KR20070023659A - Capsule medical position/posture detecting system - Google Patents

Abstract

The capsule medical device position and posture detection system of the present invention includes a capsule medical device main body inserted into a living body, a coil in a capsule provided in the capsule medical device main body to form a resonant circuit, and a capsule medical device main body disposed around the living body. A magnetic field generating device for generating an alternating magnetic field for generating an induction magnetic field for the coil, and a plurality of magnetic field detecting devices for detecting the magnetic field strength of the induction magnetic field generated by the coil in the capsule by the generated magnetic field of the magnetic field generating device; do.

Capsule medical device position and posture detection system, capsule body, rotating magnetic field generating device, magnetic field control device, display device, processing device

Description

Capsule medical device position and posture detection system {CAPSULE MEDICAL POSITION / POSTURE DETECTING SYSTEM}

The present invention relates to a capsule medical device position and posture detection system for detecting the orientation and position of a capsule medical device body inserted into a body cavity.

As a conventional example of pushing the inside of a subject under a rotating magnetic field, there is, for example, Japanese Patent Laid-Open No. 2001-179700. Japanese Laid-Open Patent Publication No. 2001-179700 discloses a magnetic field generating unit for generating a rotating magnetic field, a robot body that receives the rotating magnetic field and rotates to obtain thrust, a position detecting unit for detecting the position of the robot body, and the position detecting unit Disclosed is a movement control system of a movable micro-machine having magnetic field changing means for changing the orientation of a rotating magnetic field by a magnetic field generating portion to direct the robot body to a direction based on the detected position of the robot body. have.

The position detection unit used in the movement control system of the micro machine detects a magnetic field by a magnet built into the micro machine with a magnetic sensor and calculates the position of the micro machine.

In the case where the movement control system of the micromachine disclosed in Japanese Patent Laid-Open No. 2001-179700 is used to move the inside of the liquid, which is a gel-like substance, the micromachine shows a next movement direction based on the position information. The direction can be changed freely in the liquid. Therefore, the movement control system of the micromachine described in Japanese Patent Laid-Open No. 2001-179700 does not utilize orientation (direction) information for control.

However, the position detection unit used in the movement control system of the micromachine disclosed in Japanese Unexamined Patent Publication No. 2001-179700 discloses that a rotating magnetic field that imparts a rotating magnetic field to the micromachine and a magnetic field caused by the magnet interfere with each other. Impact), it is difficult to accurately detect the orientation and position of the micro machine.

In addition, the movement control system of the micromachine disclosed in Japanese Unexamined Patent Publication No. 2001-179700 has a narrow or narrow width or diameter of a lumen, such as a pipeline in a body cavity, or when the lumen is meandering. In some cases, a phenomenon in which the micro machine cannot be guided smoothly has occurred.

Whereby. When the movement control system of the micromachine described in Japanese Patent Laid-Open No. 2001-179700 is applied to inductive control of a capsule medical device that moves in a body cavity, the capsule medical device is suppressed in the direction of change by the lumen, and thus always designated. Proceed in the direction, can not switch direction. Therefore, if the magnetic field in the target direction is generated without considering the above, there is a possibility that the capsule medical device may not operate due to the inhibition of the lumen. In order to solve the above problem, it is necessary to perform control in consideration of the orientation of the capsule medical device.

SUMMARY OF THE INVENTION The present invention has been made in view of the foregoing, and is a capsule medical device position and posture detection system capable of accurately detecting the orientation and position of a capsule medical device main body without affecting the rotating magnetic field that magnetically guides the capsule medical device main body. The purpose is to provide.

The capsule medical device position and posture detection system includes a capsule medical device main body inserted into a living body, a coil in a capsule provided in the capsule medical device main body to form a resonance circuit, and a coil in the capsule disposed around the living body. Magnetic field generating means for generating an alternating magnetic field for generating an induction magnetic field, and a plurality of magnetic field detecting means for detecting the magnetic field strength of the induction magnetic field generated by the coil in the capsule by the generated magnetic field of the magnetic field generating means.

1 is an overall configuration diagram of a capsule medical device position / posture detection system according to the first embodiment.

FIG. 2 is a circuit block diagram of the capsule medical device position / posture detection system of FIG.

3 is a side explanatory diagram of a capsule body;

4 is a conceptual diagram showing an operation of an applied rotating magnetic field and the capsule body by the rotating magnetic field.

FIG. 5 is a conceptual diagram showing the operation of the capsule main body by the vibration magnetic field (force generating magnetic field) applied to the rotating magnetic field of FIG. 4 and the vibration magnetic field (force generating magnetic field).

6 is an explanatory diagram of position and posture detection by a position and posture detection device with respect to the capsule body.

7 is an explanatory diagram showing a rotating magnetic field generating device and a position and posture detecting device.

FIG. 8 is an enlarged perspective view of the rotating magnetic field generating device and the position and attitude detecting device of FIG.

FIG. 9 is a cutaway view of the rotating magnetic field generating device and the position and attitude detecting device of FIG. 8; FIG.

FIG. 10 is a perspective view showing a modification of the position / posture detection device of FIG. 8.

FIG. 11 is a cutaway view of the rotating magnetic field generating device and the position and attitude detecting device of FIG.

12 is a perspective view of a rotating magnetic field generating device and a position / posture detecting device, showing a second modification of the position-posture detecting device of FIG.

Fig. 13 is a schematic diagram showing a rotating magnetic field generating device and a position and attitude detecting device configured to be divided into two.

Fig. 14 is a schematic diagram showing a rotating magnetic field generating device and a position / position detecting device configured to be openable and openable.

15A and 15B are explanatory diagrams showing an example of the arrangement pattern of the detection coil and the excitation coil arranged on the position-posture detection substrate, and FIG. 15A is a diagram of the detection coil and the excitation coil arranged on the position-posture detection substrate. It is a perspective view of the position and attitude | position detection board which shows an example of an arrangement pattern.

Fig. 15B is a top view of the rotating magnetic field generating device and the position and attitude detecting device of Fig. 15A.

16A to 16C are explanatory diagrams showing an example of another arrangement pattern of the detection coil and the excitation coil arranged on the position and posture detection substrate, and FIG. 16A is the detection coil and the excitation coil arranged on the position and posture detection substrate. It is a perspective view of the position / posture detection board | substrate which shows the other 1st arrangement pattern example of this.

Fig. 16B is a perspective view of the position / posture detection substrate showing another example of the second arrangement pattern of the detection coil and the excitation coil disposed on the position-posture detection substrate.

Fig. 16C is a perspective view of a position / posture detection substrate showing another third arrangement pattern example of the detection coil and the excitation coil arranged on the position-posture detection substrate.

17A and 17B are schematic explanatory views of the rotating magnetic field generating device and the position and posture detection device of FIG. 10, and FIG. 17A is a schematic perspective view showing the appearance of the rotating magnetic field generating device and the position and posture detection device of FIG.

FIG. 17B is a schematic cross-sectional view showing the internal structure of the rotating magnetic field generating device and the position and attitude detecting device of FIG. 17A.

FIG. 18 is a schematic perspective view showing the external appearance of the rotating magnetic field generating device and the position and position detecting device of FIG.

19A and 19B are schematic cross-sectional views showing the internal structure of the rotating magnetic field generating device and the position and posture detection device of Fig. 18, and Fig. 19A shows the internal structure of the rotating magnetic field generating device and the position and posture detection device of Fig. 18. It is a schematic sectional drawing of the A arrow direction shown.

FIG. 19B is a schematic cross-sectional view in the direction of the B arrow showing the internal structure of the rotating magnetic field generating device and the position and attitude detecting device of FIG.

20 is a flowchart showing an operation of controlling the orientation of the rotating magnetic field and the like based on the orientation (direction) and position information of the capsule body detected by the orientation / position detection device.

FIG. 21 is a circuit block diagram showing a modification of the direction / position detection device of FIG.

22 is a flowchart showing an operation of controlling the orientation of the rotating magnetic field or the like based on the orientation (direction) and position information of the capsule body detected by the orientation / position detection device of FIG. 21.

FIG. 23 is a flowchart showing control added to the flowchart of FIG. 20 or FIG.

24A to 24C are explanatory diagrams of a capsule main body showing a modification of the coil constituting the resonant circuit, and FIG. 24A is a side explanatory diagram of a capsule main body in which a coil is wound around a covering member covering the interior.

24B is an explanatory diagram showing a cross-sectional shape of the covering member of FIG. 24A.

24C is an explanatory side view of a capsule body in which a coil is wound around a rod-shaped member.

25A to 25C are circuit block diagrams showing a power supply circuit constructed using a resonant circuit constituted by the coils of Figs. 24A to 24C, and Fig. 25A is a circuit block diagram showing a first power supply circuit.

25B is a circuit block diagram showing a second power supply circuit.

Fig. 25C is a circuit block diagram showing a third power supply circuit.

26A and 26B are schematic explanatory diagrams of a rotating magnetic field generating device and a position / posture detection device showing a third modification of the position / posture detection device of FIG. 8, and FIG. 26A is a view of the position-posture detection device of FIG. It is a schematic perspective view which shows the rotating magnetic field generating device which shows 3 modifications, and a position / position detection apparatus.

FIG. 26B is a schematic cross-sectional view in the direction of the arrow A, showing the internal structure of the rotating magnetic field generating device and the position and attitude detecting device of FIG. 26A.

Fig. 27 is a schematic perspective view of the rotating magnetic field generating device and the position and posture detection device, showing the fourth modification of the position and posture detection device of Fig. 8;

28A and 28B are schematic explanatory diagrams showing a fifth modification of the position / posture detection apparatus of FIG. 8, and FIG. 28A is a schematic perspective view showing a fifth modification of the position-posture detection apparatus of FIG.

FIG. 28B is a schematic cross-sectional view showing the internal configuration of the position / posture detection device of FIG. 28A.

29A and 29B are explanatory diagrams showing the rotating magnetic field generating device and the position and posture detection device constituting the capsule medical device position and posture detection system according to the second embodiment, and FIG. 29A is the capsule medicine according to the second embodiment. It is a schematic perspective view showing the rotating magnetic field generating device and the position and posture detecting device constituting the device position and posture detection system.

FIG. 29B is a schematic cross-sectional view showing the internal structure of the rotating magnetic field generating device and the position / position detecting device of FIG. 29A.

Fig. 30 is a schematic perspective view of the rotating magnetic field generating device and the position and posture detection device, illustrating a modification of the position and posture detection devices in Figs. 29A and 29B.

FIG. 31 is a schematic cross-sectional view in the direction of an arrow A, showing the internal structure of the rotating magnetic field generating device and the position and attitude detecting device of FIG.

32 is an explanatory diagram showing a rotating magnetic field generating device and a position / posture detecting device that constitute the capsule medical device position / posture detection system according to the third embodiment.

FIG. 33 is an enlarged view of an essential part of the rotating magnetic field generating device and the position and attitude detecting device of FIG.

Fig. 34 is an overall configuration diagram showing the capsule medical device position / posture detection system according to the third embodiment.

Fig. 35 is a flowchart showing the control operation of the capsule medical device position / posture detection system according to the third embodiment.

FIG. 36 is a schematic perspective view showing a modification of the position / posture detection device of FIG.

FIG. 37 is a schematic explanatory view of the position / posture detection device of FIG.

