JPH06190A - Micromachine communication equipment - Google Patents

Abstract

PURPOSE:To eliminate a wiring connecting directly to the outside by constituting a micromachine without using a cord, and also, to provide the communication equipment of the micromachine which secures a transmitting system free from radio interference and having high reliability, and moreover, to execute a duplex communication and a multiplex communication between the micromachine and an external equipment. CONSTITUTION:The communication equipment for executing communication between a micromachine 21 and the outside constituted of an external communication equipment 1 installed in the outside of the micromachine 21 and an internal communication equipment 11 installed in the micromachine 21, and a visible light and a rear infrared light extending from 600nm to 180nm are used as a communication means between the communication equipments 1, 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a micromachine, and more particularly to a communication device for a micromachine in a biomedical application field.

[0002]

2. Description of the Related Art With the advancement of micromachines, application research as a medical microrobot for directly treating an affected area by introducing the micromachine into a living body is under way. In order to drive and control a micromachine as the medical microrobot, communication means for exchanging signals between the micromachine and the outside is required. Conventionally,
A method using direct wiring as the communication means has been adopted. As the wiring, for example, a fine diameter metal wire or a planar wiring on the substrate is used, and one end of the wiring is connected to the micromachine and the other end is connected to the external communication device.

A conventional micromachine will be described below by taking an endoscope as an example. FIG. 3 is a diagram showing the use of an endoscope using a conventional micromachine, FIG. 4 is a cross-sectional view of an endoscope using a conventional micromachine, and FIG. 5 is a structural diagram of an endoscope using a conventional micromachine. . In the figure, 60 is a treatment section, 61 is an endoscope, 62 is a laser device, 63 is a light source,
64 is an image fiber display device, 65 is a remote manipulator, 66 is an optical fiber for laser, 67 is a light guide, 68 is an image guide, 69 is a micromanipulator, 70 is a tube, and 71 is a microactuator.

The endoscope 61 is used by being inserted from a peripheral artery to reach the treatment section 60 for the treatment of, for example, myocardial infarction. The endoscope 61 has a tube 70 in which an optical fiber 66 for laser, a light guide 67, an image guide 68,
And a micromanipulator 69, which is exposed to the outside at its tip. On the other hand, a laser device 62, a light source 63, an image fiber display device 64 and a remote manipulator 65 are installed at the other end of the endoscope 61, and each laser device 62 has an optical fiber 66 for laser.
, A light guide 67 is connected to the light source 63, an image guide 68 is connected to the image fiber display device 64, and a micromanipulator 69 is connected to the remote manipulator 65.

In the endoscope having the above construction, the illumination light from the light source 63 illuminates the treatment section 60 via the light guide 67, and its image is displayed as an image on the image fiber display device 64 via the image guide 68. During the treatment, while observing the image on the image fiber display device 64, the treatment unit 60 is irradiated with the laser light sent from the laser device 62 via the laser optical fiber 66, and the remote manipulator 65 is operated. The micromanipulator 69 is driven via wiring and a link mechanism.

Further, in order to operate the tube 70 in a narrow place such as in a blood vessel, a microactuator 71 is attached to the tube 70 itself, and is controlled and driven by a control signal from an external device via a wire or a link mechanism. Is done. Therefore, in an endoscope using a conventional micromachine, control signals for operating and driving the micromachine are transmitted and received by a link mechanism connected to the outside, a metal wire having a small diameter, or a planar wiring on the substrate. It is done by the wiring for. The measurement signal from the micromachine is also taken out to the outside by a signal wire such as a fine metal wire connected to the outside or a planar wiring on the substrate.

[0007]

However, the above-mentioned conventional micromachine has the following problems. (1) In the conventional micromachine, the operable range of the driven micromachine is limited by the wiring.

That is, since the conventional micromachine is directly connected to an external device by the wiring used for control or measurement, the reachable distance and reachable position of the micromachine are limited by the length of the wiring and the route of the wiring.
For example, since an endoscope or the like communicates by wiring inside the tube, the range in which the distal end can move is up to the range in which the tube can be introduced. (2) Further, in order to drive a multifunctional micromachine, a large number of signal wirings and link mechanisms are required corresponding to the respective functions, which complicates the mechanism. (3) Further, in a micromachine having a so-called stringless structure as a basic configuration, it is an indispensable requirement to eliminate the wiring directly connected to the outside and secure feedback with the measurement system.

