JP5382493B2 - Magnetic field induction device and magnetic field induction method - Google Patents

Description

The present invention relates to a magnetic field induction device, and more specifically, by changing the magnetic field direction of the target position in any direction, to the magnetic field induction device for moving the guided material in a predetermined direction. The present invention also relates to a magnetic field guiding method, and more particularly, to a magnetic field guiding method for changing the direction of a magnetic field at a target position to an arbitrary direction and moving an object to be guided in a predetermined direction.

  In recent years, in the medical field, a medical system has been developed that guides an object to be guided such as a catheter or an endoscope arranged in a patient's body to an arbitrary position by the action of a magnetic field. In order to guide the guided object to an arbitrary position in the patient's body, it is necessary to change the direction of the magnetic field at the target position in all directions (all directions). Therefore, for such a medical system, for example, a magnetic field generator as disclosed in Patent Document 1 is used.

  In the magnetic field generator of Patent Document 1, the direction of the magnetic field at the target position is changed in all directions by combining the circumferential rotation and radial movement of one magnetic field generator. In the magnetic field generator of Patent Document 1, the magnetic field generator is rotated in the circumferential direction by the first rotation mechanism, and the magnetic field generator is moved in the radial direction by the second rotation mechanism and a slide mechanism that is rotatably provided on the second rotation mechanism. Move.

The present applicant has provided a magnetic field induction method and a magnetic field generator that can easily change the direction of the magnetic field at the target position in all directions in Patent Document 2. In Patent Document 2, a magnetic field generation unit that generates a magnetic field is provided, and each of the magnetic field generation units has one main surface on which a plurality of magnetic poles are formed, and is arranged side by side so that the magnetic poles on the one main surface are symmetrical. A pair of magnetic field generating units, a first driving means for rotating the pair of magnetic field generating units, respectively, and the pair of magnetic field generating units respectively moved at the same distance in the same direction along a predetermined circle parallel to the predetermined plane. And a magnetic field control method using the same.

Special table 2002-536037 JP2007-215583A

  Since the first rotation mechanism, the second rotation mechanism, and the slide mechanism are necessary, the magnetic field generation device disclosed in Patent Document 1 has a problem that the configuration of the device is complicated and the control of the device is also complicated.

In Patent Document 2, the direction of the magnetic field can be easily changed in all directions as compared with Patent Document 1, but the magnetic field intensity generated is reduced as the miniaturization proceeds, and the guided object such as a catheter or an endoscope is moved. Can not get enough torque. In Patent Documents 1 and 2, there is no description about moving the guided object in a predetermined direction while keeping the direction of the guided object constant without rotating the guided object .

The main object of the present invention is that the direction of the magnetic field can be easily changed as compared with Patent Document 1, and the direction of the magnetic field at the target position solved in Patent Document 2 can be easily changed to 360 °. Magnetic field induction device and magnetic field induction method capable of obtaining sufficient torque to move the induced object even when the induced object is moved, and capable of moving in a predetermined direction while maintaining the orientation constant without rotating the induced object I will provide a.

In order to achieve the above-described object, the magnetic field induction device according to claim 1 is configured such that a plurality of magnetic poles are formed by permanent magnets, opposite permanent magnets have the same polarity, and adjacent permanent magnets have different polarities. Magnetic circuit unit comprising a guided object arranged so as to be in contact with each other, and a first magnet and a second magnet having a magnetization direction in an axial direction facing each other through a gap so that the directions of magnetization are opposite to each other A magnetic field generating unit having two or more, a moving mechanism unit that moves each magnetic circuit unit of the magnetic field generating unit in the axial direction, and a reversal that reverses the magnetization directions of the first magnet and the second magnet in the moving mechanism unit and a mechanism portion, the formed at a predetermined position of each magnetic circuit axial movement amount of the first magnet and the second corresponding to the inversion of the magnetization direction of the magnet wherein the magnetic field generating unit axial direction one end side of the To control the direction of the magnetic field And butterflies.

