friction part 105 are arranged, A resistance force may be generated by a frictional force between the friction portion 105 and the spherical portion 103. Note that an inclination of the lever main body 93 can be detected by disposing an acceleration sensor 109 such as a gyroscope in the sphere 103.

By controlling the pressing force by the linear actuator 107 based on the deviation information, the frictional force between the sphere part 103 and the friction part 105 can be controlled, and the deviation information can be transmitted to the operator. For example, information based on the deviation can be transmitted by increasing the load with respect to the movement of the lever main body 93 when the deviation is large and reducing the load when the deviation is small. In addition, since a realistic operation can be performed, the operability of the lever body 93 is improved.
Further, the direction control lever 69 can be easily constructed as compared with the method of generating a reaction force with respect to the movement of the lever main body 93.

FIG. 10A is a diagram for explaining input of control direction information of the capsule endoscope 3 by the direction control lever 69. FIG. 10B is a view for explaining the control direction of the capsule endoscope 3 based on the control direction information input by the direction control lever 69.
As shown in FIG. 10A, the direction control lever 69 defines up, down, left and right directions corresponding to up, down, left and right directions (see FIG. 10B) with respect to the rotation axis R of the capsule endoscope 3. For example, when the lever body 93 is tilted in the direction inclined by the angle α from the upper direction to the left direction with respect to the vertical and horizontal directions, as shown in FIG. 10B, the lever body 93 is inclined by the angle α from the upper direction to the left direction. A magnetic field is formed so as to guide the capsule endoscope 3 in the determined direction.

  Further, the angle θ ′ in the control direction of the capsule endoscope 3 shown in FIG. 10B is controlled based on the inclination angle θ of the lever main body 93 shown in FIG. For example, when the inclination angle θ increases, the angle θ ′ also increases, and the force for guiding the capsule endoscope 3 in the direction of the angle α is controlled to increase.

Next, each magnetic field change pattern formed by the three-axis Helmholtz coil 7 will be described.
FIG. 11A is a diagram illustrating a rotating magnetic field formed around the capsule endoscope 3 in the rotating magnetic field mode.
The rotating magnetic field mode (normal mode) shown in FIG. 11A is a magnetic field change pattern used for controlling the normal capsule endoscope 3 and is a magnetic field change pattern corresponding to the normal magnetic field switch 87 of the operation unit 13. .

 In this mode, the magnetic field rotates in one direction in the rotating magnetic field plane MP. The capsule endoscope 3 is rotated around the rotation axis R while maintaining a posture in which the rotation axis R is perpendicular to the rotating magnetic field plane MP. At this time, when the capsule endoscope 3 goes straight, the control direction of the capsule endoscope 3 and the direction of the rotation axis R are substantially coincident.

FIG. 11B is a diagram illustrating the turning of the capsule endoscope 3 in the rotating magnetic field mode.
When the capsule endoscope 3 is turned, as shown in FIG. 11B, the capsule endoscope 3 is turned by turning the rotating magnetic field plane MP while rotating the magnetic field in one direction. When the rotating magnetic field plane MP is turned, turning torque is generated in the permanent magnet 35 mounted on the capsule endoscope 3 until the rotation axis R of the capsule endoscope 3 becomes perpendicular to the rotating magnetic field plane MP. The turning torque continues to act.

  Specifically, when the magnetization direction of the permanent magnet 35 is perpendicular to the swiveling surface of the capsule endoscope 3 (a plane composed of the rotation axis R and the control direction C), no turning torque is generated, and the magnetization direction becomes the swiveling surface. The maximum turning torque is generated when the direction is along. In the meantime, the magnitude of the turning torque changes so as to draw a sine wave.

  As described above, the capsule endoscope 3 can be rotated around the rotation axis R by applying the rotating magnetic field to the capsule endoscope 3. In this way, by driving the capsule endoscope 3, for example, the capsule endoscope 3 is compared with a case where a magnetic field combining a rotating magnetic field and an oscillating magnetic field, which will be described later, or a rotating magnetic field is applied. It can be controlled stably.

FIG. 12 is a diagram illustrating a magnetic field formed around the capsule endoscope 3 in the jiggling mode.
The jiggling mode shown in FIG. 12 is a magnetic field change pattern for swinging and rotating the capsule endoscope 3 and is a magnetic field change pattern corresponding to the jiggling switch 91 of the operation unit 13. In this mode, an oscillating magnetic field having a magnetic field substantially in the same direction as the rotation axis R of the capsule endoscope 3 and the intensity of the magnetic field oscillating and a rotating magnetic field rotating in one direction in the rotating magnetic field plane MP are A combined magnetic field is formed. The capsule endoscope 3 rotates around the rotation axis R and swings in the X-axis direction and the Y-axis direction in the drawing. By controlling the relationship between the vibration period of the magnetic field strength in the oscillating magnetic field and the rotation period of the rotating magnetic field, the direction of the swing motion can be controlled. Furthermore, a swing motion (precession motion) in which the rotation axis R rotates around a predetermined axis can be performed.