FIG. 38 shows a modification of FIG. 37 and is an explanatory diagram of position and posture detection by a position and posture detection device for a capsule body having a position and posture detection substrate in a flat plate; FIG.

Fig. 39 is an explanatory diagram of position and posture detection by a position and posture detection device for a capsule main body in which an oscillator is provided in place of a condenser to form a resonance circuit.

40A to 40C are schematic explanatory diagrams showing the positional relationship between the excitation coil, the detection coil, and the coil in the capsule, and FIG. 40A is an axis connecting the excitation coil and the detection coil with the coil in the capsule to be coaxial. It is a schematic explanatory drawing which shows the positional relationship at the time.

40B is a schematic explanatory diagram showing a positional relationship when an axis connecting the excitation coil and the detection coil is orthogonal to the longitudinal center axis of the coil in the capsule.

40C is a schematic explanatory diagram showing the positional relationship when the coil in the capsule is shifted from an axis connecting the excitation coil and the detection coil.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described with reference to drawings.

(1st embodiment)

1 to 28B show a first embodiment of the present invention, FIG. 1 is an overall configuration diagram of a capsule medical device position / posture detection system according to the first embodiment, and FIG. 2 is a capsule medical device position / posture of FIG. Fig. 3 is a side explanatory diagram of the capsule body, Fig. 4 is a conceptual diagram showing the applied rotating magnetic field and the operation of the capsule body by the rotating magnetic field, and Fig. 5 is applied to the rotating magnetic field of Fig. 4. Fig. 6 is a conceptual diagram showing the operation of the capsule main body by vibrating magnetic field (a magnetic field for generating a force) and this vibrating magnetic field (a magnetic field for generating a force); Fig. 6 is an explanatory diagram of position and posture detection by a position / posture detecting device for the capsule main body; FIG. 7 is an explanatory view showing a rotating magnetic field generating device and a position and posture detection device, FIG. 8 is an enlarged perspective view of the rotating magnetic field generating device and a position and posture detecting device of FIG. 7, FIG. 9 is a rotating magnetic field generating device of FIG. Posture Sword Fig. 10 is a perspective view of the rotating magnetic field generating device and the position and posture detecting device showing the first modification of the position and posture detecting device of Fig. 8, and Fig. 11 is the rotating magnetic field generating device and the position and posture of Fig. 10. 12 is a cutaway view of the detection device, FIG. 12 is a perspective view of a rotating magnetic field generating device and a position-posture detecting device, showing a second modification of the position-posture detecting device of FIG. 8, and FIG. 13 is a rotating magnetic field generating device configured to be divided into two. And a schematic diagram showing a position and posture detection device, FIG. 14 is a schematic diagram showing a rotating magnetic field generating device configured to be openable and close, and a position and posture detection device, and FIGS. 15A and 15B are for detection arranged on a position and posture detection substrate. It is explanatory drawing which shows the example of the arrangement pattern of a coil and an excitation coil, FIG. 15: A Position and attitude which shows an example of the arrangement pattern of a detection coil and an excitation coil arrange | positioned at a position and a posture detection board | substrate Fig. 15B is a top view of the rotating magnetic field generating device and the position and attitude detecting device of Fig. 15A, and Figs. 16A to 16C are different arrangement patterns of the detecting coil and the excitation coil arranged on the position and attitude detecting board. 16A is a perspective view of a position and posture detection board, showing an example of another first arrangement pattern of the detection coil and the excitation coil arranged on the position and posture detection board, and FIG. 16B is a position and posture detection board. Fig. 16C is a perspective view of the position and posture detection substrate showing another example of the second arrangement pattern of the detection coil and the excitation coil disposed in the circuit. Fig. 16C shows another third arrangement of the detection coil and the excitation coil arranged on the position and posture detection substrate. 17A and 17B are schematic explanatory views of the rotating magnetic field generating device and the position and posture detection device of FIG. 10, and FIG. 17A is the rotor of FIG. Fig. 17B is a schematic perspective view showing the external appearance of the generator and the position and position detection device, Fig. 17B is a schematic sectional view showing the internal structure of the rotary magnetic field generator and the position and position detection device of Fig. 17A, and Fig. 18 is the rotary magnetic field generation of Fig. 12. Fig. 19A and Fig. 19B are schematic cross-sectional views showing the internal structure of the rotating magnetic field generating device and the position and posture detecting device of Fig. 18, and Fig. 19A is the rotating magnetic field of Fig. 18. Figs. Fig. 19B is a schematic sectional view of the arrow direction showing the internal structure of the generator and the position / position detecting device, and Fig. 19B is a schematic sectional view of the arrow direction B showing the internal structure of the rotating magnetic field generating device and the position / position detecting device in Fig. 18. 20 is a flowchart showing an operation of controlling the orientation of a rotating magnetic field and the like on the basis of the orientation (direction) and position information of the capsule body detected by the direction / position detection device, and FIG. Fig. 22 is a circuit block diagram showing a modification of the direction / position detection device of Fig. 2, and Fig. 22 shows the orientation of the rotating magnetic field and the like based on the orientation (direction) and position information of the capsule body detected by the direction / position detection device of Fig. 21. 23 is a flow chart showing control added to the flow chart of FIG. 20 or 22, and FIGS. 24A to 24C are explanatory views of a capsule body showing a modification of the coil constituting the resonant circuit. 24A is an explanatory view of a side of a capsule body in which a coil is wound around a covering member covering the interior material; FIG. 24B is an explanatory view showing a cross-sectional shape of the covering member of FIG. 24A; FIG. 24C is a coil of the rod-shaped member. 25A to 25C are circuit block diagrams showing a power supply circuit constructed using a resonant circuit constituted by the coils of FIGS. 24A to 24C, and FIG. 25A is a first power supply circuit.25B is a circuit block diagram showing a second power supply circuit, FIG. 25C is a circuit block diagram showing a third power supply circuit, and FIGS. 26A and 26B are position and posture detection devices of FIG. Fig. 26A is a schematic explanatory diagram of a rotating magnetic field generating device and a position / posture detecting device, showing a third modification of the present invention, and Fig. 26A shows a rotating magnetic field generating device and a position / posture detection showing a third modification of the position-posture detecting device of Fig. 8. Fig. 26B is a schematic perspective view showing the apparatus, Fig. 26B is a schematic sectional view in the direction of the arrow A showing the internal structure of the rotating magnetic field generating apparatus and Fig. 26A, and Fig. 27 is a fourth view of the position and posture detecting apparatus of Fig. 8; 28A and 28B are schematic explanatory views showing a fifth modified example of the position / posture detection apparatus of FIG. 8, and FIG. 28A shows a fifth modified example of the position-posture detection apparatus of FIG. Schematic perspective representation FIG. 28B is a schematic cross-sectional view showing the internal configuration of the position / posture detection device of FIG. 28A.

As shown in Figs. 1 and 2, the capsule medical device position / posture detection system 1 of the first embodiment of the present invention is inserted into the body cavity of a patient (not shown) and functions as a capsule endoscope for imaging the inside of the body cavity. The capsule medical device body 3 (hereinafter abbreviated as capsule body) and the patient's surroundings, i.e., outside the body, apply a rotating magnetic field to the capsule body 3, and the orientation and position of the capsule body 3 from outside the body. A magnetic field control device (or a power supply control device) which performs supply control of a rotating magnetic field generating device 4, which is a first magnetic field generating device, and a drive current for generating a rotating magnetic field in the rotating magnetic field generating device 4 as an induction inducing device. (5) and a process of performing wireless communication with the capsule body 3, which is arranged outside the patient's body, controls the magnetic field control device 5, and the orientation of the rotating magnetic field applied to the capsule body 3 To control size, etc. The processing device 6 which performs the reconnection, the display device 7 which is connected to this processing device 6, and displays the image etc. which were imaged by the capsule main body 3, and the operator, etc. connected to the processing device 6, etc. The operator has a manipulation input device 8 that instructs and inputs an instruction signal corresponding to the manipulation. The operation input device 8 includes, for example, a direction input device 8a for generating an indication signal in the magnetic field direction, a speed input device 8b for generating an indication signal for a rotating magnetic field of a rotation frequency corresponding to the operation, and an operation. And a function button 8c for generating an instruction signal corresponding to the set function such as the generation of the eccentric rotating magnetic field correspondingly.

In addition, the capsule medical device position / posture detection system 1 generates an alternating magnetic field for generating induction electromotive force in the resonance circuit 40 described later contained in the capsule body 3, and induces electromotive force by the alternating magnetic field. The position / posture detection device 9 as a magnetic field detection unit such as a magnetic sensor, which detects a magnetic field generated by the resonant circuit 40 which generates a pulse, detects a position (direction) in the longitudinal direction of the capsule body 3, and also detects a position. ) Is being installed. The detailed structure of this position and attitude detection apparatus 9 is mentioned later.

First, the capsule main body 3 is demonstrated.

As shown in FIG. 3, the capsule main body 3 is provided with the spiral protrusion (or screw part) 12 which becomes a thrust generating structure part which thrust generate | occur | produces by rotation on the outer peripheral surface of the capsule-shaped exterior container 11. As shown in FIG. . In addition, the magnet 16 is provided inside the sealed container 11 in addition to the objective optical system 13 and the imaging element 14 disposed at the imaging position thereof, the illumination element 15 to be illuminated for imaging, and the like. This is housed.

The objective optical system 13 allows the optical axis to coincide on the central axis C of the cylindrical capsule body 3, and is, for example, a front end cover 11a that is transparently formed in a hemispherical shape in the outer container 11. It is arrange | positioned inside of, and the center part of the front end cover 11a becomes the observation window 17. As shown in FIG. In addition, although not shown in FIG. 3, the illumination element 15 is arrange | positioned around the objective optical system 13.

Therefore, in this case, the viewing direction of the objective optical system 13 is the optical axis direction of the objective optical system 13, that is, the direction along the cylindrical central axis C of the capsule body 3.

In the capsule body 3, the coil 42 in the capsule constituting the resonance circuit 40 inside the rear end portion of the outer container 11, for example, has a predetermined orientation, specifically, the coil in the capsule ( 42) is wound in a solenoid shape, and the orientation is stored in a state in which the orientation of the capsule body 3 is set in the longitudinal direction.

Moreover, in the magnet 16 arrange | positioned near the center of the longitudinal direction in the capsule main body 3, the north pole and the south pole are arrange | positioned in the direction orthogonal to the central axis C. As shown in FIG. In this case, the center of the magnet 16 is arranged to coincide with the position of the center of gravity of the capsule body 3, and the center of the magnetic force acting on the magnet 16 when the magnetic field is applied from the outside is the capsule body ( It becomes the center of gravity position of 3), and it is set as the structure which is easy to magnetically push the capsule main body 3 smoothly. In addition, the magnet 16 is arrange | positioned so that it may correspond to the specific arrangement | positioning direction of the imaging element 14. As shown in FIG. That is, the upward direction when the image picked up by the imaging element 14 is displayed is set in the direction from the S pole of the magnet 16 to the N pole.

By applying the rotating magnetic field to the capsule main body 3 by the rotating magnetic field generating device 4, the magnet 16 rotates magnetically, and the capsule main body 3 which fixed this magnet 16 inside is magnet 16 And the spiral protrusion 12 provided on the outer circumferential surface of the capsule body 3 at that time is in contact with the inner wall of the body cavity to be rotated to propel the capsule body 3.

