JP4827529B2 - In-subject observation system - Google Patents

Description

The present invention relates to an in- subject observation system.

  In recent years, in the field of endoscopes, capsule endoscopes equipped with an imaging function and a wireless communication function have appeared. This capsule endoscope is an observation period, for example, the esophagus, after being swallowed from the subject's mouth, which is a subject (human body), for observation (examination) until it is naturally discharged from the subject's body In addition, the inside (inside the body cavity) of an organ such as the stomach and the small intestine is moved in accordance with the peristaltic movement, and images are sequentially captured using an imaging function.

  Here, the specific gravity of the capsule endoscope is the same as that of the surrounding liquid or about the same as that of water, and the capsule endoscope is swallowed together with the liquid and floated on the liquid so that the capsule endoscope is in the body cavity. Patent Document 1 discloses a technique suitable for large-intestine observation that allows rapid advancement to the large intestine. Further, while the capsule endoscope can only be observed when it is attached to the wall of the body cavity, according to Patent Document 1, the observation field is ensured by floating the capsule endoscope in a liquid and observing it. Can be observed without leakage.

International Publication No. 02/95351 (Special Table No. 2004-529718) International Publication No. 05/32370 Pamphlet

  However, in Patent Document 1, the capsule endoscope is simply levitated into a liquid. For example, in the case of observing an organ with a wide space such as the stomach, the introduced liquid alone is not used. Due to insufficient stretching and dilation of the stomach and wilt, it may not be possible to secure a sufficient space for observation with a capsule endoscope, and a good observation image may not be obtained. In addition, the state of the capsule endoscope that floats on the liquid (floating position or posture) may become unstable due to fluctuations in the boundary surface, and the imaging direction cannot be determined. is there.

The present invention was made in view of the above, that can be performed sufficiently extended-extended so good Naru to ensure sufficient field of view observing the organs such as the stomach to be observed in-vivo An object is to provide an observation system.

To solve the above problems and achieve the object, the body-insertable member that written in the present invention, first liquid to be introduced into the desired organ of the subject, from the first liquid The specific gravity is light and does not mix with the first liquid, and has a specific gravity intermediate between the second liquid introduced into the organ and the first liquid and the second liquid. A capsule medical device that is introduced into the device, acquires in-subject information, and wirelessly outputs the in-subject information to the outside of the subject.

The body-insertable member that written to the present invention, in the above invention, the capsule medical apparatus, characterized in that it is a capsule endoscope that captures an in-vivo image.

The body-insertable member that written to the present invention, in the above invention, the capsule endoscope, and characterized in that it is a capsule endoscope which is decentered position of the center of gravity by changing the weight balance in the front-rear direction To do.

The body-insertable member that written to the present invention, in the above invention, the capsule endoscope is characterized in that the front end side is relatively heavier capsule endoscope.

The body-insertable member that written to the present invention, in the above invention, the capsule endoscope is characterized in that the front end side is relatively lighter capsule endoscope.

The body-insertable member that written in the present invention, in the above invention, the first liquid and / or the second liquid, characterized in that the amount of introduced inside the organ is variable.

The body-insertable member that written to the present invention, in the above invention, the variable of the organ in the quantity incorporated, characterized in that it is a sequential increase in the introduced amount of the first liquid.

Intra-subject observation system that written to the present invention, the above-described body-insertable member which is introduced within the desired organ of the subject, the arranged outside the subject, from the capsule medical device of the organ And a receiving device for receiving in-subject information transmitted wirelessly.

Intra-subject observation system that written in the present invention, in the above invention, the first liquid, the posture of the said subject a second liquid and the capsule medical device is introduced into the desired organ It further comprises a posture changing device for changing.

Intra-subject observation system that written in the present invention, in the above invention, characterized by comprising a detecting means for detecting the levitated position and / or flotation orientation in the boundary surface of the capsule medical device.

Intra-subject observation system that written in the present invention, by referring to the information of the flotation position and / or flotation orientation of said detected capsule medical device by the detection means when the in-vivo information acquisition, the capsule A combination processing means for combining a plurality of in-subject information acquired by the medical device is provided.

According to the in-vivo observation system that written to the present invention, within the desired organ of the subject, the immiscible with the first liquid lighter specific gravity than the first liquid and the first liquid In the case of the boundary surface between the first liquid and air by introducing a capsule medical device having a specific gravity intermediate between the first liquid and the second liquid together with the second liquid In addition, the liquid can be stably floated on the boundary surface between the first liquid and the second liquid, and the observation direction of the capsule medical device is either downward or upward from the boundary surface. However, by introducing the second liquid in addition to the first liquid, a satisfactory observation is ensured by securing a sufficient visual field in a desired organ that has been sufficiently extended and expanded over a position above the boundary surface. There is an effect that can be.

  Embodiments of an intra-subject introducer and an intra-subject observation system according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments, and various modified embodiments are possible without departing from the spirit of the present invention.