  By moving the capsule endoscope 3 in this manner, for example, when the capsule endoscope 3 is advanced into a body cavity such as a collapsed intestine, the body cavity is rotated by swinging the capsule endoscope 3. The duct can be expanded and the insertion portion can be advanced into the expanded body cavity duct.

FIG. 13 is a diagram illustrating a magnetic field formed around the capsule endoscope 3 in the torque maximization mode.
The torque maximization mode shown in FIG. 13 is a magnetic field change pattern mainly used when turning the direction of the rotation axis R of the capsule endoscope 3, and is a magnetic field change pattern corresponding to the torque maximization switch 89 of the operation unit 13. is there.

The magnetic field in this mode is a rotating magnetic field within a predetermined angle range centered on an intersection L between the rotating magnetic field plane MP and the swivel plane of the capsule endoscope 3 (a plane composed of the rotation axis R and the control direction C). This is a rotating magnetic field that rotates bidirectionally in the plane MP.
The permanent magnet 35 mounted on the capsule endoscope 3 also rotates around the turning surface as the rotating magnetic field rotates. Therefore, it is possible to always generate a turning torque having a value close to the maximum turning torque.

FIG. 14 is a diagram illustrating a magnetic field change pattern in the torque maximization mode.
As described above, the rotating magnetic field is a magnetic field that rotates within a predetermined angle range around the intersection line L in the rotating magnetic field plane MP. More specifically, it can be expressed by an X-axis magnetic field MX and a Y-axis magnetic field MY as shown in FIG. The horizontal axis in FIG. 14 represents time, and the vertical axis represents the magnetic field strength of the rotating magnetic field.
The X-axis magnetic field MX can be expressed as a function of cos (αsinωt), for example, and the Y-axis magnetic field MY can be expressed as a function of sin (αcosωt), for example.

  Since the magnetic field acting on the capsule endoscope 3 is a rotating magnetic field in which the angle formed by the direction of the magnetic field and the line of intersection L is equal to or less than a predetermined angle, a turning torque for directing the capsule endoscope 3 in the control direction C is generated. Can always work. For this reason, when the direction of the capsule endoscope 3 is changed, a turning torque that always turns the direction of the capsule endoscope 3 in the control direction C is generated, so that the direction can be changed efficiently.

The normal mode, the jiggling mode, and the torque maximizing mode described above can be switched by applying inputs to the normal magnetic field switch 87, torque maximizing switch 89, and jigging switch 91 of the operation unit 13.
Further, when the capsule endoscope 3 is guided and controlled in the normal mode, the mode may be automatically switched based on deviation information between the rotation axis R of the capsule endoscope 3 and the control direction C. As a method of switching, the normal mode is switched to the torque maximizing mode as the deviation increases, and further switching to the jiggling mode, or the switching from the normal mode to the jigging mode and further switching to the torque maximizing mode is performed. Can be mentioned.

  Further, in addition to these modes, the mode of increasing the strength of the generated magnetic field may be used to improve the turning performance in the same manner as the jiggling mode and the torque maximization mode. These modes may be switched depending on the deviation and the time at which the deviation has occurred continuously. For example, the mode is switched when a certain deviation or more occurs for a certain period of time.

When switching from the maximizing mode to the jigging mode or when switching from the jigging mode to the torque maximizing mode, the switching is performed with the normal mode once between the two modes.
There may be a case where the change of the magnetic field becomes discontinuous at the time of switching the magnetic field change pattern, and this discontinuity may impair the stability of control of the capsule endoscope 3. By passing through the normal mode (rotating magnetic field) having a high value, the stability of the control of the capsule endoscope 3 can be ensured.

Next, each control mode of the capsule endoscope 3 will be described.
15 to 17 are schematic diagrams for explaining the automatic insertion mode of the capsule endoscope 3.
In the automatic insertion mode, as shown in FIGS. 15 to 17, when the deviation between the rotation axis R direction of the capsule endoscope 3 and the control direction C exceeds a predetermined value, the control direction C is changed to the capsule endoscope 3. Is a control method corresponding to the automatic insertion mode switch 79 of the operation unit 13.
Specifically, in the automatic insertion mode, the input from the direction control lever 69 of the operation unit 13 is blocked, and the capsule endoscope 3 is advanced based on the inputs from the forward / reverse lever 71 and the accelerator 73 (FIG. 8). reference).

For example, as shown in FIG. 15, when the capsule endoscope 3 is guided in a body cavity lumen, for example, in the intestine, the rotation of the capsule endoscope 3 is performed in a portion where the intestine I is linear. The axis R direction coincides with the control direction C.
As shown in FIG. 16, when the capsule endoscope 3 reaches the region where the intestine I is bent, the capsule endoscope 3 contacts the intestinal wall and turns along the intestinal wall. Then, a deviation occurs between the rotation axis R direction and the control direction C.
When the deviation gradually increases and exceeds a predetermined value, the control direction C is changed to coincide with the rotation axis R direction as shown in FIG.