In this way, when the capsule main body 3 incorporating the magnet 16 is controlled by an external magnetic field, the direction in which the image of the image captured by the capsule main body 3 is directed from the orientation of the external magnetic field is determined. I know it.

In the capsule body 3, a signal for performing signal processing on a signal captured by the imaging element 14, as shown in FIG. 2, in addition to the objective optical system 13, the imaging element 14, and the magnet 16 described above. A processing circuit 20, a memory 21 for temporarily storing a digital video signal generated by the signal processing circuit 20, and a video signal read out from the memory 21 is modulated into a high frequency signal for wireless transmission. A wireless circuit 22 for converting into a signal or demodulating a control signal transmitted from the processing apparatus 6, a capsule control circuit 23 for controlling the signal processing circuit 20, etc. in the capsule body 3, and the like; The battery 24 for supplying power for operation to an electric system such as a signal processing circuit 20 inside the capsule body 3 is housed.

In the capsule main body 3, a capacitor 41 electrically connected to the coil 42 in the capsule is provided, and the resonance circuit 40 is formed together with the coil 42 in the capsule. In the resonance circuit 40, when an alternating magnetic field is generated by the position / posture detection device 9, an induced electromotive force is generated by the alternating magnetic field so that a current flows.

In addition, the coil 42 has an intrinsic self-resonant frequency, and when an alternating magnetic field close to the self-resonant frequency is generated from the position / posture detection device 9, an effective induced electromotive force can be generated even without the capacitor 41. This eliminates the need for the condenser 41. By doing in this way, the capacitor | condenser 41 can be abbreviate | omitted, it can be made small, and a structure can be simplified.

Moreover, the processing apparatus 6 which performs wireless communication with this capsule main body 3 is connected with the radio | wireless circuit 25 which performs radio | wireless communication with the said radio | wireless circuit 22, and the radio | wireless circuit 25, and the capsule main body 3 is carried out. A data processing circuit 26 for performing data processing such as image display on the image data transferred from the same, a control circuit 27 for controlling the data processing circuit 26, the power supply control device 5, and the like, and the power supply. It has a memory circuit 28 which stores the information of the state of the rotating magnetic field generated by the rotating magnetic field generating device 4 via the control apparatus 5, and the information of the setting by the direction input device 8a.

The display device 7 is connected to the data processing circuit 26, and an image or the like which is imaged by the imaging element 14 and processed by the data processing circuit 26 via the wireless circuits 22 and 25 is displayed. In addition, since the data processing circuit 26 picks up an image while the capsule body 3 is rotated, the data processing circuit 26 performs a process of correcting the orientation of the image when displayed on the display device 7 in a constant direction, which is easy for the operator to see. Image processing is performed so that an image can be displayed (for example, refer to the technique described in Japanese Patent Laid-Open No. 2003-299612).

An instruction signal corresponding to the operation is input to the control circuit 27 from the direction input device 8a, the speed input device 8b, etc. constituting the operation input device 8, and the control circuit 27 responds to the instruction signal. One control operation is performed.

In addition, the control circuit 27 is connected to the memory circuit 28 and the orientation of the rotating magnetic field generated by the rotating magnetic field generating device 4 via the magnetic field control device 5 in the memory circuit 28 (the magnetic field of the rotating magnetic field). The normal direction of the rotation plane) and the orientation of the magnetic field are always stored. Thereafter, even when an operation of changing the orientation of the rotating magnetic field or the orientation of the magnetic field is performed, the orientation of the rotating magnetic field and the orientation of the magnetic field are continuously changed to smoothly change. In addition, the memory circuit 28 may be provided inside the control circuit 27.

In addition, the magnetic field control device 5 connected to the control circuit 27 generates alternating current and at the same time, alternating current generation and control unit 31 comprising three alternating current generation and control circuits for controlling the frequency and phase thereof. And a driver section 32 consisting of three drivers each amplifying each alternating current, and the output currents of the three drivers are respectively provided to the three electromagnets 33a, 33b, 33c constituting the rotating magnetic field generating device 4. Supplied.

In this case, the electromagnet 33a, 33b, 33c is arrange | positioned so that the magnetic field of an orthogonal triaxial direction may be generated. For example, the electromagnets 33a, 33b, 33c are one set of opposing coils each having two coils, and three-axis opposing coils or the like in which the respective magnetic field generation directions are orthogonal to each other. As an example of the opposing coils, two Helmholtz coils or the like arranged to sandwich the patient are considered.

In addition, in this embodiment, as described later, the rotating magnetic field generating device 4 is provided with a rotating magnetic field generating helmholtz coil 4A as a coil for generating a rotating magnetic field for guiding the capsule body 3 ( See FIG. 7).

The capsule medical device position / posture detection system 1 operates by generating the direction signal in the magnetic field direction by operating the direction input device 8a constituting the operation input device 8 or by operating the speed input device 8b. The magnet 16 of the capsule body 3 is generated by generating an indication signal of a rotating magnetic field of a rotating frequency corresponding to the generated magnetic field or by generating a set (alternative or periodic) vibration magnetic field by operating the function button 8c. On the contrary, it is possible to generate the right force for rotating the central axis C itself around the central point of the central axis C in the longitudinal direction of the capsule body 3. In this case, the capsule body 3 is tilted or vibrated in order to alternately or periodically apply the reverse direction of the oscillating magnetic field (acting as a force) to reverse the direction before the central axis C itself is completely rotated. In addition, in the direction input device 8a, a rotating magnetic field is generated to move the capsule body 3 in the direction by tilting in a direction required to advance a joystick (not shown).

Fig. 4 shows a state when the rotating magnetic field is applied, for example, and the magnet 16 embedded in the capsule main body 3 can be rotated by applying a rotating magnetic field to the capsule main body 3, By rotation, the capsule main body 3 can be advanced or retracted.

As shown in Fig. 4, the rotating magnetic field whose pole orientation of the rotating magnetic field is changed in the rotating magnetic field plane perpendicular to the direction of the central axis C in the longitudinal direction of the capsule body 3 (y 'in Fig. 4). And the capsule body 3 is rotated around its longitudinal direction together with the magnet 16 fixed in the direction perpendicular to the longitudinal direction in the capsule body 3, and shown in FIG. The spiral protrusion 12 is coupled to the body cavity inner wall so that it can be moved forward or backward.

5 shows the state at the time of applying a vibrating magnetic field (force generating magnetic field) to a rotating magnetic field, for example, and the direction of the central axis C of the longitudinal direction with respect to the capsule main body 3 (FIG. 5). In Fig. 2, a vibrating magnetic field (a magnetic field for generating a force) acting to swing (vibrate) the magnet 16 is applied.

By these, the capsule main body 3 is rotated around the central axis C in the longitudinal direction and is eccentric so that the direction of the central axis C in the rotation is inclined. That is, the rotation torque of the spinning top becomes small, and it is made possible to make it the state which performs the operation | movement (henceforth, this operation is called a jiggling operation | movement) which shakes an axis by the action of gravity.

Thus, when advancing or retracting the capsule main body 3 along the longitudinal direction of the lumen in the lumen approximately the same as the diameter of the capsule main body 3, the capsule main body 3 is moved around the longitudinal direction. It can be moved smoothly by applying a rotating magnetic field to rotate in.

On the other hand, when the capsule main body 3 contacts the bent part at the part where the lumen is bent, and it is simply rotated around the longitudinal direction, it may be difficult to move smoothly in the bent direction.

In such a case, as described above, by applying a vibrating magnetic field so that the force around the center along the central axis C in the longitudinal direction of the capsule body 3 and the force for rotating the central axis C acts. The capsule main body 3 is zigzag-operated, and when the longitudinal direction at the time of zigzag operation | movement turns into the state of the bending direction of a lumen, the capsule main body 3 can be moved smoothly in the direction.

In addition, by tilting the joystick, the state of the capsule body 3 or the state of the rotating magnetic field is always grasped so that the orientation of the rotating magnetic field can be controlled from the current traveling direction in any desired direction. In this embodiment, the state of the rotating magnetic field (specifically, the orientation of the rotating magnetic field and the orientation of the magnetic field) is always stored in the memory circuit 28.

Specifically, the instruction signal of the operation in the operation input device 8 in FIG. 2 is input to the control circuit 27, and the control circuit 27 generates a control signal for generating a rotating magnetic field corresponding to the instruction signal. Is output to the magnetic field control device 5, and information of the orientation of the rotating magnetic field and the orientation of the magnetic field is stored in the storage circuit 28.

Therefore, in the memory circuit 28, the rotational magnetic field generated by the rotating magnetic field generating device 4 and the information of the orientation of the magnetic field which forms the rotating magnetic field and changes periodically are always stored.

In addition, the memory circuit 28 is not limited to the case of storing the information corresponding to the control signal of the orientation of the rotational magnetic field from the control circuit 27, and the orientation of the magnetic field, but is not limited to the magnetic field control apparatus from the control circuit 27 ( By the control signal outputted by 5), the alternating current generation in the magnetic field control device 5 and the rotational magnetic field actually output to the rotating magnetic field generating device 4 via the control unit 31 and the driver unit 32. Information for determining the orientation and orientation of the magnetic field may be transferred from the magnetic field control device 5 side to the control circuit 27 and stored in the memory circuit 28.

In addition, in this embodiment, when the application of the rotating magnetic field is started and the application is stopped or when the orientation of the rotating magnetic field (in other words, the orientation of the capsule traveling direction) is changed, sudden force does not act on the capsule body 3. It is controlled to continuously change the rotating magnetic field so as to work smoothly.

In addition, in this embodiment, since the image picked up by the imaging element 14 also rotates by the rotation of the capsule main body 3, if it displays on the display apparatus 7 as it is, the image displayed will also become a rotated image. Since the operability of the instruction operation to the desired orientation by the direction input device 8b is lowered, it is required to stop the rotation of the display image.

Therefore, in the present embodiment, as disclosed in Japanese Patent Laid-Open No. 2003-299612, the data processing circuit 26 and the control circuit 27 perform a process of correcting the rotated image to the image where the rotation has stopped. have.

Alternatively, the image may be rotated based on the orientation information of the magnetic field to cancel the rotation of the capsule main body 3 so as to be displayed (in addition, the image may be correlated, etc., to display a still image having a predetermined orientation). .

In addition, as shown in Fig. 6, the position and posture detection device 9 serves as a second magnetic field generating means for generating an alternating magnetic field for generating an induced electromotive force in the resonant circuit 40 of the capsule body 3. The magnetic field generated by the excitation coil array 51 and the resonance circuit 40 of the capsule main body 3 is detected to detect the orientation (direction) in the longitudinal direction of the capsule main body 3, It has the coil array 52 for a detection as magnetic field detection means which also detects a position.

The excitation coil array 51 and the detection coil array 52 are configured as one set, and in the present embodiment, three sets are arranged so as to generate magnetic fields in three orthogonal directions. That is, the excitation coil array 51 and the detection coil array 52 are configured as one set, and each of the three sets has a generation direction and a detection direction that are substantially orthogonal to each other.