  FIG. 1 is a schematic diagram showing an overall configuration of a wireless in-subject observation system that is a preferred embodiment of the in-subject observation system according to the present invention. This intra-subject observation system uses a capsule endoscope as an example of a capsule medical device. In FIG. 1, the in-subject observation system is a capsule endoscope that is introduced into a desired organ of a subject 2, for example, a stomach 3, by a supply device 1 and images a body cavity image and transmits data such as a video signal. 4 and a receiving device 6 used for receiving a radio signal transmitted from the capsule endoscope 4 introduced into the stomach 3. The receiving device 6 is used in a state of being arranged near the subject 2 and is used for receiving a radio signal received from the capsule endoscope 4. The in-subject introduction body 5 includes a capsule endoscope 4, a first liquid 7, and a second liquid 8 prepared in the supply apparatus 1.

  The in-vivo observation system according to the present embodiment includes a display device 9 that displays an image in the body cavity based on a video signal received by the receiving device 6, and includes a workstation 10 that controls the entire system. The receiving device 6 performs one or a plurality of antennas 6a attached to the vicinity of the stomach 3 on the external surface of the subject 2, and processing for receiving a radio signal connected to the antenna 6a and received via the antenna 6a. A receiving main unit 6b. The antenna 6a may be provided in a reception jacket that can be worn by the subject 2, for example, and the subject 2 may wear the antenna 6a by wearing the reception jacket. In this case, the antenna 6a may be detachable from the jacket.

  The workstation 10 is configured to be able to exchange data by wired connection to the receiving device 6. The display device 9 is for displaying an in-vivo image captured by the capsule endoscope 4, and specifically, may be configured to directly display an image on a CRT display, a liquid crystal display, or the like. The image may be output to another medium such as a printer. Note that data is transferred between the receiving device 6 and the workstation 10 by using a built-in recording device such as a hard disk in the receiving device 6 and wirelessly transferring both data to and from the workstation 10. You may comprise so that it may connect. Further, only the antenna 6a is provided on the subject 2 side, and the reception signal of the antenna 6a can be directly taken into the workstation 10 side by communication, and the workstation 10 itself can be used as a receiving device. Good.

  Further, the in-subject observation system of the present embodiment includes a posture change device 11 for changing the posture of the subject 2 to be observed. The body posture changing device 11 is configured to freely and electrically and three-dimensionally rotate and displace with a mechanism (not shown) based on the bed structure, so that the body posture of the subject 2 is standing, supine (or supine). In order to appropriately convert to the lateral position.

  Here, the intra-subject introducer 5 will be described with reference to FIG. FIG. 2 is a schematic perspective view showing the supply apparatus 1 including the intra-subject introducer 5. The supply apparatus 1 of the present embodiment has a resin package structure that has two storage portions 1a and 1b separated by a partition wall and integrally stores the in-subject introduction body 5 therein. The storage unit 1a stores the first liquid 7 and the capsule endoscope 4 together, and the first liquid 7 and the capsule endoscope from the drinking mouth 1d at one end opened by cutting the cut line 1c. 4 can be orally introduced into the stomach 3 of the subject 2. The storage unit 1b stores the second liquid 8, and can orally introduce the second liquid 8 into the stomach 3 of the subject 2 from the drinking mouth 1f on the other end side opened by cutting the cut line 1e. It is configured. The volumes of the storage portions 1a and 1b are appropriately set according to the amount of liquid to be introduced into the stomach 3, but are set to about several hundred milliliters, for example.

  The capsule endoscope 4, the first liquid 7, and the second liquid 8 that are housed in the supply apparatus 1 and constitute the in-subject introduction body 5 have a specific gravity of about 1. The specific gravity is different from each other, and the specific gravity relationship is set so as to satisfy (first liquid 7)> (capsule endoscope 4)> (second liquid 8). Further, both the first liquid 7 and the second liquid 8 can be drunk from the oral cavity of the subject 2 and do not mix with each other, and with respect to the wavelength of the imaging optical system of the capsule endoscope 4. A clear liquid is used. In the present embodiment, as an example, the first liquid 7 is drinking water having a specific gravity close to 1, and the second liquid 8 is an edible oil such as olive oil whose specific gravity is lighter than 1. Furthermore, in the present embodiment, since the first liquid 7 and the second liquid 8 are intended to stay in the stomach 3 during the observation period, the liquid temperature at the time of drinking is 20 ° C. or higher. Is desirable. In the case of drinking water and sports drinks, the fastest absorption in the stomach is said to be a liquid temperature of 5 to 15 ° C. If the liquid temperature is higher than this liquid temperature, for example, about 20 ° C. or higher, absorption This is because it is possible to secure a time for staying in the stomach 3.

  In addition, the capsule endoscope 4 will be described with reference to FIG. FIG. 3 is a side view showing a schematic configuration of the capsule endoscope 4. As shown in FIG. 3, the capsule endoscope 4 according to the present embodiment includes a capsule housing 21 that can be introduced into the body cavity of the subject 2, and a built-in capsule body 21 that is incorporated in the capsule housing 21 and moves toward the front end. It is a monocular type capsule endoscope provided with the imaging optical system 22 which can image | photograph. In addition, the capsule endoscope 4 includes an acceleration sensor 25, an angular velocity sensor (gyroscope), a circuit system unit 23 such as a substrate, circuit components, and a transmission antenna, a battery (battery) 24, and the like in a capsule casing 21. ) 26 and the like.