Switching to the automatic insertion mode may be performed based on the input to the automatic insertion mode switch 79 described above (see FIG. 8), or automatically when the deviation between the rotation axis R direction and the control direction C exceeds a predetermined value. Therefore, the automatic control mode may be switched from another control mode.
In this way, when the deviation increases to a predetermined value, when the control direction C is adjusted to the rotation axis R direction at that time, for example, when the capsule endoscope 3 travels in the hollow organ, The capsule endoscope 2 can be easily advanced along the wall surface of the luminal organ.
When the control direction C matches the rotation axis R direction, the control direction C may match the rotation axis R direction as it is, or the control direction C is overshot in consideration of elasticity such as the intestinal wall. To the rotation axis R direction.

Further, the image acquired by the capsule endoscope 3 is subjected to image processing, so that the direction in which the capsule endoscope 3 should travel is extracted from the image data, and the center direction of the acquired image is determined as the current capsule endoscope. As the travel direction of 3, the direction of the control direction may be controlled based on the deviation between the direction in which the capsule endoscope 3 should travel and the current travel direction.
Furthermore, the automatic insertion mode may be realized by generating a magnetic field whose control direction is a direction in which the deviation is added to the current traveling direction of the capsule endoscope 3.

Next, the deviation management control mode will be described.
FIG. 18A illustrates an example of the deviation management control mode.
As shown in FIG. 18A, the deviation management control mode is based on operation direction information input from the direction control lever 69 and deviation information between the rotation axis R direction of the capsule endoscope 3 and the control direction. How to control.

  Specifically, when the direction of the rotation axis R of the capsule endoscope 3 cannot follow the operation direction information, if the operation direction information increases, the deviation information increases accordingly. However, when the deviation information reaches a predetermined boundary value, the operation direction information is blocked and the control direction information is fixed to a constant value so that the deviation information does not exceed the predetermined boundary value.

  By controlling in this way, it is possible to prevent the deviation between the rotation axis R direction and the control direction from becoming too large. If the deviation becomes too large, it becomes difficult to rotate the capsule endoscope 3 around the rotation axis R, and the operation controllability is significantly deteriorated. Therefore, by preventing the deviation from becoming too large, it is possible to prevent the operation controllability of the capsule endoscope 3 from deteriorating.

FIG. 18B is a diagram for explaining another example of the deviation management control mode.
As shown in FIG. 18A, the control is not performed until the deviation information reaches a predetermined boundary value, and the deviation management control may be performed at the same time as the deviation information exceeds, or as shown in FIG. The deviation management control may be gradually performed so that the deviation information gradually approaches the predetermined boundary value.
By controlling in this way, the operation direction information is not suddenly interrupted and is gradually interrupted, so that the operator can be informed that the deviation information has approached a predetermined boundary value.

FIGS. 19A and 19B are diagrams for explaining still another example of the deviation management control mode. FIG. 19A shows operation direction information input from the direction control lever 69 on the horizontal axis. FIG. 19B shows time on the horizontal axis.
In the example of the deviation management control mode, as shown in FIGS. 19A and 19B, when the value of the deviation information first reaches the second boundary value, the value of the deviation information exceeds the second boundary value. Deviation management control is performed so as not to occur. Then, if the state in which the deviation management control is performed continues for a predetermined time, the deviation management control is then performed so that the value of the deviation information does not exceed the first boundary value. The first boundary value is lower than the second boundary value as shown in the figure.

As described above, the deviation direction control may be performed by restricting the operation direction information and controlling the control direction, the change pattern of the magnetic field generated by the three-axis Helmholtz coil 7, and the generated magnetic field You may perform control which changes intensity.
In this way, by changing the magnetic field change pattern based on the deviation, it is possible to prevent the operability of the capsule endoscope 3 from being lowered. That is, when the magnetic field change pattern is not suitable for guiding the capsule endoscope 3 in the control direction and the deviation becomes large, the magnetic field change pattern suitable for guiding the capsule endoscope 3 and the generated magnetic field By changing the strength of the deviation, an increase in deviation can be prevented.

Next, a method for controlling force feedback will be described.
FIG. 20A is a diagram illustrating an example of a relationship between deviation information and feedback information to the operation unit 13.
As shown in FIG. 20, the force feedback control method is based on deviation information feedback from the feedback unit 99 of the direction control lever 69 based on deviation information between the rotation axis R direction of the capsule endoscope 3 and the control direction. This is a control to adjust the intensity.
Specifically, for example, the reaction force to the lever body 93 is increased in proportion to the increase in deviation information, the amplitude of vibration transmitted to the lever body 93 is increased, the period of vibration is shortened, The resistance to the operation of 93 is increased.

  When the output upper limit value of the feedback unit 99 is reached, the output from the feedback unit 99 becomes a constant value regardless of the increase in the deviation information. After that, when the value of the deviation information reaches a predetermined boundary value, as described in the automatic insertion mode, the control direction is independently controlled regardless of the operation direction input information, and the deviation information is controlled so as not to increase any more. To do. Alternatively, the control direction is controlled to coincide with the direction of the rotation axis R.

  Note that the gradient of the proportionality of the deviation information feedback from the feedback unit 99 with respect to the increase in deviation information can be variously changed as shown by the dotted line in FIG. By changing this gradient, the sensitivity of deviation information feedback from the lever body 93 can be changed. For example, the sensitivity can be improved by making the gradient steep.