The position and posture detection device 9 is based on a signal measuring device 53 for measuring a signal detected by the detecting coil array 52 and based on the data measured by the signal measuring device 53. The arithmetic processing part 54 which calculates the orientation (direction) of the longitudinal direction of the capsule main body 3, and also calculates a position, and also induces the said resonance circuit 40 mutually under control of this arithmetic processing part 54 In order to generate the required alternating magnetic field, the excitation coil array 51 has an oscillator 55 which oscillates at a predetermined oscillation frequency, for example, 1 kHz to 1 MHz.

Here, the measurement magnetic field B _total (vector) detected by the detecting coil array 52 sets the applied magnetic field generated by the excitation coil array 51 as B _ext (vector), and the resonant circuit 40 Let magnetic field generated by) be B _reso (vector),

[Equation 1]

to be.

In addition, the magnetic field B _reso (vector) generated by the resonant circuit 40 can be described as follows on a three-dimensional coordinate (not shown) as a function of the position and direction of the resonant circuit 40. .

[Formula 2]

only,

x ₀ : x coordinate of the capsule body (3),

y ₀ : y coordinate of the capsule body 3,

z ₀ : z coordinate of the capsule body 3,

θ: angle around the z axis of the capsule body 3,

φ: angle around the y axis of the capsule body 3,

r: distance from the resonant circuit 40 to the coil array 52 for detection,

M: the strength of the equivalent magnetic moment generated by the resonant circuit 40

That is, the arithmetic processing unit 54 subtracts the applied magnetic field B _ext generated by the excitation coil array 51 from the measurement magnetic field B _total detected by the detecting coil array 52 to form a resonance circuit ( The magnetic field B _reso generated by 40 is obtained, and from this value, the position (x, y, z) of the capsule body 3, the orientation (θ, φ) of the capsule body 3 and the equivalent magnetic moment ( M) is calculated.

In addition, the frequency of the magnetic induction by the rotating magnetic field generated by the rotating magnetic field generating helmholtz coil 4A is about 10 kHz because it physically moves the capsule body 3. On the other hand, the frequencies of mutual induction due to resonance of the resonant circuit 40 are, for example, about 1 kHz to 1 MHz as described above in consideration of absorption of living bodies and the like. For this reason, magnetic induction by these rotating magnetic fields and mutual induction by resonance of the resonance circuit 40 do not influence each other.

In addition, the excitation coil array 51 and the detection coil array 52 are assembled in the rotating magnetic field generating device 4 as shown in Figs. 7 to 9, for example.

As shown in Figs. 7 to 9, the excitation coil array 51 and the detection coil array 52 are, for example, excluding openings corresponding to portions of the head and the foot so that the patient's body enters. The excitation coil 62 and the plurality of detection coils 61 are arranged to face each other with respect to the four surfaces. Specifically, the normal direction of the surface serving as the opening of the substantially cuboidal frame and the detection direction of some of the plurality of detection coils 61 are substantially the same direction, except for the surface serving as the opening and the surface opposite to the opening. The detection coil 61 was arrange | positioned at the surface.

The excitation coil array 51 and the detection coil array 52 can be used as the detection side, for example, when one surface on the front side is the excitation side, and the opposite surface on the opposite side becomes the detection side. It is comprised as a set and arrange | positioned three sets so as to generate the magnetic field of the orthogonal triaxial direction. In addition, as one set of the head and the foot portion, the excitation coil array 51 and the detection coil array 52 cannot be disposed, and therefore the excitation coil 62 having a different orientation (orientation) by 90 degrees and The detection coil 61 is distributed and formed in four other surfaces.

As the excitation coil, three sets of excitation coils 62 (a Helmholtz configuration are formed in a cube shape similar to that of the rotating magnetic field generating device 4 so as to form an alternating magnetic field uniformly with each magnetic field generating direction is orthogonal to each other. Is preferred).

As a result, since the position and posture detection device 9 can form an alternating magnetic field uniformly, induction electromotive force is generated in the resonant circuit 40 more finely, and the detection coil array 52 is more precisely provided. The magnetic field of the resonant circuit 40 can be detected.

In addition, although the detection coil 61 and the excitation coil 62 are arrange | positioned on a position and posture detection board | substrate (refer FIG. 15A, FIG. 15B, FIG. 16A, FIG. 16B, FIG. 16C), in order to make it easy to see. Position and posture detection substrate is omitted.

In addition, the excitation coil array 51 and the detection coil array 52 calculate two sets at a predetermined angle so as to generate magnetic fields in three orthogonal directions perpendicular to each other as shown in FIGS. 10 and 11. You may arrange | position and shape in a mountain shape. 10 to 11, the detection coil 61 and the excitation coil 62 are arranged on the position and posture detection substrate (Figs. 15A, 15B, 16A, 16B and Fig. 11). 16c), the position and position detection substrate are omitted for ease of viewing. The position and posture detection board | substrate 60 which arrange | positioned these detection coil 61 and the excitation coil 62 has an opening which can penetrate a living body, for example as shown to FIG. 17A and FIG. 17B. It is provided in the said rotating magnetic field generating device 4 which is a frame which is a housing. The housing is a member of approximately polyhedron, here approximately cubic.

In addition, the excitation coil 62 may be provided on four surfaces except the part of the head and the foot of the patient, as shown in FIG. In FIG. 12, the plurality of excitation coils 63 differs from the orientation of the magnetic field of the excitation coil 63 in which the magnetic fields of at least one excitation coil 63 are different. Similarly, the some detection coil 61 differs from the detection direction of the other detection coil 61 in which the detection direction of the at least 1 detection coil 61 differs. This excitation coil 62 preferably has a Helmholtz configuration. 12, the detection coil 61 and the excitation coil 63 are disposed on the position and posture detection substrate (see FIGS. 15A, 15B, 16A, 16B, and 16C). For the sake of simplicity, the position / position detection board is omitted.

In addition, the position / posture detection device shown in Fig. 12 has the head and foot portions of the patient compared to the case where the position and posture detection substrate is provided on three axes including the head and the foot portion of the patient. Since the position and posture detection boards are provided on the two axes except for this, the detection sensitivity is inferior, but the configuration is simple and easy to realize.

The position and posture detection board | substrate 60 which arrange | positioned these excitation coil 62, the detection coil 61, and the excitation coil 63 is, for example, as shown to FIG. 18, FIG. 19A, FIG. 19B. It is provided in the said rotating magnetic field generating device 4 which is a frame.

The position and posture detection device 9 configured in this way is configured to display the orientation (direction) and position information of the capsule body 3 calculated by the calculation processing unit 54 and the control circuit 27 of the processing device 6. ) To enter.

When the operation input device 8 is operated, the control circuit 27 generates a rotating magnetic field based on the information stored in the memory circuit 28 and the information detected by the position / posture detection device 9, An operation of controlling the orientation of the generated rotating magnetic field or the like is performed.

The rotary magnetic field generating device 4 and the position and posture detecting device 9 assembled to the rotary magnetic field generating device 4 are divided into two as shown in Fig. 13 so that the patient can easily insert the body. It may be configured to be divisible, or may be configured to be openable and closed as shown in FIG. In addition, the structure may be separately configured in the rotating magnetic field generating device 4 and the position / posture detecting device 9.

The position and posture detection device 9 further includes the excitation coil 62 and the detection coil 61 in the same plane of the position and posture detection substrate 60 in FIGS. 15A, 15B, and 16A. 16B or 16C, the arrangement is made. As shown in Figs. 15A and 15B, the position and posture detection substrate 60 has the detection coil 61 with respect to the excitation coil 62 in the same plane on a plate-shaped base made of a nonmagnetic material. The coils 61 are arranged horizontally at equal intervals at regular intervals, and the detection coils 61 are uniformly arranged at equal intervals and united. Some of the plurality of detection coils 61 have detection directions in substantially the same direction, but other parts have detection directions in different directions. Specifically, at least three detection coils 61 have a detection direction orthogonal to each other. In addition, in the case of Fig. 15A, the excitation coil 62 and the at least one detection coil 61 are arranged on substantially the same plane, and the orientation of the magnetic field of the excitation coil 62 and the at least one detection coil. The detection direction of the coil 61 is approximately the same.

On the other hand, as shown in Fig. 16A, the position and posture detection substrate 60 is configured such that the excitation coil 62 and the detection coil 61 are arranged in parallel in the same plane. As shown in Fig. 16B, the position and posture detection substrate 60 is configured such that the detection coil 61 is arranged in the excitation coil 62 in the same plane. In Fig. 16B, the center of symmetry of the excitation coil 62 having a symmetrical shape disposed on the position-posture detection substrate 60 serving as a base and the center of symmetry of the detection coil 61 having a symmetrical shape are shown. The axis is arranged coaxially. Here, the position / position detection board 60 has one detection coil 61. In addition, as shown in Fig. 16C, the position and posture detection substrate 60 is also arranged so that the detection coil 61 is constantly arranged around the excitation coil 62 in addition to the configuration in Fig. 16B. Consists of. The plurality of detection coils 61 have detection directions in substantially the same direction, respectively.

As described with reference to Figs. 15A, 15B, 16A, 16B, and 16C, the position and posture detection substrate 60 has various changes in the same plane. As a result, the position and posture detection device 9 can efficiently generate an alternating magnetic field for generating induced electromotive force in the resonant circuit 40 of the capsule main body 3, and also the resonance of the capsule main body 3. The magnetic field generated by the circuit 40 can be detected efficiently.

In the position and posture detection device 9, it is preferable that the excitation coil 62 has a Helmholtz configuration when the position and posture detection substrates 60 are opposed to each other.

The function of this embodiment by such a structure is demonstrated.

When the body cavity is examined by the capsule body 3, the patient swallows the capsule body 3. The capsule body 3 assembled in the body cavity is illuminated by the illumination element 15 when passing through the esophagus and the like, and the processing apparatus 6 outside the body via the wireless circuit 22 for the image captured by the imaging element 14. Send wirelessly to.

The processing device 6 receives the radio circuit 25, accumulates the demodulated image data in an image storage device (such as a hard disk) installed in the data processing circuit 26, or the like, and performs display processing. It outputs to the apparatus 7, and displays the image imaged by the capsule main body 3 in order.

Here, the control circuit 27 of the processing apparatus 6 generates a rotating magnetic field based on the orientation (direction) and position information of the capsule main body 3 detected by the position / posture detection device 9, An operation of controlling the orientation of the generated rotating magnetic field or the like is performed. Fig. 20 is a flowchart showing an operation of controlling the orientation of the rotating magnetic field or the like based on the orientation (direction) and position information of the capsule body detected by the orientation / position detection device. The operation will be described with reference to FIG.

First, the control circuit 27 controls and drives the position and attitude detection apparatus 9 to measure the orientation (direction) and the position of the capsule main body 3 (steps S1 and S2). In the present embodiment, the excitation coil array 51 is used as the excitation coil 62 and the detection coil array 52 as the detection coil 61.

The position and posture detection device 9 oscillates the excitation coil array 51 (excitation coil 62) by the oscillator 55 at a predetermined oscillation frequency, for example, 1 kHz to 1 MHz. Generates.

The resonant circuit 40 of the capsule main body 3 induces mutual induction by an alternating magnetic field to generate an induced electromotive force, and generates a magnetic field by flowing a current through the coil 42 in the capsule. The magnetic field by this resonant circuit 40 is detected by the detecting coil array 52 (detection coil 61). The measured value detected by the detecting coil array 52 (detecting coil 61) is introduced by the signal measuring device 53 and input to the calculation processing unit 54.