  The capsule-type casing 21 is of a size that can be swallowed into the body from the oral cavity of the subject 2, a substantially hemispherical tip cover 21 a that is transparent or translucent, and a colored material that does not transmit visible light. An outer case that seals the inside in a liquid-tight manner is formed by elastically fitting the bottomed cylindrical body cover 21b.

  The imaging optical system 22 is in a capsule-type housing 21 and includes a plurality of light emitting elements 25 (hereinafter referred to as “LED”) that emit illumination light for illuminating an intracorporeal imaging region via the tip cover 21a portion. LED 25 ”), an image sensor 26 such as a CCD or CMOS that receives the reflected light from the illumination light and images the body cavity imaging region (hereinafter referred to as“ CCD 26 ”), and an image of the subject on the CCD 26. And an imaging lens 27 that forms an image, and enables photographing in the direction of the front end portion on the front end cover 21a side.

  The battery 24 is a heavy object in the built-in capsule endoscope 4, but is disposed on the rear end side in the capsule casing 21. Thus, in the capsule endoscope 4 of the present embodiment, the center of gravity is decentered from the center toward the rear end side by changing the weight balance in the front-rear direction so that the front end side becomes relatively light.

  The acceleration sensor 25 detects the movement amount of the capsule endoscope 4 by detecting the acceleration of the capsule endoscope 4 in the capsule casing 21 and integrating the detection result. In the present embodiment, it is possible to detect acceleration in three axes (longitudinal direction Z and radial directions X and Y of the capsule endoscope 4). The angular velocity sensor (gyro) 26 is for detecting the swing angle of the capsule endoscope 4 in the capsule casing 21. The detection signal from the angular velocity sensor 26 is used to detect the direction (posture) in which the current capsule endoscope 4 is facing. By providing the acceleration sensor 25 and the angular velocity sensor 26, the position and orientation of the capsule endoscope 4 (including the vertical direction of the CCD 29) can be detected. The acceleration sensor 25 and the angular velocity sensor 26 are configured as ultra-small sensors using MEMS (Micro Electro Mechanical Systems) technology, and are formed on the boundary surface 12 between the first liquid 7 and the second liquid 8 as described later. A detecting means for detecting the floating position and the floating posture of the floating capsule endoscope 4 is realized. When only the detection of the floating position of the capsule endoscope 4 is required, only the acceleration sensor 25 may be provided. When only the detection of the floating posture of the capsule endoscope 4 is required, only the angular velocity sensor 26 is provided. Should be provided. As a means for detecting the position or posture, a method of receiving a magnetic field or radio wave generated by the capsule with a device outside the body may be used.

  Here, a configuration example of the workstation 10 will be described with reference to FIG. FIG. 4 is a schematic block diagram illustrating a configuration example of the workstation 10. The workstation 10 according to the present embodiment includes a control unit 41, an input unit 42 connected to the control unit 41, a display unit 9, a storage unit 43, and a communication unit 44. The input unit 42 includes a keyboard, a mouse, and the like, and is used to automatically input necessary information to the control unit 41 or to input based on a manual operation. The storage unit 43 stores various information obtained from the capsule endoscope 4 and other information, and is configured by a hard disk device or the like. The communication unit 44 is for handling transmission and reception between the receiving device 6 and the workstation 10.

  The control unit 41 includes a computer configuration such as a CPU, a ROM, and a RAM, and includes a display control unit 41a, a communication control unit 41b, an image processing unit 41c, an image combining unit 41d, a position and orientation detection unit 41e, and a state determination. Various function execution units such as the unit 41f are provided. The display control unit 41 a is for performing display control on the display unit 9 such as an in-vivo image acquired from the capsule endoscope 4 via the receiving device 6. The communication control unit 41 b is for controlling a transmission / reception operation between the receiving device 6 and the workstation 10 performed by the communication unit 44. The image processing unit 41 c is for performing various kinds of image processing necessary for the body cavity image data acquired from the capsule endoscope 4 via the receiving device 6. The position / orientation detection unit 41e is for detecting the floating position and the floating attitude based on the position and orientation information of the capsule endoscope 4 detected by the acceleration sensor 25 and the angular velocity sensor 26. The image combining unit 41d refers to the information about the floating position and the floating posture of the capsule endoscope 4 detected by the position / orientation detection unit 41e with respect to a plurality of pieces of image data in the stomach 3 captured by the capsule endoscope 4. Thus, a common part in the image data is extracted, and a combining process for connecting and combining a plurality of images is performed.

  Next, the observation method in the stomach 3 of this Embodiment is demonstrated with reference to FIGS. FIG. 5 is a schematic front view showing the inside of the stomach 3 at the time of observation. Prior to observation, the capsule endoscope 4 is introduced into the stomach 3 together with the first liquid 7 and the second liquid 8 from the supply device 1 orally. When the capsule endoscope 4, the first liquid 7 and the second liquid 8 constituting the in-subject introducing body 5 are introduced into the stomach 3, as shown in FIG. The second liquid 8 forms a boundary surface 12 on the first liquid 7 to be in a laminated state, and the capsule endoscope 4 having an intermediate specific gravity is located on the boundary surface 12 and floats.