[0009] For example, an in-vivo micromachine pill for measuring, diagnosing, and treating in an implantable therapeutic device, a digestive tract, or other luminal organs is placed in a tissue, a blood vessel, or a body cavity to transmit information in the body. In a micromachine that measures data by staying for a relatively long time, such as an internal micromachine pill for treatment, the wiring that is directly connected to the outside must be excluded, but the transmission system is used for feedback with the measurement system. Is indispensable. (4) In addition, when a radio system using radio waves is used for transmitting a control signal or a measurement signal of the micromachine,
There is a risk of malfunction due to interference.

In other words, a radio system using radio waves is generally conceivable as a means for eliminating the restriction on the operable range of the micromachine due to the wiring (1). However, in the case of radio waves, there is a problem of malfunction due to interference. Malfunctions are unacceptable in important applications such as medical equipment. The present invention eliminates the above-mentioned problems, provides a communication device of a micromachine in which a micromachine is so-called stringless, a wiring directly connected to the outside is eliminated, and a reliable transmission system without interference is secured. With the goal.

It is another object of the present invention to provide a communication device for a micromachine which enables bidirectional communication and multiplexed communication between the micromachine and an external device.

[0012]

SUMMARY OF THE INVENTION In order to overcome the above problems, the present invention provides a communication device for communicating between a micromachine and the outside, the communication device being installed outside the micromachine and inside the micromachine. And an internal communication device that is used as a communication means between the communication devices.
It uses visible light and near infrared light from 0 nm to 1800 nm.

As a light emitting source, for example, GaAs-based or In
Laser diode using L-type compound semiconductor (L
D) or a light emitting diode (LED) can be used,
Further, a photodiode using Si, InGaAs, or the like can be used for the light receiver.

[0014]

According to the present invention, since optical communication using visible light or near infrared light is used as a communication means of a communication device for communicating between a micromachine and the outside, no wiring is required as in the prior art. Further, by using light having different wavelengths as the light emitting source and using different sensitivity characteristics of the light receiver depending on the wavelength, it is possible to easily eliminate the problem of interference, which is a problem in radio wave communication.

[0015]

Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram of a micromachine communication device of the present invention. In FIG. 1, 1 is an external communication device, 2 is a control signal source, 3 is a light emission source, 4 is an optical system, 5 is a light beam, 11 is an internal communication device, 12 is a signal processing circuit, 1
3 is a light receiver, 14 is an optical system, 21 is a micromachine main body, 22 is an actuator, 23 is a propelling machine, 31 is a drug ejector, 32 is a valve, 33 is a drug tank, 34 is a capture / treatment device, 35 is a sensor, Reference numeral 36 is a sample collecting device.

The micromachine communication device of the present invention comprises an external communication device 1 and an internal communication device 11. The external communication device 1 is placed outside the body, and the light from the light emitting source 3 whose light emission is controlled by the control signal source 2 is directed to the micromachine main body 21 inside the body as a light beam 5 through the optical system 4. Is irradiated. Therefore, the control signal is transmitted using light as a medium.

On the other hand, the internal communication device 11 is installed in the main body 21 of the micromachine, receives the light beam 5 emitted from the external communication device 1 by the optical system 14 and the light receiver 13, and outputs the received light signal. It is converted into an electric signal in the processing circuit 12. Then, the signal from the signal processing circuit 12 of the internal communication device 11 controls the micromachine main body 21.

The micromachine main body 21 has, in addition to the internal communication device 11, the following medical equipment, for example. The movement of the micromachine main body 21 is performed by a propulsion unit 23 driven by an actuator 22. The propulsion unit 23 is composed of, for example, a flagella motor. In addition, a drug ejector 31 projects its tip from the actuator 22 to the outside of the micromachine main body 21, and ejects the drug stored in the drug tank 33. The injection of the drug is controlled by the valve 32, and the drug can be locally administered. A capturing / treating device 34 protrudes from the actuator 22 to the outside of the micromachine main body 21 so that the capturing / treating device 34 can perform capturing and various treatments on an affected area. In addition, the sensor 35 is connected to the micromachine main body 21 from the actuator 22.
It is installed from outside to allow various measurements. The measurement items include, for example, temperature, pressure, p
H, detection of bleeding site, enzyme activity, oxygen partial pressure, carbon dioxide partial pressure, chloride ion, etc.