The calculation processing unit 54 calculates the orientation (direction) and the position of the resonant circuit 40 from the above-described equations 1 and 2 based on the measured values, and calculates the orientation of the capsule body 3 ( Direction) and position data to the control circuit 27.

The control circuit 27 sets (sets) the orientation of the rotating magnetic field based on the orientation (direction) and the position data of the capsule body 3 input from the position / posture detection device 9 and rotates the magnetic field in that orientation. The drive device 4 is controlled to generate a rotating magnetic field.

The control circuit 27 controls the capsule body 3 to the desired orientation (direction) and position according to the input of the joystick of the manipulation input device 8, for example, the direction input device 8a by the operator's operation. The rotating magnetic field generating device 4 is controlled to drive.

That is, the control circuit 27 detects an input of the operation input device 8 (joystick) (step S3), and when it is determined that there is an input (YES in step S4), the operation input device 8 Therefore, the conditions for generating the next rotating magnetic field generated by the rotating magnetic field generating device 4 to control the capsule body 3 to the desired orientation (direction) and position are calculated (step S5), and the rotating magnetic field is generated (added). (Step S6). In addition, when there is no input of the operation input device 8 (joystick), the control circuit 27 maintains the state of the rotating magnetic field set until this input exists.

The capsule body 3 changes its orientation (direction) and position according to the generated rotating magnetic field. Here, the capsule main body 3 may move excessively or hardly with respect to the operation of the operation input device 8 due to the state of the lumen, for example, the presence of body fluids or wrinkles, or the width of the organs. The degree of easy change is changed, and an error which does not become the orientation of the calculated capsule body 3 occurs.

Here, the induction of the resonant circuits 40 of the capsule main body 3 is induced by the center axis of the position-posture detection board 60 in which the excitation coil array 51 (excitation coil 62) is provided, and detection. The amount of change in the position, maximizing the case where the center axis of the position / posture detection substrate 60 on which the coil coil 52 (the coil 61 for detection) is provided coincides with the axis of the coil 42 in the capsule, As the amount of change in the angle becomes larger, the magnetic field generated by the coil 42 in the capsule becomes smaller or it becomes difficult to accurately detect the position.

In addition, since the intensity of the magnetic field generated by the coil 42 in the capsule decreases in proportion to the square of the distance, in order to increase the detection accuracy, it is necessary to make the space at least small, and when detecting by the human body, It can only be arranged to surround the site.

In the case of a cube, since the excitation coil array 51 (excitation coil 62) and the detection coil array 52 (detection coil 61) of at least two of six surfaces interfere with a human body, 3 It is necessary to devise a coil arrangement so as not to increase the size of the cube while maintaining the shaft arrangement.

In the present embodiment, as described above, the excitation coil array 51 (excitation coil 62) and the detection coil array 52 (detection coil 61) are, for example, a rotating magnetic field generating device ( 4) About [the Helmholtz coil 4A for rotational magnetic field generation] a plurality of excitation coils 62 and the coils for a detection (for the four surfaces except a part of a head and a foot so that a patient's body enters) 61 is arranged to face each other.

In the present embodiment, since the resonant frequency of the alternating magnetic field generated by the excitation coil 62 or the excitation coils 62 and 63 is oscillated at, for example, 1 kHz to 1 MHz, the rotating magnetic field generator ( 4) Unlike the driving frequency of the rotating magnetic field generated by [the Helmholtz coil 4A for rotating magnetic field generation], it does not interfere (affect each other).

For this reason, in this embodiment, the direction and position of the capsule main body 3 can be detected correctly, without affecting the rotating magnetic field which magnetically guides the capsule main body 3.

Therefore, the control circuit 27 again measures the orientation (direction) and the position of the capsule body 3 and performs the following control to correct the error.

In other words, the control circuit 27 again drives the position and posture detection device 9 to measure the orientation (direction) and the position data of the capsule body 3 (step S7).

The control circuit 27 stores the orientation (direction) data of the capsule body 3 obtained from the position and posture detection device 9 and the orientation of the rotating magnetic field generated by the rotating magnetic field generating device 4 (the magnetic field of the rotating magnetic field). Data in the normal direction of the rotation plane are compared (step S8), and it is determined whether the result of the comparison is larger than a preset value α (step S9).

The control circuit 27 compares the orientation (direction) data of the capsule body 3 obtained from the position and posture detection device 9 with the orientation data of the rotating magnetic field generated by the rotating magnetic field generating device 4. Is larger than the set value α, the orientation of the rotating magnetic field is set as the measured orientation data of the capsule body 3 (step S10), and then the input of the operation input device 8 (joystick) is detected to perform the above operation. Repeat.

As a result, the capsule medical apparatus position / posture detection system 1 can detect the direction and position of the capsule main body 3 correctly, without affecting the rotating magnetic field which magnetically guides the capsule main body 3.

493

That is, since the capsule medical device magnetic induction system 1 updates the orientation data of the capsule body 3 every time the operation input device 8 is operated, an error due to the state of the lumen with respect to the operation of the operation input device 8 It does not happen. Therefore, the capsule medical apparatus magnetic induction system 1 of this embodiment can operate by inducing the capsule main body 3 smoothly.

In addition, the capsule medical apparatus magnetic induction system 1 may be comprised as shown in FIG.21 and FIG.22. Fig. 21 is a circuit block diagram showing a modification of the position / posture detection device of Fig. 2, and Fig. 22 is rotated based on the orientation (direction) and position information of the capsule body detected by the position-posture detection device of Fig. 21. It is a flowchart which shows the operation | movement which controls the orientation of a magnetic field, etc.

As shown in Fig. 21, the magnetic field control device 5B includes an orientation calculation unit for calculating the direction of the capsule body 3 based on the orientation data of the rotating magnetic field generated by the rotating magnetic field generating device 4 ( 71 and a feedback rate adjusting unit 72 for adjusting the alternating current generation and the alternating current generated by the control unit 31 on the basis of the feedback rate calculated by the control circuit 27.

The control circuit 27 generates a rotating magnetic field based on the orientation (direction) and position information of the capsule body 3 detected by the direction / position detecting device 9 according to the flowchart shown in FIG. To control the orientation of the generated rotating magnetic field. In addition, the flowchart shown in FIG. 22 is substantially the same as operation of S1 to S4 of the flowchart of a said 1st embodiment until it is determined that the input of the operation input device 8 was detected, and abbreviate | omits description.

In addition, in this modification, the rotational magnetic field generation is three sets of opposing coils (Helmholtz coils) 33a to 33c of the rotational magnetic field generating device 4, which are used to generate the induced electromotive force in the coil 42 in the capsule. Applying an alternating magnetic field is the opposing coils (Hellholtz coils) 62a to 62c for excitation, and detecting the magnetic field generated by the induced electromotive force of the coil 42 in the capsule detects the coil arrays 52a to 52c. to be.

When it is determined that there is an input of the operation input device 8 (joystick) (step S14), the control circuit 27 moves the capsule main body 3 in a desired orientation (direction) according to the operation of the operation input device 8. And the conditions for generating the next rotating magnetic field generated by the rotating magnetic field generating device 4 so as to control the position (step S15), and generates (adds) the rotating magnetic field (step S16).

The capsule body 3 then changes its orientation (direction) and position along the generated rotating magnetic field. Here, as described above, the capsule body 3 is difficult to move or move excessively with respect to the operation of the operation input device 8 due to the state of the lumen, for example, the presence of body fluids or wrinkles, the width of the organs, and the like. The degree of orientation ease changes, and the error which does not become the orientation of the calculated capsule main body 3 arises.

Therefore, the control circuit 27 again measures the orientation (direction) and position of the capsule body 3 and performs the following control to correct the error.

First, the control circuit 27 again drives the direction / position detection device 9 to measure the orientation (direction) and position data of the capsule main body 3, and adjusts the orientation (direction) of the capsule main body 3. It detects (step S17).

Next, the control circuit 27 controls the orientation calculation unit 71 to generate orientation data of the rotating magnetic field generated by the rotary magnetic field generating device 4, and orientation (direction) and position data of the capsule body 3. Compare Then, the control circuit 27 is a difference (Δθ) between the orientation data of the rotating magnetic field obtained from the orientation calculation unit 71 and the orientation (direction) data of the capsule body 3 obtained from the direction / position detection device 9. , Δφ) is calculated (step S18).

Next, the control circuit 27 detects an input of the operation input device 8 (joystick) (step S19), and the direction change amount θ of the capsule main body 3 according to the operation of the operation input device 8. ', φ') is calculated (step S20).

And the control circuit 27 subtracts the difference (DELTA) (theta), (DELTA) (phi) multiplied by the feedback rate A from the calculated direction change ((theta) ', (phi)) of the capsule main body 3, and the operation input main body 3 The change amount (change indication amount) of the orientation (direction) of is calculated (step S21).

Here, the orientation change instruction amounts θ and φ of the capsule main body 3 according to the operation of the operation input device 8 calculated are:

(θ, φ) = (θ '-AΔθ, φ'-AΔφ)

Where A is the return rate.

Next, the control circuit 27 generates a rotating magnetic field that becomes an orientation (direction) according to the operation of the operation input device 8 on the basis of the calculated orientation change indicating amounts θ and φ of the capsule main body 3. The conditions for generating the next rotating magnetic field generated by the apparatus 4 are calculated (step S22).

The control circuit 27 generates (adds) a rotating magnetic field based on the calculated conditions for generating the rotating magnetic field (step S16), and then repeats it.

As a result, the capsule medical apparatus magnetic induction system 1 of a modification can control the operation of the capsule main body 3 more stably than the said 1st Embodiment.

In addition, although the flowchart shown in FIG. 22 sets the feedback rate A to a predetermined | prescribed set value previously, you may comprise so that control to change the feedback rate A may be performed.

In addition, in the control demonstrated by the flowchart of FIG. 20 or FIG. 22, the orientation of the coil 42 in the capsule of the capsule main body 3, and the opposing coil (helmholtz coil) for excitation of the direction / position detection apparatus 9 ( When three orientations of the 62a to 62c and the coil arrays 52a to 52c coincide with each other, high-precision direction / position detection is possible, but when the angle of the capsule main body 3 is attached, the accuracy of the direction / position detection Falls.

For this reason, in order to maintain the precision of the said direction / position detection with high precision, it is comprised so that control of the flowchart shown in FIG. 23 may be added to the control demonstrated by the flowchart of FIG. FIG. 23 is a flowchart showing control added to the flowchart of FIG. 20 or FIG. That is, as shown in FIG. 23, the control circuit 27 firstly provides an opposing coil (helmholtz coil) of the direction / position detection device 9 to the orientation (direction) of the capsule body 3, which is known as an initial value in advance. The orientation of the alternating magnetic field generated by 62a to 62c is input and set (steps S31 and 32), and the direction / position detection device 9 is controlled to drive to detect the position / direction (step S33).

Next, the control circuit 27 calculates the angle β formed between the orientation of the alternating magnetic field generated by the opposing coils (Helmholtz coils) 62a to 62c for excitation and the direction of the calculated capsule body 3. (Step S34).