  Here, since the center of gravity of the capsule endoscope 4 is eccentric to the rear end side as described with reference to FIG. 3, the capsule endoscope 4 is in a standing state (vertical state) in which the front end side that is the imaging direction on the boundary surface 12 faces upward. Levitating. This standing state is ensured to some extent even when only the first liquid 7 is used, but in the present embodiment, the boundary surface 12 is formed by liquids, and the specific gravity difference is smaller than in the case where the upper side is air. When the second liquid 8 is present, the viscosity is stronger, so even if the boundary surface 12 fluctuates, the movement (falling) of the capsule endoscope 4 becomes dull, and the boundary surface in a standing state according to the center of gravity arrangement. 12 will be levitated stably. In such an upward stable state, an image of the upper side in the stomach 3 can be captured by the capsule endoscope 4 to acquire an inner wall image, which can be transmitted and output to the receiving device 6 side.

  When such an inner wall of the stomach 3 is imaged, if the second liquid 8 is not introduced and the air layer remains as it is, the side wall 3a portion of the stomach 3 above the boundary surface 12 is deflated. Although extension / expansion becomes insufficient, in this embodiment, the second liquid 8 is introduced into the stomach 3 in addition to the first liquid 7, so that the second liquid 8 is introduced to the side of the side wall 3a above the boundary surface 12. Therefore, it is possible to sufficiently extend / expand, and thus, it is possible to ensure a sufficient visual field within the stomach 3 which is a wide organ and to perform a good observation. Further, the imaging direction of the capsule endoscope 4 is upward, but since the periphery of the tip cover 21 is filled with the second liquid 8 instead of the air layer, there are scratches and dirt on the tip cover 21. It becomes difficult to see, and a good captured image can be obtained.

  At this time, the imaging region of the capsule endoscope 4 can be changed by simply changing the position of the boundary surface 12 in the stomach 3 by combining slight body position changes of the subject 2 itself. Observe without oversight. If the capsule endoscope 4 is provided with the imaging optical system 22 having a wide angle as shown by a solid line instead of the dotted line shown in FIG. It can be observed over a wider range.

  In the present embodiment, the amount of introduction of the first liquid 7 and the second liquid 8 into the stomach 3 is varied, and the height position of the boundary surface 12 is varied, so that the capsule endoscope The inside of the stomach 3 can be observed with the floating position in the direction of gravity in the stomach 3 as an arbitrary position. FIG. 6 is a schematic front view showing the inside of the stomach 3 before and after the increase in the introduction amount of the first liquid 7. That is, as shown in FIG. 6A, after swallowing a predetermined amount of the first liquid 7 and the second liquid 8 together with the capsule endoscope 4 and starting observation, as shown in FIG. 6B. In addition, by appropriately adding the first liquid 7 and gradually increasing the introduction amount of the first liquid 7 in the swallowing stomach 3, the position of the boundary surface 12 becomes higher in order, and the lower part of the stomach 3 (pylorus part) The inner wall can be observed sequentially from the 3b side toward the upper part (cardia part) 3c side. In this case as well, every time the first liquid 7 is added, the position of the boundary surface 12 in the stomach 3 is changed by combining a slight change of body posture of the subject 2 itself, and the imaging region by the capsule endoscope 4 is changed. And can be observed without overlooking the stomach 3.

  Furthermore, by combining large body posture changes of the subject 2 by the body posture changing device 11 and changing the position of the boundary surface 12 in the stomach 3, the imaging region by the capsule endoscope 4 can be greatly changed. The entire stomach 3 can be observed without further oversight. FIG. 7 shows a state in the stomach 3 at the time of observation when, for example, the posture changing device 11 is turned 90 degrees and tilted to change the subject 2 from the standing position to the supine position (or the supine position). FIG. That is, the upward-capturing capsule endoscope 4 images and observes the upward direction of the stomach 3 in the standing state, but in the supine position (or supine position) as shown in FIG. Can image and observe the front side inner wall (or the back side inner wall) of the stomach 3. Further, the body posture may be changed to the lateral position.

  Next, the height of the boundary surface 12 position is adjusted as appropriate and the posture is changed, and the stomach imaged by the capsule endoscope 4 while the floating position and the floating posture of the capsule endoscope 4 are changed. 3 will be described with reference to FIGS. 8 and 9. In the present embodiment, the capsule endoscope 4 includes the acceleration sensor 25 and the angular velocity sensor 26, and the capsule endoscope 4 continuously displays images including common portions while changing the floating position and the floating posture. Since the relative movement amount of how much the capsule endoscope 4 has moved can be grasped when the image is captured in the image, the common part of different images can be obtained by using techniques such as epipolar geometry and template matching. A panoramic image can be formed by connecting images so as to overlap each other.

FIG. 8 is a schematic flowchart showing an example of image combining processing executed by the image combining unit 41d in the control unit 41. Schematically, epipolar geometry is used to determine a template matching search range, and a plurality of images are connected by template matching. First, two continuous images P _n and P _n−1 to be combined are input (step S201). Then, in order to overlay them neatly, distortion aberration correction is performed on these images P _n and P _n−1 (step S202). Further, a search range for limiting the range for performing the pattern matching process is calculated and set (step S203).