The magnetic field induction method according to claim 2, wherein a magnetic circuit unit is formed by arranging a first magnet having a magnetization direction in an axial direction and a second magnet so as to face each other through a gap so that the directions of magnetization are opposite to each other. Two or more magnetic field generating units, a moving mechanism unit that moves each magnetic circuit unit of the magnetic field generating unit in the axial direction, and a reversing mechanism that reverses the magnetization directions of the first magnet and the second magnet in the moving mechanism unit preparing a magnetic field induction device comprising a part,
A plurality of magnetic poles are formed by the permanent magnets, and the opposite permanent magnets are arranged so that the same poles face each other, and the adjacent permanent magnets are arranged so that the different poles are in contact with each other. A step of movably disposing at a predetermined position on the side;
And a step of controlling the amount of axial movement of each magnetic circuit section and the direction of the magnetic field exerted on the induced object in response to the reversal of the reversing mechanism section .

Note that the "target position" described below means a position to maintain the orientation and strength of the magnetic field generated by the magnetic field generating unit.

The magnetic field induction device according to claim 1 controls the direction of the magnetic field formed at a predetermined position on one end face side in the axial direction of the magnetic field generation unit corresponding to the amount of axial movement of each magnetic circuit unit constituting the magnetic field generation unit. Since it can be made possible, the guided object arranged in the magnetic field can be moved in a predetermined direction with the direction kept constant without rotating.
In addition, by having a reversing mechanism that reverses the magnetization directions of the first magnet and the second magnet, the direction of the magnetic field at the predetermined position can be changed by 360 ° with a simple operation. The induced object can be easily rotated 360 °.

The magnetic field induction method according to claim 2 , wherein a magnetic field formed at a predetermined position on one end side in the axial direction of the magnetic field generation unit corresponding to the axial movement amount of each magnetic circuit unit constituting the magnetic field generation unit of the magnetic field induction device. By controlling the direction, the guided object disposed in the magnetic field can be moved in a predetermined direction without rotating the guided object.
In addition, by reversing the magnetization directions of the first magnet and the second magnet, the direction of the magnetic field at the predetermined position can be easily changed by 360 °, so that the guided object arranged at the predetermined position is rotated by 360 °. Can be made.

In a medical system that changes the direction of an induced object introduced into a patient's body, such as an endoscope, by the action of a magnetic field, the direction can be arbitrarily changed with a magnetic field strength of a predetermined level or more in order to obtain a torque of a certain level or more. preferable. The magnetic field induction device according to claim 1 and the magnetic field induction method according to claim 2 not only provide a desired magnetic field strength, but also maintain a constant orientation without rotating the guided object itself. To move in a predetermined direction.

According to the present invention, in addition to easily changing the direction of the magnetic field at the target position where the guided object is arranged by 360 ° , it is possible to obtain sufficient torque that can move the guided object even if the apparatus is downsized. And can be moved in a predetermined direction while maintaining the orientation constant without rotating the guided object.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1A is a top view of a magnetic field induction device according to an embodiment of the present invention. FIG.1 (b) shows LL 'sectional drawing of the magnetic field guidance apparatus as described in Fig.1 (a). In the magnetic field induction device 100 according to one embodiment of the present invention, the first magnet 5a and the second magnet 5b are arranged to face each other with a gap so that the magnetization direction is the axial direction and the magnetization directions are opposite. A magnetic circuit unit, and a magnetic circuit unit 2 in which the first magnet 5c and the second magnet 5d are arranged to face each other with a gap so that the magnetization direction is an axial direction and the magnetization directions are opposite to each other. It comprises a magnetic field generator and a moving mechanism unit 3 that moves each of the magnetic circuit units 1 and 2 in the axial direction. Here, the axial direction is a moving direction of a magnetic circuit unit that slides on a rail 7 described later with reference to FIG.