FIG. 20B is a diagram illustrating another example of the relationship between the deviation information and the feedback information to the operation unit 13.
As shown in FIG. 20A, control is not performed until the output of the feedback unit 99 reaches the upper limit value, and control may be performed at the same time as reaching, or as shown in FIG. The output of the feedback unit 99 may be gradually controlled so as to approach the upper limit value.

  By controlling in this way, the deviation information can be fed back from the feedback unit 99 with a relatively large output while the deviation information is small. Therefore, it is possible to prevent the capsule endoscope 3 from becoming difficult to control due to an increase in deviation. For example, in a wide lumen such as the stomach, if the control of the capsule endoscope 3 becomes difficult, the capsule endoscope 3 may roll down inside the stomach. Is preferred.

FIG. 21 is a diagram illustrating still another example of the relationship between the deviation information and the feedback information to the operation unit 13.
Further, as shown in FIG. 21, a dead zone Z in which the output of the feedback unit 99 is not performed in a region where the deviation information is small is provided, and thereafter, control for increasing the output of the feedback unit 99 functionally as the deviation information increases. You may go. When the deviation information value reaches a predetermined boundary value, as described in the automatic insertion mode, the control direction is independently controlled regardless of the operation direction input information so that the deviation information does not increase any more. To do. Alternatively, the control direction is controlled to coincide with the direction of the rotation axis R.

By controlling in this way, since the output of the feedback unit 99 is relatively small while the deviation information is small, it is possible to easily apply a large turning torque to the capsule endoscope 3. That is, since the deviation information fed back to the operator is weak, an operation can be input without worrying about the deviation information.
For example, in a narrow lumen such as the intestine, the capsule endoscope 3 is guided while pushing the wall surface of the collapsed lumen. At this time, it is necessary to apply a large turning torque to the capsule endoscope 3 in order to push the collapsed lumen, and it is preferable to perform the above-described control when performing such an operation.

Next, a method for calculating the deviation of the capsule endoscope 3 when a rotating magnetic field is generated will be described.
22 (a) and 22 (b) are diagrams for explaining the fluctuation of the turning torque acting on the capsule endoscope 3, and FIG. 22 (a) is a view for explaining the arrangement relation in which the turning torque becomes maximum. FIG. 22B is a diagram for explaining an arrangement relationship in which the turning torque is minimum. FIG. 23 is a diagram illustrating the relationship between the phase of the rotating magnetic field in the magnetic field direction and the strength of the turning torque.

  As shown in FIGS. 22A and 22B, the permanent magnet 35 of the capsule endoscope 3 rotates following the rotation of the magnetic field. As shown in FIG. 22A, the turning torque acting on the capsule endoscope 3 becomes maximum when the direction of the magnetic field is a direction along the turning surface formed by the rotation axis R and the control direction C. Further, as shown in FIG. 22B, the magnetic field is minimized when the direction of the magnetic field is substantially orthogonal to the turning surface.

As shown in FIG. 23, the strength of the turning torque changes so as to draw a sine wave between the above-mentioned maximum value and minimum value, and the change is based on the change in the rotation phase of the rotating magnetic field in the magnetic field direction. ing.
Therefore, the capsule endoscope 3 vibrates in the direction of the capsule endoscope 3, that is, the deviation in accordance with the change in the strength of the turning torque.

For example, when the capsule endoscope 3 is in contact with a wall surface having elasticity such as an intestinal wall and swivels toward the wall surface, the capsule endoscope 3 pushes the wall surface when the strength of the turning torque is increased. However, when the strength of the turning torque becomes weaker, it is pushed back to the elastic wall surface.
The calculation of the deviation of the capsule endoscope 3 when the rotating magnetic field is generated may be calculated based on the average value of the deviation during the half rotation of the rotating magnetic field, or the deviation when the turning torque is the maximum value. You may calculate based on.
By doing so, the vibration of the deviation due to the vibration of the turning torque is not reflected on the user interface, so that more stable operability can be obtained.

  According to said structure, since the control part 17 controls the user interface 19 based on a deviation, the information based on a deviation can be transmitted to an operator etc. via the user interface 19 (the operation part 13, the display part 15). Therefore, for example, information based on the deviation can be fed back to the operator who inputs the control direction information to the operation unit 13, and the guidance stability and operability of the capsule endoscope 3 can be improved.

Specifically, information based on the deviation is transmitted from the feedback unit 99 to the operator or the like. Therefore, feedback of information based on the deviation to the operator is facilitated, and the operability of the insertion portion can be improved.
Further, since information based on the deviation can be presented on the display unit 15, information based on the deviation can be transmitted to the operator or the like. Therefore, the operability of the capsule endoscope 3 can be improved.

Note that, as described above, the permanent magnet 35 may be fixedly mounted on the capsule endoscope 3, or the permanent magnet 35 may be mounted on the same axis as the rotation axis R as shown in FIG. May be.
When a rotating magnetic field is applied to the capsule endoscope 3A (insertion unit, medical device) shown in FIG. 24, the permanent magnet 35 rotates according to the rotation of the rotating magnetic field independently of the capsule endoscope 3A. When the direction of the rotating magnetic field plane is changed, a turning torque is generated in the permanent magnet 35, and this turning torque is transmitted to the capsule endoscope 3A so that the capsule endoscope 3A is turned.