A sample collecting device 36 is installed on the actuator 22 and projects outward from the micromachine main body 21 to collect a sample at each site. The sample can be analyzed inside the micromachine main body 21 or taken out of the body. The
The various functions of the micromachine 21 correspond to the internal communication device 11
Controlled by the control signal received by.

In the micromachine communication device of the present invention, visible light and near-infrared light having a wavelength of 600 nm to 1800 nm are used as an optical communication means instead of a radio means by radio waves. It is generally known that the wavelength range of near-infrared light that easily penetrates the inside of a living body is usually 700 nm to 1500 nm. In addition, the attenuation tends to gradually decrease at wavelengths on the long wavelength side, and considering the wavelength characteristics of absorption loss due to moisture and the characteristics of the light emitting source and the light receiving element, the wavelength range usable for communication is 600 nm. To 1800n
It can be m.

A laser diode (LD) using a GaAs-based or InP-based compound semiconductor as the light emitting source.
Alternatively, a light emitting diode (LED) can be used. On the other hand, a photodiode using Si, InGaAs, or the like can be used for the light receiver. Next, the light transmission state in the living body will be described.

FIG. 2 is a transparent conceptual diagram of the micromachine communication device of the present invention. In the figure, 1 is an external communication device, 1
Reference numeral 1 is an internal communication device, 21 is a micromachine main body, 41 is an outer wall of a living body, and 42 is an inner wall of the living body. External communication device 1
The light emitted from is transmitted through the outer wall 41 of the living body and is received by the internal communication device 11 of the micromachine main body 21 inside the living body.

Instead of penetrating the inside of the living tissue by one-time penetration into the living body, reflection is repeated by the inner wall 42 and the opposing outer wall 43 inside the living body to reach the internal communication device 11 after multiple reflection. This internal reflection is performed about 4 times at maximum. Therefore, it is necessary to limit the signal rate so that an error does not occur in the received signal due to multiple interference due to multiple reflection. For example, in the case of a human head, since the impulse response time is about 10 ns, the upper limit of the signal speed is about 50 Mbps in the case of a digital signal system. This signal speed is a speed sufficient for normal communication capacity, and is a speed that does not hinder practical use.

In the embodiment of the micromachine communication device of the present invention, the internal communication device 11 on the micromachine side is provided.
In the above, an example of one-sided communication for performing only reception is shown. Next, examples of bidirectional communication and multiplex communication will be described. First, an embodiment of bidirectional communication will be described. FIG. 6 is a conceptual diagram of bidirectional communication of the second embodiment of the micromachine communication device of the present invention.

In the figure, 6 is an external communication device, 16 is an internal communication device, 21 is a micromachine body, 81 is a light emitter, 82 is a light receiver, 91 is a light emitter, and 82 is a light receiver. The external communication device 6 has a light emitter 81 and a light receiver 82, while the internal communication device 16 has a light emitter 91 and a light receiver 92. The light emitter 81 emits an optical signal according to the control of the control signal and is received by the light receiver 92. The signal received by the light receiver 92 is subjected to signal processing, and thereafter, the micromachine main body 21 is controlled and various devices provided in the micromachine main body 21 are controlled.

On the other hand, status signals of the micromachine main body 21 and measurement signals of various devices provided in the micromachine main body 21 are transmitted from the light emitter 91 to the external communication device 11 outside the body in the form of optical signals, and the light receiver 82 is provided. Received by. With the above configuration, bidirectional communication can be performed between the external communication device and the internal communication device on the micromachine side.