  In FIG. 1, 3 shows a moving mechanism part. The moving mechanism unit 3 is provided with a drive unit for moving the magnetic circuit unit 1 and the magnetic circuit unit 2 in the axial direction. Specifically, the drive unit includes a rail 7 and a motor (not shown). The rail 7 is connected to a motor (not shown), and engages with the side surface of the frame 8 that fixes the magnets 5a, 5b, 5c, and 5d constituting the magnetic circuit unit 1 and the magnetic circuit unit 2, respectively. The magnetic circuit unit 1 and the magnetic circuit unit 2 slidably arranged on the rail 7 through the frame 8 by driving the motor can be independently moved in the axial direction. A white arrow in the figure indicates a moving direction of the magnetic circuit unit.

  In FIG. 1, reference numeral 4 denotes a plate which serves as a base for standingly fixing the rail 7 at a predetermined position. Although FIG. 1 shows a configuration in which the plate 4 is disposed only at one end of the rail 7, the plate is also disposed at the other end, and the periphery of the magnetic field generator is surrounded by a nonmagnetic plate (not shown). Thus, it is possible to prevent the magnetic field generation unit from being exposed to the outside air, and to move the magnetic circuit unit and the like stably and smoothly. It is also possible to displace a guided object to be described later via the plate at the other end.

  In FIG. 1, 6 is an induced object. In the drawing, in order to clarify the positional relationship with the magnetic field generation unit, the support (arrangement) mechanism for the guided object 6 is not shown. Since the guided object 6 moves in a predetermined direction in accordance with the direction of the magnetic field formed by the magnetic field generation unit, it is necessary to provide at least a part of a magnetic body made of iron, a magnet, or the like. In particular, in order to react with high sensitivity to the direction of the magnetic field formed by the magnetic field generation unit, a configuration in which magnets are arranged as described below is preferable.

  With reference to FIG. 2, the structure which has arrange | positioned the magnet to the to-be-guided object 6 is demonstrated in detail. 2 is a W-W ′ cross section of the guided object 6 (see FIG. 1). Examples of magnets used include Nd—Fe—B based sintered magnets, Nd—Fe—B based bonded magnets, ferrite sintered magnets, Sm—Co based sintered magnets, and the like. It is desirable that a plurality of magnetic poles be formed on the outer peripheral surface of the guided object.

  The induced object 6 is constituted by, for example, four permanent magnets 10. In FIG. 2, the arrow indicates the magnetization direction. The permanent magnets 10 constituting the guided object 6 are arranged so that the opposite permanent magnets have the same polarity, but the adjacent permanent magnets are arranged so that the different poles are in contact with each other.

  Further, the guided object 6 is not limited to the configuration composed of the four permanent magnets 10 as shown in FIG. 2, and the outer peripheral surface is formed by combining 12 permanent magnets 11 so that the adjacent magnetic poles are different as shown in FIG. 5. An induced object 16 having a single magnetic pole may be used.

  Moreover, the to-be-guided object 6 may be made from one magnet.

Various configurations other than the above can be adopted, but it is preferable to select a suitable process according to the configuration of the magnetic field generation unit. For example, when the magnetic field induction device having the magnetic field generation unit shown in FIG. In consideration of inductivity and cost, the guided object having a four-pole configuration shown in FIG. 2 is most preferable.

  Further, as a more preferred embodiment, as shown in FIG. 3, a reversing mechanism unit 9 for reversing the magnetization directions of the first magnet 5a and the second magnet 5b constituting the magnetic circuit unit is provided. By appropriately operating the moving mechanism unit 3 and the reversing mechanism unit 9, the direction of the magnetic field at a predetermined position generated by the magnetic field induction device can be changed by 360 °. And the to-be-guided object 6 can be rotated 360 degrees with the change of the direction of the magnetic field.

  In addition, the embodiment of the present invention is not limited to FIGS. 1A and 1B, and a plurality of magnetic circuit units constituting the magnetic field generating unit may be provided as shown in FIGS. 4A and 4B. Good. In FIG. 4, in addition to the magnetic circuit unit 1 and the magnetic circuit unit 2, a magnetic circuit unit 13 and a magnetic circuit unit 14 are further added, and the magnetic field generating unit is configured by four magnetic circuit units as a whole. Each magnetic circuit section is arranged so as to be movable in the axial direction as in the configuration of FIG.