Since the capsule endoscope 3A and the permanent magnet 35 are independent with respect to the rotation around the rotation axis R, the rotation period of the rotating magnetic field can be shortened without affecting other components of the capsule endoscope 3A. Therefore, the fluctuation cycle of the turning torque generated similarly to the capsule endoscope 3 can be shortened.
Then, for example, when the capsule endoscope 3A comes into contact with an elastic wall surface such as the intestinal wall and rotates in the wall surface direction, the capsule endoscope 3A is pressed against the wall surface as the turning torque varies. It is pushed back and vibrates. Here, by shortening the fluctuation cycle of the turning torque, the vibration width can be made uniform and the vibration can be converged.

  As described above, the capsule endoscope 3 may be completely independent from an external device, or after the capsule endoscope (insertion unit, medical device) 3B as shown in FIG. You may connect with the external apparatus by the string part 111 arrange | positioned at the end. At this time, a bearing 113 is interposed between the string portion 111 and the capsule endoscope 3B so that the rotation of the capsule endoscope 3B is not transmitted to the string portion 111.

  By adopting such a configuration, it is possible to always supply power to the capsule endoscope 3B via the string part 111 and to transmit the image data captured by the imaging unit 29 to the outside via the string part 111. . Therefore, it is not necessary to mount a power source inside, and the capsule endoscope 3B can be downsized. Further, since it is not necessary to transmit image data by radio waves or the like, it is possible to prevent noise from being included during transmission.

  Further, as shown in FIG. 26 (a), a rotational force is arranged to be transmitted to the capsule endoscope 3B via a string portion 112 disposed at the rear end of the capsule endoscope (insertion section) 3B, and the string The spiral portion 114 may be disposed also in the portion 112 so as to be a probe as a whole. By arranging in this way, a propulsive force can be generated also in the spiral portion 114.

  Furthermore, as shown in FIG. 26 (b), a motor 116 may be disposed at the end of the string portion 112, and the permanent magnet 35 and the capsule endoscope 35 may be disposed so as to be capable of relative rotation, thereby forming a probe as a whole. . By arranging in this way, the direction of the capsule endoscope 3B can be controlled by applying a rotating magnetic field. Further, the entire probe can be rotated by the motor 116 and a propulsive force can be generated by the spiral portions 39 and 114.

  Furthermore, as shown in FIG. 26C, the magnetization direction of the permanent magnet 35 may be arranged substantially parallel to the rotation axis R of the capsule endoscope 3B, and the probe may be used as a whole. By arranging in this way, the direction of the capsule endoscope 3B can be controlled by applying a parallel magnetic field. Further, the entire probe can be rotated by the motor 116 and a propulsive force can be generated by the spiral portions 39 and 114.

In the above-described embodiment, the insertion portion to be inserted into the subject has been described as being adapted to the capsule endoscope 3, but the insertion portion is limited to the one configured as the capsule endoscope 3. Instead, as shown in FIGS. 27A and 27B, an endoscope (insertion unit, medical device) 3C may be configured.
As shown in FIGS. 27A and 27B, the endoscope 3 </ b> C is rotatably provided with a rotating portion 115, and the rotating portion 115 is provided with a spiral portion 39 and a magnet 117.

  By adopting such a configuration, when a rotating magnetic field acts on the endoscope 3 </ b> C, the rotating unit 115 is rotationally driven by the magnet 117, and the endoscope 3 </ b> C is moved by the spiral unit 39 provided in the rotating unit 115. You can move forward and backward. Similarly to the capsule endoscope 3, the direction of the endoscope 3C can be controlled by controlling the direction of the rotating magnetic field plane.

As shown in FIGS. 6 and 8, the display unit 15 and the operation unit 13 may be configured. As shown in FIG. 28A, the display unit 15 ′ and the operation unit 13 ′ are configured. May be.
On the display unit 15 ′, there are displayed an acquired image display 61, an overall coordinate system display 63, and an operation display 119 of the scanning unit 13 ′ described later.

  The acquired image display 61 displays image information acquired by the imaging unit 29, and a control direction mark 121 indicating the direction (control direction) of the magnetic field formed by the three-axis Helmholtz coil 7 is superimposed. The control direction mark 121 is composed of a cross mark indicating its center (control direction) and a circle indicating its periphery.

The operation unit 13 ′ is schematically configured from an operation display 119 for displaying operation information and a mouse 123 for inputting operation information. On the operation display 119, a cursor 125 indicating the current control direction is displayed.
In order to input the operation direction information of the capsule endoscope 3 using the operation unit 13 ′, for example, as shown in FIG. Input is performed by moving the mouse 123 in the operation direction of the mirror 3. Thereby, the rotating magnetic field plane MP is controlled, and the control direction C is controlled.