This search range is determined by roughly detecting the overlapping portion of the imaging range when the capsule endoscope 4 is displaced, thereby limiting the range of subsequent image synthesis, thereby improving the processing speed. In the first embodiment, it is determined using epipolar geometry. FIG. 9 is an explanatory diagram illustrating a search range setting example using epipole geometry. That is, the capsule endoscope 4, the position of the captured image P _n-1 when displaced to the position of the captured image P _n, before being moved does not know the depth of the imaging region image P _n-1 on the The point to which the reference point R ₀ corresponds to the image P _n after movement is not determined as one point, but the epipolar in the image P _n after movement of the corresponding point R ₁ with respect to the reference point R ₀ before movement. The epipolar geometry is limited to the line Ep. In this case, the relative movement amount of how much the capsule endoscope 4 has moved between P _n and P _n−1 is the position information and posture information based on the acceleration and angular velocity detected by the acceleration sensor 25 and the angular velocity sensor 26. The amount of change is referenced. Therefore, determine the epipolar line Ep on the image P _n after the movement, the end point of the image P _n (e.g., upper left end point and lower right end point) by determining a positional relationship between the epipolar line Ep, the image P _n, The overlapping portion between P _n-1 is determined, and the search range is determined.

Next, a plurality of template images are detected (step S204), and pattern matching processing is performed (step S205). That is, a plurality of template images are created from the image P _n within the set search range, and a plurality of template images are cut out from the image P _n−1 to be synthesized, and corresponding points are found by pattern matching. Here, since the number of unknown parameters for affine transformation to be described later is 6, 6 or more corresponding points are found using 6 or more template images. Then, an affine transformation process is performed in which the relational expression between both images P _n and P _n−1 to be synthesized is an affine transformation of rotation and translation (step S206). In this process, six affine parameters are calculated by the least square method. The image to be synthesized by using affine parameters obtained P _n-1 of the orthogonal coordinate system x, by deforming converted to y-coordinate, is combined with the image P _n (step S207). Such processing is sequentially repeated for all images to be processed (step S208).

  By such an image combining process, since a plurality of images can be recognized as a continuous image overlapping at a common part, the inside of the stomach 3 captured while the floating position and the floating posture of the capsule endoscope 4 are displaced Diagnosis becomes easier.

  Note that the processing in step S207 is a simple synthesis process, and becomes a planar synthesized image. Therefore, the horizontal size of the synthesized image synthesized in this way is L, the vertical size is H, and cylindrical mapping is performed by pasting the synthesized image on a cylinder having a diameter R = L / π and height H, You may make it perform conversion of a rectangular coordinate system. If such a composite image is displayed on the display unit 9, the inside of the cylinder can be observed from a virtual viewpoint as if the inside of the stomach 3 is viewed from the capsule endoscope 4. The diagnosis is easier.

  Next, FIG. 10 shows a procedure of the above-described intragastric observation method (intra-subject observation method) of the present embodiment. FIG. 10 is a schematic flowchart showing a procedure of the intragastric observation method of the present embodiment. First, prior to observation, an antenna 6a for receiving a signal from the capsule endoscope 4 is disposed at a predetermined position of the subject 2 and a receiving apparatus main body 6b is disposed at a position near the subject 2 (step). S1). Next, the capsule endoscope 4 housed in the supply device 1 is activated using a separate magnet or the like (step S2).

  Then, the first liquid 7 is swallowed together with the enclosed capsule endoscope 4 from the drinking mouth 1d of the supply device 1 to be introduced into the stomach 3 (step S3). At this time, the subject 2 is placed in a standing position (or sitting position) for easy drinking. Next, the second liquid 8 is swallowed from the drinking mouth 1f of the supply device 1 to be introduced into the stomach 3 (step S4). At this time, it is not essential for the capsule endoscope 4 to be swallowed at the same time as the first liquid 7, but swallowing together with the first liquid 7 facilitates swallowing the capsule endoscope 4. In addition, the swallowing order of the capsule endoscope 4, the first liquid 7, and the second liquid 8 is random and may be swallowed easily. Then, it waits for several minutes until the boundary surface 12 is stabilized in the stomach 3 (step S5).

  Thus, for example, an observable state as shown in FIG. 5 or FIG. 6A or the like is obtained. In this state, the in-subject image data acquired by the capsule endoscope 4 by imaging is taken out of the subject 2. Is transmitted and output by the receiving device 6 (step S6). Thereafter, until the necessary number of posture changes is completed (step S7: Yes), the posture of the subject 2 is converted at an appropriate timing (step S8), and the imaging process of step S6 with the converted posture is repeated. If the observation of the stomach 3 with respect to the subject 2 is not yet completed (step S9: No), the first liquid 7 is additionally introduced into the stomach 3 at an appropriate timing (step S10). Then, it waits for about several minutes until the boundary surface 12 is stabilized in the stomach 3 (step S11: Yes), and the process after step S6 is repeated. When the observation of the stomach 3 with respect to the subject 2 is completed (step S9: Yes), the observation process is ended. At this time, the subject 2 is repositioned to the right lateral position, and the capsule endoscope 4 is moved to the pylorus 3b side together with the first liquid 7 and the second liquid 8 introduced into the stomach 3. It is desirable to encourage.