In any of the configurations of the magnetic field induction device described above, a specific magnetic circuit unit among a plurality of magnetic circuit units is formed in order to form a desired magnetic field direction at a predetermined position on one end side in the axial direction of the magnetic field generation unit. moving axially the selected by the moving mechanism portion, can be obtained by the synthesis of the magnetic field thus formed magnet disposed in the magnetic circuit portion to move, a magnetic field having a direction of interest to the predetermined position. If an induced object is previously arranged at this magnetic field forming position, the induced object can be moved in accordance with the direction of the magnetic field.

The operation of the magnetic field induction apparatus according to the present invention shown in FIG. 1 will be described with reference to FIG. FIG. 6 shows a change in the magnet (movement in the axial direction) and a change in the direction of the magnetic field applied to the guided object in a plurality of magnetic circuits constituting the magnetic field generation unit of the magnetic field induction device. The target position P in FIG. 6 is the upper end portion of the guided object 6 in FIG. An axis parallel to the ground surface with respect to the target position P is an X axis, an axis orthogonal to the X axis is a Y axis, and an axis orthogonal to the X axis and the Y axis is a Z axis . The target position P is the intersection of the X, Y, and Z axes. In addition, the to-be-guided object 6 has the column-shaped shape which consists of a magnet arrangement | positioning shown in FIG. 2, and the upper end part is supported by the support member which is not shown in figure so that 360 degree rotation is possible about a lower end part in the figure.

  In FIG. 6, in the magnetic field induction device 100 described in FIGS. 1A and 1B, a pair of permanent magnets 5 a and 5 b constituting another magnetic circuit unit 1 and another magnetism in the moving mechanism unit 3. By moving the pair of permanent magnets 5c and 5d constituting the circuit unit 2 in the axial direction, the direction of the magnetic field at the target position P is controlled, and the direction of the guided object 6 is controlled according to the direction of the magnetic field, It moves sequentially and continuously.

  Here, a case where the direction of the magnetic field at the target position P is changed using the state shown in FIG. 6A as a reference (first start position) will be described. Further, FIG. 7 shows how the upper end portion of the guided object 6 moves and the guided object 6 tilts as a whole in accordance with the change in the direction of the magnetic field at the target position P. FIGS. 6A to 6I correspond to FIGS. 7A to 7I, respectively.

  First, in the case shown in FIG. 6A, since both the magnetic circuit unit 1 and the magnetic circuit unit 2 are located below the magnetic field generation unit, a magnetic field is present at the target position P located on the upper end side of the magnetic field generation unit. No magnetic field is applied to the induced object 6 without being formed. Next, in the state shown in FIG. 6B, the magnetic circuit unit 1 moves to the upper part of the magnetic field generation unit, so that the target position P is generated by the magnetic field from the upper end of the first magnet 5a toward the upper end of the second magnet 5b. In FIG. 2, a magnetic field in the direction of the arrow is generated. Due to the magnetic field generated in FIG. 6 (b), the guided object 6 as a whole is tilted from the position of FIG. 7 (a) in the direction of FIG. 7 (b).

  In the state shown in FIG. 6C, the magnetic circuit unit 1 and the magnetic circuit unit 2 move to the upper part of the magnetic field generating unit, so that the upper end of the second magnet 5 b from the upper end of the first magnet 5 a constituting the magnetic circuit unit 1 is obtained. Of the first magnet 5c constituting the magnetic circuit unit 2 and the magnetic field generated from the upper end of the second magnet 5d to the upper end of the second magnet 5d. Will occur. Due to the magnetic field generated in FIG. 6C, the guided object 6 is inclined in the direction of FIG. 7C from the position of FIG. 7B as a whole.