When the click of the mouse 123 is released, the cursor 125 returns to the center and the control direction C is controlled to coincide with the rotation axis R of the capsule endoscope 3 as shown in FIG. That is, the vehicle goes straight.
In addition, the method of using the wheel etc. which were equipped with the mouse | mouth etc. can mention the forward / backward speed input of the capsule endoscope 3, for example.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS.
The basic configuration of the probe control system 201 of the present embodiment is the same as that of the capsule endoscope control system of the first embodiment, but the first embodiment is different from the insertion section ( The shape of the probe) and its position detection method are different. Therefore, in the present embodiment, only the shape of the probe and its position detection device will be described with reference to FIGS. 29 to 34, and description of the control unit and the like will be omitted.
FIG. 29 is a diagram illustrating an outline of the configuration of the probe control system in the present embodiment.
In addition, the same code | symbol is attached | subjected to the component same as 1st Embodiment, and the description is abbreviate | omitted.

  As shown in FIG. 29, the probe control system (medical apparatus control system) 201 is an X-ray apparatus that detects position information and direction information of a probe (insertion unit) 203 inserted into a subject and an endoscope 203. (Direction detection unit) 205, a triaxial Helmholtz coil 7 that forms a magnetic field that acts on a permanent magnet mounted on the endoscope 203, a power source 9 that supplies power to the triaxial Helmholtz coil 7, and a probe 203 The feeding device 211, the operation unit 13 for inputting control information to the endoscope 203, the display unit 15 for displaying image information transmitted from the endoscope 203, the three-axis Helmholtz coil 7 and the operation unit 13 The control unit 17 controls the display unit 15 and the like.

As shown in FIG. 30, a permanent magnet 235 for controlling the orientation of the probe 203 is mounted on the probe 203, and the permanent magnet 235 is arranged so that the magnetization direction thereof coincides with the major axis direction of the probe 203. Yes.
Note that the probe 203 may be used as the insertion portion as described above, or a capsule endoscope may be used as in the first embodiment. At this time, as shown in FIG. 31, the permanent magnet 35 mounted on the capsule endoscope is preferably arranged so that the magnetization direction thereof coincides with the major axis direction of the capsule endoscope.
The X-ray apparatus 205 includes an image acquisition unit 205A that detects the position and direction information of the probe 203 by acquiring an X-ray image, and an X-ray image display unit 205B that displays the acquired image information. .

Next, the control pattern of the probe 203 will be described.
FIG. 32 is a diagram for explaining a magnetic field pattern for controlling the direction of the probe 203 in a predetermined direction.
When the direction of the probe 203 is controlled in a predetermined direction, as shown in FIG. 32, a parallel magnetic field is formed around the probe 203, and the direction of the parallel magnetic field is controlled to coincide with the predetermined direction.

  Thus, in a state where the orientation of the probe 203 is controlled, the probe 203 is fed by the feeding device 211 and guided to a predetermined position. At this time, the operator performs a guidance operation while confirming the position and direction of the probe 203 displayed on the X-ray image display unit 205B.

FIG. 33 is a diagram for explaining a magnetic field pattern for swinging and controlling the tip of the probe 203.
When a conical magnetic field that rotates in a conical shape is formed around the probe 203 as shown in FIG. 33, the tip of the probe 203 is controlled to swing. When the tip of the probe 203 is swung, for example, the collapsed lumen can be expanded and the probe 203 can be easily guided.
In addition, by rotating the tip of the probe 203 in a predetermined direction while swinging and rotating, the probe 203 can be rotated while expanding the lumen, for example.

FIG. 34 is a diagram for explaining a magnetic field pattern for controlling the tip of the probe 203 to swing in one direction.
When an oscillating magnetic field that oscillates in a predetermined plane is formed around the probe 203 as shown in FIG. 34, the tip of the probe 203 is controlled to oscillate. For example, turning the probe 203 while swinging the tip of the probe 203 on the same plane as the turning surface makes it easy to turn even in a collapsed lumen. Similarly, by swinging the tip of the probe 203 on a surface substantially perpendicular to the swiveling surface, it is possible to easily swivel even in a collapsed lumen.

When switching from the conical magnetic field to the oscillating magnetic field, or when switching from the oscillating magnetic field to the conical magnetic field, the switching is performed by once sandwiching a parallel magnetic field between the two magnetic fields.
When switching the magnetic field, the change in the magnetic field may be discontinuous, and this discontinuity may impair the stability of the control of the probe 203. By passing, the control stability of the probe 203 can be ensured.

  In the above-described embodiment, the description has been made by applying the probe to the probe as the insertion portion to be inserted into the subject. However, the embodiment may be more specifically applied to an endoscope or a catheter. Therefore, a catheter and an endoscope can be selected in accordance with the purpose of diagnosis / treatment, and appropriate medical practice can be performed.

  According to this configuration, the probe 203 can be directed in the direction of the magnetic field. Further, when controlling the direction of the probe 203, the configuration of the magnetic field generating means such as the three-axis Helmholtz coil 7 can be simplified, and the direction of the probe 203 can be easily controlled.

[Appendix 30]
The medical device control system according to any one of claims 1 to 12, and 25 to 29, wherein the magnetic field response unit is an electromagnet or a magnet.
According to the present invention, the configuration of the magnetic field response unit can be simplified by using an electromagnet or a magnet.