In the two-way communication, the wavelength of light used between the light emitter 81 of the external communication device 6 and the light receiver 92 of the internal communication device 16, and the light emitter 91 of the internal communication device 16 and the external communication device. By making the wavelength of the light to be used different from that of the light receiver 82 of No. 6, it is possible to prevent interference of both communications. Next, an example of multiplex communication will be described.

FIG. 7 is a conceptual diagram of multiplex communication of the third embodiment of the micromachine communication device of the present invention. In the figure,
7 is an external communication device, 17 is an internal communication device, 21 is a micromachine main body, 80 is a control signal source, 81, 83, ... 8 m
Is a light emitting device, 90 is a signal processing circuit, and 92, 94, ...

The external communication device 7 includes a control signal source 80 and a light emitter 81 which emits light in response to a transmission signal from the control signal source 80.
8m, while the internal communication device 16 receives the optical signal from the light emitters 81, 83, ... 8m.
9n and a signal processing circuit 90.
Interference can be prevented by making the wavelengths of the light emitted by the light emitters 81, 83, ... 8m different from each other. The wavelength of the emitted light can be made different by making the light emitting elements constituting the light emitters 81, 83, ...

For example, AlGaAs, GaAsP and GaP light emitting diodes which emit light in the wavelength band of 600 nm to 700 nm, AlGaAs light emitting diodes which emit light in the wavelength band of 800 nm, and InG which emit light in the wavelength band of 1000 nm.
aAsP light emitting diode or the like can be used, and 630
nm, 780 nm, 850 nm, 880 nm, 1300
Wavelengths such as nm and 1550 nm can be wavelength divisions that can be used from existing light emitting sources.

On the other hand, the light receiving sensitivities of the light receivers 92, 94, ... 9n are different from each other. For example, the light receiving sensitivity of the light receiver 92 is a sensitivity suitable for receiving the wavelength of the light emitted by the light emitter 81, Further, the light receiving sensitivity of the light receiving device 94 is the light emitting device 83.
Is a sensitivity suitable for receiving the wavelength of the light emitted by the light receiver 9n, and similarly the light receiving sensitivity of the light receiver 9n is a sensitivity suitable for receiving the wavelength of the light emitted by the light emitter 8m.

The structure of the light emitter and the light receiver can prevent interference of transmitted light. That is, the light emitter 81
9n is transmitted through the body and reaches the photoreceivers 92, 94, ... 9n on the side of the micromachine, but the light emitted from the light emitter 81 can be received only by the photoreceiver 92 because of the light receiving sensitivity. is there. Similarly, only the light receiver 94 can receive the light emitted from the light emitter 83, and only the light receiver 9n can receive the light emitted from the light emitter 8m. Other light receivers cannot receive light by a kind of filter due to the light receiving sensitivity, and thus interference can be prevented.

The wavelength selection in the case of multiplex communication of the micromachine communication device of the present invention will be described below. Figure 8
FIG. 9 is a wavelength characteristic diagram of the micromachine communication device of the present invention. FIG. 8A shows a spectrum of transmission light emitted from the external transmission device 7. In the figure, as an example, 800
Two wavelengths are shown, a wavelength in the nm band and a wavelength in the 1300 nm band. When the wavelengths of 800 nm band and 1300 nm band are emitted from the light emitter 81 and the light emitter 83, the two wavelengths reach the light receiver 92. Here, assuming that the light receiving sensitivity of the light receiving device 92 is, for example, the light receiving sensitivity of Si as shown in FIG. 8B, the wavelength received by the light receiving device 92 is a wavelength in the 800 nm band as shown in FIG. 8C. Can be

On the other hand, FIG. 9 shows a case of receiving a wavelength of 1300 nm band. FIG. 9A is a spectrum of transmission light emitted from the external transmission device 7 that transmits two wavelengths of the 800 nm band and the 1300 nm band, as in FIG. 8A. When the wavelengths of 800 nm band and 1300 nm band are emitted from the light emitter 81 and the light emitter 83, the above-mentioned 2
The two wavelengths reach the light receiver 94. Here, the light receiver 94
The light receiving sensitivity of InGa is, for example, as shown in FIG.
When the light receiving sensitivity is As, the wavelength that can be received by the light receiver 94 can be a wavelength in the 1300 nm band.