Then, the control circuit 27, the calculated β threshold value (β ₀₎ when compared with (for example 30 ° or 45 °) (step S35), exceeds the threshold value (β _0), the calculated β On the basis of this, the orientation of the alternating magnetic field generated by the opposing coils (Helmholtz coils) 62a to 62c for excitation is set to be the orientation of the capsule body 3 (step S36). Thereafter, S33 to S36 are repeated.

As a result, by applying the above control, the capsule medical device magnetic induction system 1 provides the orientation of the coil 42 in the capsule of the capsule body 3 and the opposing coil for the direction / position detection device 9 (Helmholtz). The orientations of the alternating magnetic fields generated by the coils 62a to 62c approximately coincide, and as a result, the orientation of the coil 42 in the capsule of the capsule body 3 and the excitation of the direction / position detection device 9 are obtained. Since the three coils in the directions of the opposing coils (helmholtz coils) 62a to 62c and the coil arrays 52a to 52c for detection substantially coincide, control with higher precision can be performed.

In addition, since the Helmholtz coil 62 is comprised by three sets of Helmholtz coils 62a, 62b, 62c so that the magnetic field of a three-axis direction may be generated, the orientation of an alternating magnetic field can be set arbitrarily.

In addition, the coil 42 in the capsule constituting the resonance circuit 40 of the capsule main body 3 may be configured as shown in Figs. 24A to 24C, for example. 24 to 24C are explanatory diagrams of a capsule body showing a modified example of the coil constituting the resonant circuit, and FIG. 24A is a side explanatory diagram of a capsule body in which a coil is wound around a covering member covering the interior material; Explanatory drawing which shows the cross-sectional shape of the covering member of FIG. 24A, and FIG. 24C is a side explanatory drawing of the capsule main body which wound the coil in the rod-shaped member.

As shown in Figs. 24A and 24B, the coil 42 in the capsule is wound around a covering member 81 covering the interior of the capsule body 3, and the outer circumference thereof is coated with a resin material. The coating member 81 is formed of a high permeability foil, which is a high permeability member such as permalo, nickel, iron, or the like, and is formed in an arc shape to prevent eddy currents.

As shown in Fig. 24C, the coil 42 in the capsule may be configured to be wound around a rod-shaped member 82 formed of a high permeability member such as permalo or nickel or iron. 24A to 24C, the spiral protrusion (or screw portion) 12 is omitted.

Thereby, the capsule main body 3 can make the magnetic field which the resonance circuit 40 comprised by the said coil 42 in a capsule generate | occur | produce stronger, and the direction / position by the direction / position detection apparatus 9 Can increase the precision.

In addition, the power supply circuit may be configured by using a resonant circuit 40 constituted by the coil 42 in the capsule to form a power supply circuit as shown in Figs. 25 to 25C. 25A to 25C are circuit block diagrams showing a power supply circuit constructed using a resonant circuit constituted by the coils of Figs. 24A to 24C, and Fig. 25A is a circuit block diagram showing a first power supply circuit. 25B is a circuit block diagram showing a second power supply circuit, and FIG. 25C is a circuit block diagram showing a third power supply circuit.

In the power supply circuit 90A shown in Fig. 25A, two switching switches 91 are provided at both ends of the coil 42 in the capsule, the capacitor 41 is connected to the terminal a side, and the power supply circuit is connected to the terminal b side. 92 is connected and comprised. The output side of the power supply circuit 92 has one end connected to each circuit inside the capsule, and the other end connected to a secondary battery or a super capacitor.

The changeover switch is controlled to be switched by the control circuit 27. In the case of the direction / position detection by the direction / position detection device 9, the switch is switched to the terminal a side to form the resonant circuit 40, In the case of supply, it switches to the terminal b side, and is connected to the power supply circuit 92. FIG.

The power supply circuit 90B shown in FIG. 25B is configured by connecting the resonant circuit 40 and the power supply circuit 92 with the transformer 93 to the power supply circuit 90A. Thereby, the power supply circuit 90B can reduce the influence by the power supply to the direction / position detection by the said direction / position detection apparatus 9 compared with the said power supply circuit 90A.

The power supply circuit 90C shown in FIG. 25C is configured by connecting the resonant circuit 40 and the power supply circuit 92 to the power supply circuit 90B via two switching switches 94. have. By constituting the power supply circuit, the capsule main body 3 can be supplied with power.

The position and posture detection device may be configured as shown in Figs. 26A and 26B.

As shown in Figs. 26A and 26B, the position and posture detection device 9B is movably provided so that the position and posture detection substrate 60 with respect to the portion of the foot can be opened and closed freely in an inclined shape. The position and posture detection board 60 with respect to a part is comprised by forming the hole part which a head part can penetrate. In addition, the position-position detection board | substrate 60 may be attached or detached to a frame.

Thereby, the position and attitude detection apparatus 9B can detect the orientation (direction) and the position of the capsule main body 3 efficiently to the vicinity of a head part and a foot part.

The position and posture detection device may be configured in the shape of an octahedron, as shown in FIG. As shown in Fig. 27, the position and posture detection device 9C is provided with a position and posture detection substrate 60 with respect to a frame which is a housing having an opening through which a living body can be inserted into an octahedron. Thereby, the position and attitude detection apparatus 9C can detect the orientation (direction) and the position of the capsule main body 3 efficiently to the vicinity of a head part and a foot part.

The position and posture detection device may be configured in a spherical shape as shown in Figs. 28A and 28B.

As shown in Figs. 28A and 28B, the position and posture detection device 9D is provided with the position and posture detection board 60 with respect to a frame which is a housing having an opening through which a living body can be inserted into a spherical shape. It is. Thereby, the position and attitude detection apparatus 9D arrange | positions the position and attitude detection board | substrate 60 in spherical shape, so that the coil 42 of the capsule may be made irrespective of the orientation (direction) and position of the capsule main body 3. It is possible to have an axis approximately coincident with the axis, thereby improving the detection accuracy.

In addition, when the position and posture detection apparatus 9C, 9D is combined with the rotating magnetic field generating device 4 for magnetically inducing the capsule main body 3, it arrange | positions this rotating magnetic field generating device 4 outside. To combine. In this case, although not shown, the rotating magnetic field generating apparatus 4 arrange | positions the rotating magnetic field generation helmholtz coil 4A of a cube shape outside.

In addition, the position and posture detection apparatus 9C, 9D is comprised so that opening and closing is easy for a patient to insert a body, and the handle 71 is provided. In addition, since the position and posture detection device 9C does not arrange the position and posture detection substrate 60 in a spherical shape compared with the position and posture detection device 9D formed in a spherical shape, the manufacturability is improved. .

(2nd embodiment)

29A to 31 show a second embodiment of the present invention, and FIGS. 29A and 29B show a rotating magnetic field generating device and a position and posture detection device constituting the capsule medical device position and posture detection system according to the second embodiment. 29A is a schematic perspective view showing the rotating magnetic field generating device and the position and posture detection device constituting the capsule medical device position and posture detection system according to the second embodiment, and FIG. 29B is the rotation of FIG. 29A. Schematic sectional drawing which shows the internal structure of a magnetic field generating apparatus and a position and a posture detection apparatus, FIG. 30 is a schematic perspective view of the rotating magnetic field generating device and a position and posture detection apparatus which show the modification of the position and posture detection apparatus of FIGS. 29A and 29B. FIG. 31 is a schematic cross-sectional view in the direction of an arrow A, showing the internal structure of the rotating magnetic field generating device and the position / posture detecting device of FIG.

Although the said 1st Embodiment is comprised so that a system may operate in the state in which a patient is sleeping, the 2nd Embodiment is comprised so that a system may operate in a state where a patient is sitting. Since the structure other than that is the same structure as the said 1st Embodiment, description is abbreviate | omitted and it demonstrates by attaching | subjecting the same code | symbol to the same structure.

In other words, as shown in Figs. 29A and 29B, the capsule medical device position / posture detection system of the second embodiment is configured in a chair-type where the patient can seat the position / posture detection device 9E.

Specifically, the position and posture detection device 9E is positioned so that the patient can sit with respect to the rotating magnetic field generating device 4, which is a frame having an opening through which openings of a living body formed in a cube shape can be inserted. The attitude detection board | substrate 60 is provided. The position and posture detection substrate 60 is disposed on the hip and back of the patient, and is disposed on the front face of the patient facing the hip and back. In addition, the position and posture detection substrate 60 is disposed so as to oppose both sides of the patient.

Thereby, the position and attitude detection apparatus 9E can operate a system in the state which a patient sits, when the patient does not need to sleep.

As shown in Figs. 30 and 31, the position and posture detection device 9F may be provided in the chair 72. In detail, the position / posture detection device 9F is provided with a rotating magnetic field generating device 4, which is a frame having a opening having an opening through which a living body formed into a cube, can be inserted into the chair 72. The position and posture detection substrate 60 is disposed on the hip and back of the patient, and is disposed on the front face of the patient facing the hip and back.

As a result, the position / posture detection device 9F can sit comfortably in the patient than in the second embodiment, and can operate the system in this state.

Since the other structure and operation are the same as that of the said 1st Embodiment, description is abbreviate | omitted.

(Third embodiment)

32 to 40C relate to a third embodiment of the present invention, and FIG. 32 shows a rotating magnetic field generating device and a position and posture detection device constituting the capsule medical device position and posture detection system according to the third embodiment. 33 is an enlarged view of an essential part of the rotating magnetic field generating device and the position and posture detection device of FIG. 32, FIG. 34 is an overall configuration diagram showing the capsule medical device position and posture detection system according to the third embodiment, and FIG. 36 is a flow chart showing the control operation of the capsule medical device position / posture detection system according to the third embodiment, FIG. 36 is a schematic perspective view showing a modification of the position / posture detection device of FIG. 32, and FIG. 37 is a position / posture detection device of FIG. Fig. 38 shows a modification of Fig. 37, and shows a position and posture detection by the position and posture detection device with respect to the capsule body having the position and posture detection substrate in a flat plate form. 9 is an explanatory view of the position and the posture detection by the position / posture detection device with respect to the capsule main body in which the oscillator is provided in place of the condenser, and FIGS. 40A to 40C show the excitation coil, the detection coil and the coil in the capsule. 40A is a schematic explanatory diagram showing the positional relationship, and FIG. 40A is a schematic explanatory diagram showing the positional relationship between the shaft connecting the excitation coil and the detection coil and the coil in the capsule is coaxial, and FIG. 40B is the excitation coil and the detection. Fig. 40C is a schematic explanatory diagram showing the positional relationship when the axis connecting the coil for use is orthogonal to the longitudinal center axis of the coil in the capsule. Fig. 40C shows a position where the coil in the capsule is out of the axis connecting the excitation coil and the detection coil. It is a schematic explanatory drawing which shows the positional relationship at the time of becoming.

In the first and second embodiments, the position and posture detection substrate 60 is configured to be fixedly arranged. In the third embodiment, the position and posture detection substrate 60 can be moved to an optimal position during the inspection. Configure to Since the structure other than that is the same structure as the said 1st Embodiment, description is abbreviate | omitted and it demonstrates by attaching | subjecting the same code | symbol to the same structure.

That is, as shown in FIGS. 32 to 34, the capsule medical device position / posture detection system 1G of the third embodiment is a rotating magnetic field which is a frame which is a housing having an opening through which a living body formed into a spherical shape can be inserted. Inside the generating device 4G, the position and posture detection device 9G is configured such that the two movable units 180a and 180b incorporating the position and posture detection board 60 can be moved to a predetermined position. have. Further, the plurality of detection coils 61 and the excitation coil 62 described above are disposed on the position posture detection substrate 60.