  In the state shown in FIG. 6D, the magnetic circuit unit 1 moves downward, and the magnetic circuit unit 2 stops above the magnetic field generating unit, so that the upper end of the first magnet 5c constituting the magnetic circuit unit 2 is reached. When a magnetic field is generated from the second magnet 5d toward the upper end of the second magnet 5d, a magnetic field in the arrow direction in the figure is generated at the target position P. Due to the magnetic field generated in FIG. 7D, the guided object 6 is inclined in the direction of (d) from the position of FIG. 7C as a whole.

  In the state shown in FIG. 6 (e), the magnetic circuit unit 1 in which the first magnet 5a and the second magnet 5b are reversed (the magnetization direction of the magnet is reversed) moves to the upper part of the magnetic field generation unit. A magnetic field generated from the upper end of the second magnet 5b constituting the circuit unit 1 toward the upper end of the first magnet 5a, and from the upper end of the first magnet 5c constituting the magnetic circuit unit 2 toward the upper end of the second magnet 5d. The magnetic field in the direction of the arrow in the figure is generated at the target position P by combining with the generated magnetic field. Due to the magnetic field generated in FIG. 6 (e), the guided object 6 is inclined in the direction of (e) from the position of FIG. 7 (d) as a whole.

  Here, the reversal of the magnet is performed by changing the direction of the magnet by 180 ° by the reversing mechanism. This substantially changes the direction of magnetization of the magnet by 180 °. The magnet may be reattached without using the reversing mechanism, or the magnetic field induction device may be rotated in the horizontal direction. In order to manufacture a compact apparatus for continuously rotating the induced object by 360 °, it is preferable to effectively use a reversing mechanism as shown in FIG.

In the state shown in FIG. 6 (f), the magnetic circuit unit 1 stops at the upper part of the magnetic field generating unit and the magnetic circuit unit 2 moves downward, so that the upper end of the second magnet 5 b constituting the magnetic circuit unit 1 is moved. A magnetic field in the direction of the arrow in the figure is generated at the target position P by the magnetic field toward the upper end of the first magnet 5a.
Due to the magnetic field generated in FIG. 6 (f), the guided object 6 as a whole is tilted from the position of FIG. 7 (e) in the direction of FIG. 7 (f).

In the state shown in FIG. 6 (g), the magnetic circuit unit 2 in which the first magnet 5c and the second magnet 5d are reversed (the magnetization direction of the magnet is reversed) moves to the upper part of the magnetic field generating unit, thereby The magnetic field generated from the upper end of the second magnet 5b constituting the magnetic circuit unit 1 toward the upper end of the first magnet 5a, and the upper end of the second magnet 5d constituting the magnetic circuit unit 2 from the upper end to the first magnet 5c. The magnetic field in the direction of the arrow in the figure is generated at the target position P by combining with the generated magnetic field . Due to the magnetic field generated in FIG. 6G, the guided object 6 is tilted in the direction of (g) from the position of FIG.

  In the state shown in FIG. 6 (h), the magnetic circuit unit 1 moves downward, and the magnetic circuit unit 2 stops at the upper part of the magnetic field generating unit, whereby the upper end of the second magnet 5d constituting the magnetic circuit unit 2 is reached. The magnetic field in the direction of the arrow in the figure is generated at the target position P when the magnetic field is generated from the portion toward the upper end of the first magnet 5c. Due to the magnetic field generated in FIG. 6 (h), the guided object 6 is inclined in the direction of (h) from the position of FIG. 7 (g) as a whole.

  In the state shown in FIG. 6 (i), by moving the magnetic circuit unit 1 in which the permanent magnets 5a and 5b are inverted again to the upper part of the magnetic field generation unit, the upper end of the first magnet 5a constituting the magnetic circuit unit 1 is moved. The magnetic field generated toward the upper end portion of the second magnet 5b and the magnetic field generated from the upper end portion of the second magnet 5d constituting the magnetic circuit portion 2 toward the upper end portion of the first magnet 5c are combined in the figure at the target position P. A magnetic field in the direction of the middle arrow is generated. Due to the magnetic field generated in FIG. 6 (i), the guided object 6 is inclined in the direction (i) from the position of FIG. 7 (h) as a whole.