  In the present embodiment, the in-subject introduction body 5 composed of the capsule endoscope 4, the first liquid 7, and the second liquid 8 is collectively collected from the packaged supply device 1 as the subject 2. However, the supply method is not limited to such a packaged supply device 1 and any method for supplying the in-subject introduction body 5 may be used. FIG. 11 is a schematic perspective view showing a modification of the method for supplying the in-subject introducer 5. One or several additional bottle-like containers 51 containing the first liquid 7 and one (or several) bottle-like containers containing the capsule endoscope 4 and the second liquid 8 52 may be prepared on the supply table 53 attached to the posture changing apparatus 11 and supplied to the subject 2. In this case, it is preferable that the containers 51 and 52 are provided with scales 54 and 55 so that the introduction amount can be easily understood. Alternatively, a container such as a cup may be used instead of the bottle-shaped containers 51 and 52.

  In the present embodiment, the capsule endoscope 4 is provided with the battery 24 disposed on the rear end side in order to achieve a relatively light weight balance on the front end side. However, the present invention is not limited to such an arrangement example. A capsule endoscope having a relatively light weight balance on the front end side may be used. For example, as shown in FIG. 12-1, a capsule endoscope 4 in which a weight 30 is arranged on the rear end side instead of the battery 24, or a space 31 is secured on the front end side as shown in FIG. 12-2. Thus, the capsule endoscope 4 having a lighter front end may be used.

  Furthermore, in the present embodiment, the front end side has been described as an example using the capsule endoscope 4 for upward imaging with a relatively light weight balance. However, if the purpose is downward imaging, the front end side is relatively A monocular capsule endoscope having a heavy weight balance may be used. 13A to 13C are side views showing a schematic configuration of a monocular capsule endoscope 40 having a relatively heavy weight balance on the front end side. FIG. 13-1 shows an example of a configuration in which a heavy object such as the battery 24 is arranged closer to the front end side, FIG. 13-2 shows an example of arranging the weight 30 closer to the front end side, and FIG. The example which provided 31 near the rear end side is shown.

  By the way, in the case of a monocular capsule endoscope 40 having a relatively heavy weight balance on the front end side as illustrated in FIGS. 13A to 13C, the first liquid 7 and the second liquid 8 It floats in a standing state on the boundary surface 12, and the inner wall of the stomach 3 is always imaged in the downward direction through the first liquid 7 located on the lower side. Therefore, since the periphery of the tip cover 21 is filled with the first liquid 7 instead of the air layer, even if there are scratches or dirt on the tip cover 21, it becomes difficult to see, and it is more difficult to take an image through the air layer. Can also obtain a good captured image. Further, for example, even when the capsule endoscope 40 floats down on the boundary surface 12 when the first liquid 7 is small as in the case shown in FIG. By introducing not only the second liquid 8 but also the second liquid 8, more liquid is introduced into the stomach 3, and the lower inner wall of the stomach 3 is expanded and expanded over a wide range, so that In this way, it is possible to ensure a sufficient field of view within the stomach 3 which is a wide organ and perform good observation. That is, in the state shown in FIG. 6A, only the first liquid (first liquid + second liquid) is introduced into the stomach, and the capsule endoscope is moved to a desired state in the liquid. If the control for sinking to the position is performed, the same state can be ensured with only one kind of liquid. However, in the case of the present invention, the position of the boundary surface 12 is not controlled without performing the control for sinking the capsule endoscope. It can be easily realized simply by adjusting.

  Further, in the present embodiment, the example of the monocular capsule endoscopes 4 and 40 that can image only the front end side direction has been described, but not only the front end side direction, for example, only the front end side perspective direction, or A monocular capsule endoscope capable of imaging only in the circumferential direction of the front end side may be used. Furthermore, the capsule endoscope is not limited to a monocular type, and may be a compound eye type capsule endoscope capable of imaging in both the front-rear direction and the front-end direction. Even in the case of a compound-eye capsule endoscope, if the centroid position is decentered by changing the center-of-gravity balance in the front-rear direction, the imaging direction relative to the gravitational direction can be changed. It can always be constant and stable imaging is possible. Imaging in this case may be performed in both the front and rear directions, or may be performed only in a desired one-side direction.

  In the present embodiment, an example of observation in which the stomach 3 is targeted as the desired organ of the subject 2 has been described. However, the present invention is not limited to the stomach 3 and may be used to observe an organ having a relatively wide lumen, such as the large intestine. Is also applicable.

(Appendix 1) Introducing a first liquid into a desired organ of a subject;
Introducing into the organ a second liquid that has a lower specific gravity than the first liquid and does not mix with the first liquid;
Introducing a capsule medical device having an intermediate specific gravity between the first liquid and the second liquid into the organ;
Information inside the subject is acquired by the capsule medical device that is introduced into the organ and floats on the boundary surface between the first liquid and the second liquid, and the information inside the subject is wirelessly transmitted outside the subject. Output step;
An in-subject observation method, comprising:

(Supplementary note 2) The in-subject observation method according to supplementary note 1, wherein a capsule endoscope that captures an in-subject image is used as the capsule medical device.

(Supplementary note 3) A monocular capsule endoscope capable of imaging only the front end side direction, the front end side perspective direction, or the front end side circumferential direction is used as the capsule endoscope. Intra-specimen observation method.