The rotary magnetic field generating device 4G is separable into hemispheres of approximately spherical members.

The movable units 180a and 180b are disposed one by one in the hemisphere portion of the rotating magnetic field generating device 4G. When one of the movable units 180a and 180b generates an alternating magnetic field for guiding the resonant circuit 40 of the capsule body 3 with each other, the other side generates a magnetic field in which the resonant circuit 40 of the capsule body 3 occurs. Is detected.

In Fig. 32, the side disposed in the upper hemisphere portion of the rotary magnetic field generator 4G is the excitation movable unit 180a, and the side disposed in the lower hemisphere portion of the rotary magnetic field generator 4G. Is set as the detection movable unit 180b.

These movable units 180a and 180b are configured such that the drive tire 181 which can be turned 180 degrees is connected to the motor 182 and is movable to a predetermined position. Specifically, the two position and posture detection substrates 60 are arranged to face each other with a space between the capsule medical apparatuses interposed therebetween, and are arranged to be movable in a state where they face each other. In addition, four driven tires 183, which are driven in accordance with the rotation of the drive tire 181, are rotatably provided in the movable units 180a and 180b disposed to face each other.

The motor 182 is controlled to be driven by the motor driving circuit 184, and the motor driving circuit 184 is described in the drive control device 86 and the first embodiment via the flexible substrate 185. It is connected to the signal measuring device 53. The drive control device 86 controls the motor drive circuit 184 to move the movable units 180a and 180b to a predetermined position.

The drive control device 86 is connected to a control circuit 27G of the processing device 6. This control circuit 27G controls the drive control device 86 to move the movable units 180a and 180b to a predetermined position in addition to the control described in the first embodiment.

More specifically, for example, the magnetic field to be detected includes three patterns described below when the coil 42 in the capsule is equidistant from the coil 62 for excitation and the coil 61 for detection.

As shown in Fig. 40A, the magnetic field to be detected is maximized when the axis connecting the excitation coil 62 and the detection coil 61 and the coil 42 in the capsule become coaxial.

As shown in Fig. 40B, the magnetic field to be detected is the excitation coil when the axis connecting the excitation coil 62 and the detection coil 61 is orthogonal to the longitudinal center axis of the coil 42 in the capsule. The magnetic flux from 62 does not enter the coil 42 in the capsule. For this reason, an induction magnetic field does not generate | occur | produce in the in-capsule coil 42 (resonance circuit 40), and it becomes difficult to detect the magnetic field of the in-capsule coil 42 with the coil 61 for a detection.

In addition, as shown in Fig. 40C, the magnetic field to be detected is the coil 42 in the capsule when the coil 42 in the capsule is displaced from an axis connecting the excitation coil 62 and the detection coil 61 to each other. The magnetic flux from the excitation coil 62 enters the magnetic field, and the magnetic field can be detected by the detection coil 61 at a position where an induction magnetic field is generated with respect to the coil 42 in the capsule. However, in this case, the strength of the magnetic field detected by the detecting coil 61 is related to the relationship between the orientation of the induced magnetic field and the orientation of the detecting coil 61 and the coil 42 and the detecting coil ( 61) and its distance from the distance.

For this reason, the control circuit 27G is based on the orientation (direction) and position information of the past capsule body 3 calculated by the arithmetic processing unit 54 by the measurement data from the signal measuring unit 53. The drive control device 86 is controlled at an appropriate position where the magnetic field generated by the resonant circuit 40 of the capsule body 3 detected by the position and posture detection substrate 60 does not become small.

The effect | action of 3rd Embodiment by such a structure is demonstrated.

When the body cavity is examined by the capsule body 3, the patient swallows the capsule body 3. When the capsule body 3 inserted into the body cavity passes through the esophagus or the like, the illumination device 15 illuminates the image, and the image captured by the imaging device 14 passes through the wireless circuit 22 to the extracorporeal processing apparatus 6. Send wirelessly to).

The processing device 6 receives the radio circuit 25, accumulates the demodulated image data in an image storage device (such as a hard disk) provided in the data processing circuit 26, or the like, and performs display processing. It outputs to the display apparatus 7, and displays the image imaged by the capsule main body 3 in order.

Here, in this embodiment, according to the flowchart shown in FIG. 35, the control circuit 27G is based on the orientation (direction) and position information of the capsule main body 3 detected by the position and attitude detection apparatus 9G, and the rotating magnetic field. And control the orientation of the generated rotating magnetic field, and control the movable units 180a and 180b to move to an appropriate position.

First, the control circuit 27G detects the position of the capsule body 3.

The control circuit 27G controls the position and posture detection device 9G to measure the position and orientation (direction) of the capsule main body 3 (step S41).

The position and posture detection device 9G uses the position and posture detection substrate 60 (exciting coil array 51 of the excitation position detection board 60) built in the excitation movable unit 180a to have a predetermined oscillation frequency, for example, 1 Hz to 1 Hz. Oscillation is performed by the oscillator 55 at 1 MHz to generate an alternating magnetic field.

The resonant circuit 40 of the capsule body 3 induces each other by an alternating magnetic field to generate induced electromotive force, and generates a magnetic field. The magnetic field by this resonant circuit 40 is detected by the said position and posture detection board | substrate 60 (detection coil array 52) built in the detection movable unit 180b. The measured value detected by the detecting movable unit 180b is received by the signal measuring device 53 and input to the arithmetic processing unit 54.

The calculation processing unit 54 calculates the orientation (direction) and position of the resonant circuit 40 from the above-described equations 1 and 2 based on the input measurement values, and calculates the measurement values and the calculated results of the orientation of the capsule body 3 ( Direction), position data, and the strength of the magnetic field are output to the control circuit 27G.

The control circuit 27G calculates the position data of the movable units 180a and 180b based on the orientation (direction) and position data of the capsule body 3 input from the position and posture detection device 9G, and the strength of the magnetic field. From the orientation (direction) of the capsule body 3 and the position data and the intensity of the magnetic field, the movable units 180a and 180b are moved to an appropriate position where the magnetic field generated by the resonant circuit 40 does not become small and remeasured (step S42). ).

The control circuit 27G compares the previous measured value with the re-measured value (step S43). When the previous measured value is larger, the control circuit 27G repeats S41 to S43 until the re-measured value is larger.

The movable units 180a and 180b are driven by the motor drive circuit 184 to drive the motor 182 based on the drive signal from the drive control device 86, thereby driving the drive tire 181 and the driven tire 183. It rotates and moves to a predetermined position.

On the other hand, when the remeasurement value is larger than the previous measurement value, the control circuit 27G completes the position detection (step S44), and controls the magnetic induction by the next rotating magnetic field.

Here, the capsule body 3 is too hard to move or difficult to move with respect to the manipulation of the manipulation input device 8 due to the state of lumen, for example, the presence of bodily fluids or wrinkles, or the size of the inside of the organ, and thus the degree of ease of orientation. Changes, and the error which does not become the orientation of the calculated capsule main body 3 arises.

Therefore, the control circuit 27G performs control to remeasure at regular (time) intervals and to repeat the position detections S41 to S44 of the capsule body 3.

Next, the control circuit 27G conducts magnetic induction of the capsule main body 3 by the rotating magnetic field.

The control circuit 27G outputs the orientation (direction) and the position data of the capsule main body 3 from the position and posture detection device 9G (step S45), and the orientation of the capsule main body 3 obtained by the arithmetic processing unit 54. (Direction) and the orientation of the rotating magnetic field (for magnetically inducing the capsule main body 3) added from the position data is set (set).

The control circuit 27G rotates to control the capsule body 3 to a desired orientation (direction) and position according to the input of the operation input device 8, for example, the joystick of the direction input device 8a by the operator's operation. The magnetic field generating device 4 is controlled to drive. That is, the control circuit 27G detects the input of the operation input device 8 (joystick) (step S47) to determine whether there is an input (step S48), and when there is an input of the operation input device 8, The rotating magnetic field generated by the rotating magnetic field generating device 4 is added until the input amount of the operation input device 8 is calculated (calculated) and reaches a set value (step S49). In addition, when there is no input of the operation input device 8, the control circuit 27G maintains the state of the set rotating magnetic field until there is this input.

The control circuit 27G judges whether or not the added rotating magnetic field has reached the set value (step S50), and continues to add the rotating magnetic field until the rotating magnetic field reaches the set value, and induces when the rotating magnetic field reaches the set value. Upon completion (step S51), the control (S46 to S51) of magnetic induction by the rotating magnetic field is repeated.

As a result, the capsule medical apparatus position / posture detection system 1G can move the position of the position / posture detection board 60 to an optimal position in addition to obtaining the same effect as the first embodiment. The orientation (direction) and the position of the capsule body 3 can be measured accurately.

In addition, although the flowchart of FIG. 35 demonstrated the case where the position and attitude detection board | substrate 60 was comprised so that movement was possible, except when the position which moves a movable unit, the position and attitude detection board | substrate 60 is fixedly arranged. Also applicable in.

Although 3rd Embodiment is described as mentioned above, the following modified example can be devised in this Embodiment.

As shown in Figs. 36 and 37, the capsule medical apparatus position and posture detection system may configure the position and posture detection device by using the multiple degree of freedom movable arm 190 instead of the movable units 180a and 180b.

As shown in FIG. 36 and FIG. 37, the position and attitude detection apparatus 9H is comprised by providing the multiple degree of freedom movable arm 190. As shown in FIG. The control device controls the operation of the multi-degree of freedom movable device so that the magnetic field detected by one of the position and posture detection substrates 60 is maximized.

In the multi-degree-of-freedom movable arm 190 which is a movable device, the tip end side is branched into two, and the position and posture detection board 60 is provided in these tip ends, respectively. One of these position and posture detection substrates 60 is an excitation side and the other is a detection side. Alternatively, the position and posture detection substrate 60 may be switched periodically, or some coils on the same substrate may be used simultaneously for excitation and other detection.

The multiple degree of freedom movable arm 190 incorporates a motor (not shown) in the joint portion. These motors are controlled to be driven by the drive control device 86 by the control circuit 27G similarly to the movable units 180a and 180b described in the third embodiment.

Since the other structure and operation are the same, the description is omitted.

As a result, the position and posture detection device 9H of the present modification does not need to be infiltrated by the patient, which is very convenient and can reduce the size of the device.

The position detecting posture detecting substrate 60 provided on the multiple degree of freedom movable arm 190 may be one as shown in FIG. In this case, the position and posture detection board | substrate 60 is comprised by arrange | positioning the said coil 62 for excitation in the center of a board | substrate, and arrange | positioning the said coil 61 for a detection around this excitation coil 62. . In Fig. 38, the magnetic lines of force exit from the excitation coil 62 at the center of the substrate and return to the surrounding detection coil 61.

The position and posture detection substrate 60 generates an alternating magnetic field for the excitation coil 62 to generate an induction magnetic field with respect to the coil 42 in the capsule, and the capsule coil generated by the alternating magnetic field ( The detection coil 61 detects the induction magnetic field of 42. Here, the some coil 61 for a detection is arrange | positioned so that it may have a detection direction of substantially the same direction, and is arrange | positioned on the substantially same plane of the said position / posture detection board | substrate 601. FIG.