  7 that the guided object 6 does not rotate even if the guided object 6 moves (tilts) according to the change in the direction of the magnetic field at the target position P shown in FIG. It can be seen that the mark M attached to the mark always moves in a state of facing a predetermined direction. That is, as a whole guided object around the fulcrum of the guided object, the guided object itself does not rotate even if the tip is rotated continuously by 360 ° (inclined) (inclined) It turns out that it is possible.

Further, by adopting the reversing mechanism unit 9 as shown in FIG. 3, the first magnet and the second magnet constituting the magnetic circuit unit can be easily reversed, and the substantial magnetization direction can be easily achieved. By being able to be reversed, the guided object 6 can be rotated 360 ° without increasing the size of the magnetic field induction device.

The main object of the present invention is to easily change the direction of the magnetic field at the target position by 360 ° , to obtain torque necessary for rotating the guided object even if the apparatus is downsized, and It is possible to move in a specific direction while keeping the direction constant. The present invention, the induction of such catheters and endoscopes, and further to provide a magnetic field induction device and the magnetic field induction method capable conveyed to drugs given vivo region of D D S (drug delivery system).

(A) is a top view of the magnetic field induction apparatus which is an Example of this invention. (B) is LL 'sectional drawing of the magnetic field guidance apparatus as described in (a). A W-W'sectional view of the induction of FIG. It is LL 'sectional drawing which shows the other example of the magnetic field guidance apparatus of this invention. (A) is a top view of the magnetic field induction apparatus which is another Example of this invention. (B) is ll 'sectional drawing of the other Example of this invention as described in (a). It is WW sectional drawing which shows the other example of the to-be-guided object of this invention . It is a perspective view solution figure which shows operation | movement of this invention. It is a schematic diagram which shows operation | movement of the to-be-guided object when performing operation | movement of this invention.

1,2,13,14 magnetic field circuit part 3 moving unit 4 plates 5a, 5b, 5c, 5d, induction 10,11 permanent magnet 6 and 16 the guided object 7 rails 8 frame 9 reversing mechanism portion 100, 101 and 102 magnetic field Device P Target position

that's all

Claims (2)

A plurality of magnetic poles are formed by permanent magnets, opposite permanent magnets have the same polarity facing each other, and adjacent permanent magnets are arranged so that different polarities are in contact with each other,
A magnetic field generating unit having two or more magnetic circuit units in which a first magnet having a magnetization direction in the axial direction and a second magnet are arranged to face each other through a gap so that the directions of magnetization are opposite to each other;
A moving mechanism for moving each magnetic circuit of the magnetic field generator in the axial direction;
A reversing mechanism for reversing the magnetization directions of the first magnet and the second magnet in the moving mechanism;
Controls the direction of the magnetic field formed at a predetermined position on one end side in the axial direction of the magnetic field generator corresponding to the amount of axial movement of each magnetic circuit unit and the reversal of the magnetization direction of the first magnet and the second magnet Magnetic field induction device that makes possible. A magnetic field generating section having two or more magnetic circuit sections in which a first magnet and a second magnet having a magnetization direction in an axial direction are arranged to face each other through a gap so that the directions of magnetization are opposite to each other; A magnetic field induction device comprising a moving mechanism unit for moving each magnetic circuit unit in the axial direction and a reversing mechanism unit for reversing the magnetization directions of the first magnet and the second magnet in the moving mechanism unit is prepared. And a process of
A plurality of magnetic poles are formed by the permanent magnets, the opposite permanent magnets face each other with the same polarity, and the adjacent permanent magnets are arranged so that the opposite poles are in contact with each other. A step of movably disposing at a predetermined position on the end side;
A magnetic field induction method including a step of controlling an amount of movement of each magnetic circuit unit in an axial direction and a direction of a magnetic field exerted on the induced object in response to reversal of the reversing mechanism unit.

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