[Appendix 31]
The insertion portion has a substantially cylindrical shape,
31. The magnetic field response unit has a magnetization direction perpendicular to the insertion direction, and is arranged to be rotatable about a central axis of the substantially cylindrical insertion unit with respect to the insertion unit. Medical device control system.
According to the present invention, for example, the orientation of the insertion portion can be controlled by controlling the rotation surface of the rotation magnetic field while applying the rotation magnetic field to the insertion portion. That is, by controlling the rotating surface of the rotating magnetic field, the posture of the predetermined axis of the permanent magnet or the electromagnet can be controlled. Since the relative positional relationship between the predetermined axis and the insertion portion is fixed, the orientation of the insertion portion can be controlled by controlling the posture of the predetermined axis.

[Appendix 32]
The medical device control system according to claim 30, wherein the magnetic field response unit has a magnetization direction perpendicular to the insertion direction and is fixed to the insertion unit.
According to the present invention, the insertion portion can be directed in one direction by applying a magnetic field perpendicular to the insertion direction to the magnetic field response portion.

[Appendix 33]
The medical device control system according to claim 30, wherein the magnetic field response unit has a magnetization direction substantially parallel to the insertion direction.
According to the present invention, the insertion portion can be directed in one direction by applying a magnetic field substantially parallel to the insertion direction to the magnetic field response portion.

[Appendix 34]
The medical device control system according to any one of claims 1 to 33, wherein the insertion portion is one of a catheter and a probe.
According to the present invention, since the insertion portion is a catheter or a probe, the catheter or probe can be selected in accordance with the purpose of diagnosis, treatment, etc. in the body cavity of the subject, and appropriate medical practice is performed. be able to.

[Appendix 35]
The medical device control system according to any one of claims 1 to 33, wherein the insertion unit is one of an endoscope that acquires an image in the subject and a capsule endoscope.
According to the present invention, since the insertion portion is an endoscope or a capsule endoscope, the selection of the endoscope or the capsule endoscope is performed in accordance with the purpose of diagnosis, treatment, etc. in the body cavity duct of the subject. Can do appropriate medical practice.

[Appendix 36]
36. The medical device according to claim 35, wherein the user interface displays the acquired image in the subject and displays the insertion direction of the endoscope or the capsule endoscope so as to overlap the acquired image. Control system.
According to the present invention, the operator can view the direction information of the insertion unit at the same time as viewing the acquired image displayed on the acquired image display unit. Therefore, a lot of information can be acquired once, and the operability of the insertion portion can be improved.

[Appendix 37]
The propulsive force generator is centered on one end of the central axis of the substantially cylindrical insertion portion and a rotational drive portion that rotates the insertion portion or the outer surface of the insertion portion, and the substantially cylindrical central axis. The medical device control system according to claim 29, further comprising: a spiral portion provided on an outer surface of the insertion portion.
According to the present invention, by applying a rotating magnetic field to the insertion portion, the insertion portion can be rotated around the central axis. For this reason, the spiral portion arranged on the outer surface also rotates, and a propulsive force is generated by the rotating spiral portion, so that guidance is possible.

[Appendix 38]
The insertion portion is a capsule endoscope having a substantially cylindrical shape, and the capsule endoscope includes a spiral portion provided on an outer surface of the capsule endoscope so as to have a central axis of the cylindrical shape as an axis. The medical device control system according to claim 19 or 32.
According to the present invention, by applying a rotating magnetic field to the capsule endoscope, the capsule endoscope can be rotated around the central axis. For this reason, the spiral portion arranged on the outer surface also rotates, and a propulsive force is generated by the rotating spiral portion, so that guidance is possible. When the insertion portion is propelled, for example, when the lumen is curved, an external force is applied from the wall surface of the luminal organ, and the external portion is directed in the direction in which the insertion portion should proceed, improving the automatic insertion property. .

It is a figure which shows the outline of a structure of the capsule endoscope control system in the 1st Embodiment of this invention. It is the schematic which shows the system configuration | structure of the capsule endoscope system of FIG. It is a figure which shows the control block of the capsule endoscope system of FIG. It is a figure which shows selection of the magnetic field pattern of FIG. 2 is a schematic diagram of a capsule endoscope and an extracorporeal device of FIG. 1. It is a figure which shows the display in the display part of FIG. It is a figure which shows the state of the control direction display on the display part of FIG. 6, and the state by which the control direction was displayed on the acquired image display. It is the schematic which shows the structure of the operation part of FIG. 1, and a direction control lever. It is a figure which shows another structural example and another structural example of the direction control lever of FIG. It is a figure explaining control of the capsule endoscope by a direction control lever. It is a figure explaining the rotating magnetic field formed in a rotating magnetic field mode. It is a figure explaining the magnetic field formed in jigling mode. It is a figure explaining the magnetic field formed in torque maximization mode. It is a figure explaining the magnetic field change pattern in torque maximization mode. It is the schematic explaining the automatic insertion mode of a capsule endoscope. It is the schematic explaining the automatic insertion mode of a capsule endoscope. It is the schematic explaining the automatic insertion mode of a capsule endoscope. It is a figure explaining an example and another example of deviation management control mode. It is a figure explaining another example of deviation management control mode. It is a figure which shows an example of the relationship between deviation information and the feedback information to an operation part, and another example. It is a figure which shows another example of the relationship between deviation information and the feedback information to an operation part. It is a figure explaining the fluctuation | variation of the turning torque which acts on a capsule endoscope. It is a figure explaining the fluctuation | variation of the turning torque in a rotating magnetic field. It is the schematic explaining another embodiment of the capsule endoscope of FIG. It is the schematic explaining further another embodiment of the capsule endoscope of FIG. It is the schematic explaining further another embodiment of the capsule endoscope of FIG. It is the schematic explaining the Example of the endoscope to which the structure of the capsule endoscope of FIG. 1 is applied. It is a figure explaining another embodiment of the display part of FIG. 6 and FIG. 8, and an operation part. It is a figure which shows the outline of a structure of the probe control system in the 2nd Embodiment of this invention. It is a figure explaining arrangement | positioning of the permanent magnet mounted in the probe of FIG. It is a figure explaining the structure of the capsule endoscope to which the probe structure of FIG. 30 is applied. It is a figure explaining the state which formed the parallel magnetic field around the probe. It is a figure explaining the state which formed the conical magnetic field around the probe. It is a figure explaining the state which combined the swing magnetic field around the probe.