(Supplementary note 4) The in-subject observation method according to supplementary note 2, wherein a compound eye type capsule endoscope capable of imaging in the front end side direction and the rear end side direction is used as the capsule endoscope.

(Supplementary Note 5) The in-vivo observation method according to any one of Supplementary notes 2 to 4, wherein a capsule endoscope having a wide-angle imaging optical system is used as the capsule endoscope. .

(Supplementary note 6) The capsule endoscope according to any one of supplementary notes 2 to 5, wherein a capsule endoscope in which a weight balance in the front-rear direction is changed to decenter a center of gravity is used as the capsule endoscope. In-subject observation method.

(Supplementary note 7) The in-subject observation method according to supplementary note 6, wherein a capsule endoscope having a relatively heavy front end is used as the capsule endoscope.

(Supplementary note 8) The in-subject observation method according to supplementary note 6, wherein a capsule endoscope having a relatively light front end is used as the capsule endoscope.

(Supplementary note 9) Any one of Supplementary notes 2 to 8, wherein the first liquid and the second liquid are transparent to the wavelength light of the imaging optical system of the capsule endoscope. The in-subject observation method according to 1.

(Supplementary note 10) The in-subject observation method according to any one of Supplementary notes 1 to 9, wherein the first liquid is drinking water, and the second liquid is edible oil.

(Supplementary note 11) In-subject observation according to any one of Supplementary notes 1 to 10, further comprising a step of changing an introduction amount of the first liquid and / or the second liquid into an organ. Method.

(Supplementary note 12) The in-subject observation method according to supplementary note 11, wherein the step of changing the introduction amount into the organ is a step of sequentially increasing the introduction amount of the first liquid.

(Supplementary note 13) The supplementary notes 1 to 12, further comprising a step of changing a position of a boundary surface between the first liquid and the second liquid introduced into the organ according to a change in the posture of the subject. The intra-subject observation method according to any one of the above.

(Supplementary note 14) Any one of Supplementary notes 1 to 13, further comprising a step of detecting a floating position and / or a floating posture on the boundary surface of the capsule medical device when acquiring the in-subject information. 2. In-subject observation method according to 1.

(Additional remark 15) With reference to the information of the levitation position and / or levitation posture of the detected capsule medical device, a combination processing step of combining a plurality of pieces of in-subject information acquired by the capsule medical device is further included The in-subject observation method according to appendix 14, characterized by comprising:

(Supplementary note 16) The in-subject observation method according to any one of supplementary notes 1 to 15, wherein the desired organ of the subject is a stomach.

(Supplementary note 17) a first liquid introduced into a desired organ of a subject;
A second liquid that has a lower specific gravity than the first liquid and does not mix with the first liquid and is introduced into the organ;
A capsule type having an intermediate specific gravity between the first liquid and the second liquid, introduced into the organ, acquiring in-subject information, and wirelessly outputting the in-subject information to the outside of the subject A medical device;
An in-subject introduction body characterized by comprising:

(Supplementary note 18) The in-subject introducer according to supplementary note 17, wherein the capsule medical device is a capsule endoscope that captures an in-subject image.

(Supplementary note 19) The capsule endoscope according to supplementary note 18, wherein the capsule endoscope is a monocular capsule endoscope capable of imaging only in a front end side direction, a front end side perspective direction, or a front end side circumferential direction. Intra-sample introducer.

(Supplementary note 20) The in-subject introduction body according to Supplementary note 18, wherein the capsule endoscope is a compound-eye capsule endoscope capable of imaging in the front end side direction and the rear end side direction.

(Supplementary note 21) The capsule endoscope according to any one of supplementary notes 18 to 20, wherein the capsule endoscope is a capsule endoscope having a wide-angle imaging optical system. .

(Supplementary note 22) The capsule endoscope according to any one of supplementary notes 18 to 21, wherein the capsule endoscope is a capsule endoscope in which a weight balance in a front-rear direction is changed to decenter a center of gravity. Intra-subject introducer.

(Supplementary note 23) The in-subject introduction body according to supplementary note 22, wherein the capsule endoscope is a capsule endoscope whose front end is relatively heavy.

(Supplementary note 24) The in-subject introduction body according to supplementary note 22, wherein the capsule endoscope is a capsule endoscope whose front end side is relatively light.

(Supplementary note 25) Any one of Supplementary notes 18 to 24, wherein the first liquid and the second liquid are transparent to the wavelength light of the imaging optical system of the capsule endoscope. The in-subject introduction body described in 1.

(Supplementary note 26) The in-subject introduction body according to any one of supplementary notes 17 to 25, wherein the first liquid is drinking water, and the second liquid is edible oil.

(Supplementary note 27) The intracorporeal introduction body according to any one of supplementary notes 17 to 26, wherein an introduction amount of the first liquid and / or the second liquid into the organ is variable.

(Supplementary note 28) The in-subject introduction body according to supplementary note 27, wherein the variable introduction amount into the organ is a sequential increase in the introduction amount of the first liquid.

(Supplementary note 29) The intra-subject introduction body according to any one of supplementary notes 17 to 28, wherein the desired organ of the subject is a stomach.