As described above, by making the light receiving sensitivities of the light receivers different, even when optical signals of different wavelengths reach the micromachine communication device at the same time, they can be separated and selected. Also, in some cases, wavelength separation and selection is performed by using a wavelength selective filter,
It is also possible to improve the wavelength separation selection characteristic. For example, as shown in FIG. 7, a filter 10 is provided on the front surface of the light receiver 9n.
It can be realized by placing 0.

Various functions of the micromachine can be controlled by the above-mentioned multiplex communication. In the embodiment of the multiplex communication, one-way communication has been described, but it is also possible to use two-way communication. In this case, various status signals and measurement signals from the micromachine side can be transmitted to the external communication device.

FIG. 10 shows another embodiment of the transmitter of the external communication device. In the figure, 1 is an external communication device, 8 is an optical fiber cord, and 9 is a radiator. In this embodiment, the optical fiber cord 8 is used in a part of the light guide portion of the transmitting portion, and the transmitting light is emitted from the radiator 9 installed at the tip of the optical fiber cord 8.

With the above structure, it is possible to easily control the direction of the light emitted from the external communication device 1. That is, the direction of the light beam 5 from the radiator 9 can be adjusted according to the position of the micromachine main body 21 inside the body and the direction of the light receiving system 14 of the internal communication device 11 of the micromachine. Appropriate evaluation of the direction of the irradiation light can be performed, for example, by measuring the intensity of the signal transmitted from the micromachine.

The present invention is not limited to the above embodiments, and various modifications can be made based on the spirit of the present invention, and they are not excluded from the scope of the present invention.

[0040]

As described above, according to the present invention, (1) the operable range of the micromachine is not restricted by the wiring, and the operating position and operating distance can be improved. (2) In addition, the multi-communication with less risk of interference can drive a multi-function micromachine without using a large number of signal wires or a complicated link mechanism. (3) It is possible to eliminate the wiring directly connected to the outside and to secure the feedback with the measurement system. (4) Micromachine control or measurement signals can be transmitted without causing malfunction due to interference, and a highly reliable transmission system can be secured. (5) It is possible to enable bidirectional communication or multiplexed communication between the micromachine and the external device.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a micromachine communication device of the present invention.

FIG. 2 is a transparent conceptual diagram of the micromachine communication device of the present invention.

FIG. 3 is a usage diagram of an endoscope using a conventional micromachine.

FIG. 4 is a sectional view of an endoscope using a conventional micromachine.

FIG. 5 is a structural diagram of an endoscope using a conventional micromachine.

FIG. 6 is a conceptual diagram of bidirectional communication of a second embodiment of the micromachine communication device of the present invention.

FIG. 7 is a conceptual diagram of multiplex communication of a third embodiment of the micromachine communication device of the present invention.

FIG. 8 is a wavelength characteristic diagram of the micromachine communication device of the present invention.

FIG. 9 is a wavelength characteristic diagram of the micromachine communication device of the present invention.

FIG. 10 is another embodiment of the transmitter of the external communication device of the present invention.

[Explanation of symbols]

1, 6, 7 ... External communication device, 2, 80 ... Control signal source, 3
... Light emitting source, 4 ... Optical system, 5 ... Light beam, 8 ... Optical fiber code, 9 ... Radiator, 11, 16, 17 ... Internal communication device, 12, 90 ... Signal processing circuit, 13 ... Light receiver, 14 ...
Optical system, 21 ... Micromachine main body, 22 ... Actuator, 23 ... Propulsion machine, 31 ... Drug injector, 32 ... Valve, 33 ... Drug tank, 34 ... Capture / treatment device, 35 ... Sensor, 36 ... Specimen collecting device, 41 … Outer wall of living body, 42…
Inner wall of living body, 81, 83, 8 m, 91 ... Light emitter, 82,
92, 94, 9n ... Photo receiver, 100 ... Filter

Claims (1)

[Claims] 1. A system comprising (a) an external communication device installed outside the micromachine and (b) an internal communication device installed inside the micromachine, and (c) 600 nm to 1800 nm as a communication means between the communication devices. Micromachine communication device characterized by using visible light and near-infrared light.