Explanation of symbols

1 Capsule endoscope control system (medical device control system)
3, 3A, 3B, 3C Capsule endoscope (insertion unit, medical device)
5 Position detection sensor (Direction detection unit)
7 3-axis Helmholtz coil (magnetic field generator)
13, 13 'operation unit 15, 15' display unit 17 control unit (user interface control unit, predetermined value changing unit)
19 User interface 21 Magnetic field control unit (magnetic field pattern changing unit)
23 Control direction determination unit 35 Permanent magnet (magnetic field response unit)
39 Spiral part (Promotion part)
61 Acquired image display (acquired image display part)
93 Lever body (movable body)
99 Feedback unit (deviation information transmission unit, vibrating body, reaction force generation unit, load generation unit)
101 Eccentric motor (deviation information transmission unit, vibrating body)
103 Sphere part (deviation information transmission part, load generation part)
105 Friction part (deviation information transmission part, load generation part)
201 Probe control system (medical device control system)
203 Probe (insertion part)
205 X-ray device (direction detector)
R Rotation axis (insertion direction, center axis)
C Control direction

Claims (8)

An insertion portion that is inserted into the subject and whose direction is controlled by magnetism; and a magnetic field response portion that is disposed inside the insertion portion and generates torque according to a magnetic field applied from outside the subject. A medical device;
A direction detection unit for detecting an insertion direction of the insertion unit;
A user interface in which the control direction of the insertion direction is input by an operator;
A magnetic field generator for generating a magnetic field acting on the magnetic field response unit;
A magnetic field control unit that controls the magnetic field generation unit based on a deviation between the insertion direction and the control direction ;
The magnetic field control unit stores a plurality of magnetic field generation patterns;
A medical device comprising: a magnetic field pattern changing unit that selects a magnetic field pattern to be generated from the generation patterns of the plurality of magnetic fields based on the deviation, and changes the magnetic field pattern generated by the magnetic field generation unit to the selected magnetic field pattern Control system. The magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially perpendicular to the insertion direction;
The one of the plurality of magnetic field patterns, medical device control system according to claim 1, wherein a rotating magnetic field rotating in a plane substantially perpendicular to the control direction in which the magnetic field pattern storage portion is stored. The magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially perpendicular to the insertion direction;
One of the plurality of magnetic field patterns stored in the magnetic field pattern storage unit is a magnetic field combining a rotating magnetic field that rotates in a plane substantially perpendicular to the control direction and an oscillating magnetic field that vibrates in a direction substantially parallel to the control direction. The medical device control system according to claim 1 . The magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially perpendicular to the insertion direction;
One of the plurality of magnetic field patterns stored in the magnetic field pattern storage unit is a variable magnetic field in which the direction of the magnetic field varies in a plane substantially perpendicular to the control direction,
The angle formed by the intersection of a plane substantially perpendicular to the control direction and a plane including the insertion direction and the control direction and the magnetic field direction in the varying magnetic field varies within a predetermined range. Medical device control system. The magnetic field pattern changing unit generates a magnetic field pattern in which the magnetic field rotates in a plane substantially perpendicular to the insertion direction after the magnetic field pattern currently generated by the magnetic field generating unit, and then the next magnetic field the medical device control system according to any one of claims 1 to 4, for generating a pattern. The magnetic field response unit is a magnet or an electromagnet having a magnetization direction substantially parallel to the insertion direction,
One of the plurality of magnetic field patterns stored in the magnetic field pattern storage unit is an oscillating magnetic field with the control direction as the vibration center,
The angle between the oscillating magnetic field and the control direction, the medical device control system according to claim 1, wherein within a predetermined range. The magnetic field pattern changing unit generates a magnetic field pattern of a magnetic field substantially parallel to the direction of the insertion unit after the magnetic field pattern currently generated by the magnetic field generating unit, and then generates the next magnetic field pattern. The medical device control system according to claim 1 or 6 . The medical device control system according to claim 1, wherein the magnetic field control unit includes a magnetic field strength changing unit that changes the magnetic field strength based on the deviation.

Images