(Supplementary Note 30) The in-subject introducer according to any one of Supplementary notes 17 to 29, which is introduced into a desired organ of the subject;
A receiving device arranged outside the subject and receiving in-subject information wirelessly transmitted from the capsule medical device in the organ;
An in-subject observation system comprising:

(Supplementary Note 31) The first liquid, the second liquid, and the capsule medical device further include a posture changing device that changes a posture of the subject introduced into the desired organ. The in-subject observation system according to attachment 30.

(Supplementary note 32) The in-subject observation system according to supplementary note 30 or 31, further comprising detection means for detecting a floating position and / or a floating posture on the boundary surface of the capsule medical device.

(Supplementary note 33) The in-subject observation system according to supplementary note 32, wherein the detection means is built in the capsule medical device.

(Supplementary Note 34) A plurality of subjects acquired by the capsule medical device with reference to the floating position and / or floating position information of the capsule medical device detected by the detecting means at the time of acquiring the in-subject information. 34. The in-subject observation system according to attachment 33, further comprising a combination processing unit that combines the pieces of internal information.

1 is a schematic diagram showing an overall configuration of a wireless in-subject observation system that is a preferred embodiment of an in-subject observation system according to the present invention. FIG. It is a schematic perspective view which shows the supply apparatus containing the in-subject introduction body. It is a side view which shows schematic structure of a capsule type | mold endoscope. It is a schematic block diagram which shows the structural example of a workstation. It is a schematic front view which shows the mode in the stomach at the time of observation. It is a schematic front view which shows the mode in the stomach before the increase of the introduction amount of a 1st liquid and after an increase. It is a schematic diagram which shows in cross section the state in the stomach at the time of observation at the time of changing the body posture to the supine position. It is a schematic flowchart which shows the example of an image combination process. It is explanatory drawing which shows the example of a search range setting using epipole geometry. It is a schematic flowchart which shows the procedure of the intragastric observation method of this Embodiment. It is a schematic perspective view which shows the modification of the supply method of the introducer in a subject. It is a side view which shows schematic structure of the modification of a capsule type endoscope whose front end side is comparatively light. It is a side view which shows schematic structure of the other modification of the capsule type endoscope where the front end side is comparatively light. It is a side view showing a schematic structure of a capsule endoscope whose front end side is relatively heavy. It is a side view which shows schematic structure of the modification of a capsule type endoscope with a relatively heavy front end side. It is a side view which shows schematic structure of the other modification of the capsule type endoscope with a relatively heavy front end side.

Explanation of symbols

2 Subject 3 Stomach 4 Capsule Endoscope 5 Intra-Subject Introductory Body 6 Receiving Device 7 First Liquid 8 Second Liquid 11 Position Change Device 12 Interface 22 Imaging Optical System 40 Capsule Endoscope

Claims (10)

A capsule medical device that is introduced into a subject, acquires in-subject information, and wirelessly outputs the in-subject information to the outside of the subject, and is wirelessly transmitted from the capsule medical device disposed outside the subject An in-subject observation system comprising a receiving device for receiving the in-sample information,
The capsule medical device is:
A tip cover provided at its axial end,
An imaging optical system for imaging an in-subject image as the in-subject information via the tip cover; and
First liquid the imaging optical system is transparent to the wavelength of the imageable light, the imaging optical system is a transparent to the wavelength of the imageable light, the first specific gravity than the liquid lightly possess an intermediate specific gravity between the second liquid immiscible with the first liquid,
The position of the center of gravity is eccentric in the axial direction,
An in-subject observation system , wherein a predetermined amount of the first liquid and a predetermined amount of the second liquid are used in a state of being introduced into an organ of the subject.   The tip cover is provided at the front end of the capsule medical device,
  The position of the center of gravity is eccentric to the rear end side of the capsule medical device,
  The in-subject observation system according to claim 1, wherein the imaging optical system performs imaging in a state where an outer side of the tip cover is filled with the second liquid. The inside of a subject according to claim 1 or 2, wherein the capsule medical device is a monocular capsule endoscope capable of imaging only in a front end side direction, a front end side perspective direction, or a front end side circumferential direction. Observation system. The in-vivo observation system according to claim 1 or 2, wherein the capsule medical device is a compound eye type capsule endoscope capable of imaging the front end side direction and the rear end side direction. Wherein the first liquid is drinking water, the second liquid specimen in the observation system according to any one of claims 1-4, characterized in that the edible oil. The organ of the subject, the intra-subject observation system according to any one of claims 1-5, characterized in that the stomach. Claim 1, characterized by further comprising a first liquid, said second repositioning apparatus the liquid and the capsule medical device is introduced into the front Ki臓 unit changes the position of the subject 6. The intra-subject observation system according to any one of 6 above. The inside of the subject according to claim 6 , further comprising detection means for detecting a floating position and / or a floating posture of the capsule medical device at a boundary surface between the first liquid and the second liquid. Observation system. The in-subject observation system according to claim 8 , wherein the detection unit is built in the capsule medical device. A plurality of in-subject information acquired by the capsule medical device is obtained by referring to the floating position and / or floating position information of the capsule medical device detected by the detecting means when the in-subject information is acquired. The in-subject observation system according to claim 8 or 9 , further comprising a binding processing unit for binding.

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