Accordingly, the multi-degree of freedom movable arm 190 includes magnetic field generating means for generating an alternating magnetic field for generating an induction magnetic field with respect to the coil 42 in the capsule, and the magnetic field of the induction magnetic field in which the coil 42 in the capsule is generated. Since the magnetic field detecting means for detecting the intensity and the two roles can be constituted by only one sheet of the position and posture detecting substrate 60, the control is simpler and more compact than when the two sheets are provided.

In addition, as shown in FIG. 39, the capsule body 3 may be configured to generate an induction magnetic field spontaneously in addition to generating an induction magnetic field by the alternating magnetic field of the excitation coil array 51.

In this case, the capsule main body 3 is provided with the resonant circuit 40B comprised by connecting the oscillator 55B to the coil 42 in a capsule instead of the capacitor | condenser 41. As shown in FIG. In addition, the oscillator 55B is configured to oscillate at an oscillation frequency, for example, 1 kHz to 1 MHz, in order to generate an alternating magnetic field necessary to induce the resonant circuits 40B to each other.

On the other hand, the position and posture detection device 9B is configured such that the detection coil array 52 (detection coil 61) detects a magnetic field spontaneously generated by the resonance circuit 40B of the capsule body 3B. And the capsule body 3B based on the signal measuring device 53 for measuring the signal detected by the detecting coil array 52 (the detecting coil 61) and the data measured by the signal measuring device 53. The calculation processing part 54 which calculates the orientation (direction) of the longitudinal direction of (), and also calculates a position is provided.

Here, the detecting coil array 52 for measuring the magnetic field (B detected by the [a detection coil 61 for] _'total) (vector) is the magnetic field B generated by the resonant circuit (40B)' _reso (Vector) By

[Equation 3]

to be.

In addition, since the magnetic field B ' _reso (vector) generated by the resonant circuit 40B is substantially the same as Expression 2 described in the first embodiment, it is omitted.

As a result, the arithmetic processing unit 54 for detecting the coil array (52) for detecting the coil (61)] _reso 'magnetic field (B caused by the _(total in the resonant circuit (40B) measuring the magnetic field B)' which is detected by the ), The position (x, y, z) of the capsule body 3B, the orientation (θ, φ) of the capsule body 3B, and the equivalent magnetic moment M can be calculated.

Therefore, the position and posture detection device 9B generates an alternating magnetic field for generating the induced electromotive force for the resonant circuit 40B since the capsule body 3B can spontaneously generate a magnetic field by the resonant circuit 40B. It does not require an excitation means, and further miniaturization is possible.

Moreover, embodiment etc. which are comprised, such as combining each above-mentioned embodiment etc. partially belong to this invention.

The capsule medical device position and posture detection system according to the embodiment of the present invention described above has an effect of accurately detecting the orientation and position of the capsule medical device body without affecting the rotating magnetic field that magnetically guides the capsule medical device body. Have

Claims (57)

A capsule medical device body inserted into the living body; A coil in the capsule installed in the capsule medical device main body to form a resonance circuit; Magnetic field generating means disposed around the living body to generate an alternating magnetic field for generating an induction magnetic field for the coil in the capsule; A capsule medical apparatus position and posture detection system, comprising a plurality of magnetic field detection means for detecting a magnetic field strength of an induced magnetic field generated by the coil in the capsule by the magnetic field generated by the magnetic field generation means. The capsule medical apparatus position / posture detection system according to claim 1, wherein the magnetic field generating means is a coil. The capsule medical apparatus position / posture detection system according to claim 1 or 2, wherein the magnetic field detecting means is a coil. The capsule medical apparatus position / posture detection system according to claim 1 or 2, wherein the magnetic field detection means is a magnetic sensor. The resonant circuit according to any one of claims 1 to 4, wherein the resonant circuit is constituted by a coil in the capsule, the resonant frequency of the resonant circuit is a self resonant frequency of the coil in the capsule, and the magnetic field generating means is generated. A capsule medical device position / posture detection system, wherein the frequency of the magnetic field is near the resonance frequency of the resonance circuit. The capsule according to any one of claims 1 to 4, wherein the resonant circuit is composed of a coil in the capsule and a condenser, wherein the frequency of the magnetic field generated by the magnetic field generating means is near the resonant frequency of the resonant circuit. Medical device position and posture detection system. The capsule medical apparatus position / posture detection system according to any one of claims 1 to 6, wherein the magnetic field detecting means is disposed in a housing having an opening through which the living body can be inserted. 8. A capsule medical device position / posture detection system according to claim 7, wherein said housing is substantially spherical in shape. 8. A capsule medical device position and posture detection system according to claim 7, wherein said housing has a substantially polyhedron shape. 10. A capsule medical device position posture detection system according to Claim 9, wherein said housing is approximately cuboid shaped. The capsule medical apparatus position / posture detection system according to claim 1, wherein the plurality of magnetic field detection means are arranged to have a detection direction in substantially the same direction. The capsule medical apparatus position / posture detection system according to claim 11, wherein the plurality of magnetic field detection means are arranged on substantially the same plane. The capsule medical apparatus according to claim 1, wherein the plurality of magnetic field detecting means are arranged such that at least one of the plurality of magnetic field detecting means has a detection direction different from that of other magnetic field detecting means. Detection system. The capsule medical apparatus position / posture detection system according to claim 13, wherein at least three magnetic field detection means are arranged, and the at least three magnetic field detection means have a detection direction that is substantially orthogonal to each other. The capsule medical apparatus position / posture detection system according to claim 1, further comprising at least two magnetic field generating means. The capsule medical apparatus position / posture detection system according to claim 15, wherein the at least two magnetic field generating means are arranged so as to generate magnetic fields in substantially the same direction, respectively, at a position where the at least two magnetic field generating means are arranged. 17. The capsule medical apparatus position / posture detection system according to claim 16, wherein said at least two magnetic field generating means are arranged on substantially the same plane. The magnetic field of the said first magnetic field generating means in the position in which the 1st magnetic field generating means is arrange | positioned among the said at least two magnetic field generating means, and the position where the said 2nd magnetic field generating means is arrange | positioned. The capsule medical apparatus position / posture detection system in which the said at least two magnetic field generating means are arrange | positioned so that the orientation of the magnetic field of the said 2nd magnetic field generating means may differ. 19. The capsule medical apparatus position and posture detection system according to claim 18, wherein at least three magnetic field generating means are disposed, and each magnetic field in a position where the at least three magnetic field generating means is disposed is substantially orthogonal to each other. . The capsule medical apparatus position / posture detection system according to claim 1, wherein at least one of the plurality of magnetic field detection means is disposed and unitized on a plate-shaped base made of a nonmagnetic material. The capsule medical apparatus position / posture detection system according to claim 20, wherein at least two magnetic field detection means are disposed on the base, and the at least two magnetic field detection means have a detection direction in substantially the same direction. The capsule medical apparatus position / posture detection system according to claim 21, wherein said at least two magnetic field detection means are arranged on substantially the same plane. The capsule medical apparatus position / posture detection system according to claim 20, wherein at least two magnetic field detection means are disposed on the base, and the at least two magnetic field detection means have different detection directions. The capsule medical apparatus position / posture detection system according to claim 23, wherein at least three magnetic field detection means are disposed on the base, and the at least three magnetic field detection means have a detection direction that is substantially orthogonal to each other. The capsule medical apparatus position / posture detection system according to claim 20, wherein at least one of the plurality of magnetic field detection means and the magnetic field generating means are disposed on the base and unitized. The capsule medical device position and posture detection according to claim 25, wherein the orientation of the magnetic field at the position where the magnetic field generating means arranged on the base is arranged and the detection direction of the at least one magnetic field detecting means are substantially the same direction. system. 27. The capsule medical apparatus position / posture detection system according to claim 26, wherein said magnetic field generating means and said at least one magnetic field detecting means arranged on said base are arranged on substantially the same plane. The capsule medical device position according to claim 26, wherein a central axis of symmetry of the magnetic field generating means having a symmetrical shape disposed on the base and a central axis of symmetry of the magnetic field detecting means having a symmetrical shape are disposed coaxially. Posture detection system. The capsule medical apparatus position / posture detection system according to claim 25, wherein at least two said magnetic field detection means are arranged on said base, and said at least two magnetic field detection means have different detection directions. The capsule medical apparatus position / posture detection system according to claim 29, wherein at least three magnetic field detection means are disposed on the base, and the at least three magnetic field detection means have a detection direction that is substantially orthogonal to each other. 21. The capsule medical device position and posture detection system according to claim 20, further comprising a frame for installing the base, wherein the frame is an induction device for guiding the orientation and / or position of the capsule medical device body from outside the body by a rotating magnetic field. . The capsule medical apparatus position / posture detection system according to claim 31, wherein the magnetic field generating means is arranged on a base on which the plurality of magnetic field detecting means are arranged and unitized. 32. The capsule medical apparatus position and posture detection system according to claim 31, wherein the frequency of the rotating magnetic field generated by the induction device is a different frequency from that of the resonant circuit. 32. A capsule medical apparatus position / posture detection system according to claim 31, wherein a plurality of said bases are provided. 35. The capsule medical device position and posture detection according to claim 34, wherein said frame has an opening through which said living body can be inserted, and at least three bases of said plurality of bases are arranged in different orientations on said frame. system. 36. A capsule medical apparatus position and posture detection system according to claim 35, wherein said frame has a chair on which said living body is seated. 36. A capsule medical device position and position detection system according to claim 35, wherein at least one of the bases is configured to be movable or detachable with respect to the frame. 36. The capsule medical apparatus position and posture detection system according to claim 35, wherein said frame has a substantially cuboid shape and said bases are arranged in different orientations on at least one of the surfaces serving as said openings of said frame, respectively. 36. The capsule medical device position and position detection system according to claim 35, wherein said base is disposed so as not to be parallel to any surface of said frame of said substantially cube. 36. A surface according to claim 35, wherein the normal direction of the surface serving as the opening portion of the frame of the substantially cuboidal shape and the detection direction of the magnetic field detecting means are substantially the same direction, except for the surface serving as the opening portion and the surface opposite to the opening portion. A capsule medical device position / posture detection system in which the magnetic field detecting means is disposed on a surface. 21. The capsule according to claim 20, wherein the base and the magnetic field generating means are arranged to face each other with a space between the capsule medical apparatuses interposed therebetween, and the capsule is configured to be movable in a state in which the base and the magnetic field generating means are opposed to each other. Medical device position and posture detection system. 42. The multi-freedom according to claim 41, wherein the base and the magnetic field generating means are installed in a movable and rotatable multi-degree of freedom movable device, and the multi-freedom is maximized so that a magnetic field detected by a specific one of the magnetic field detecting means arranged on the base is detected. A capsule medical device position and posture detection system comprising a control device for controlling the operation of a movable device. 42. The apparatus according to claim 41, further comprising: at least two movable devices provided with the base and the magnetic field generating means; The housing having an opening through which the living body is inserted and the movable device is movable; And a control device for controlling the operation of the movable device so that a magnetic field detected by a specific one of the magnetic field detection means arranged in the base is maximized. 21. The capsule medical apparatus position and posture detection system according to claim 20, wherein the base in which the magnetic field generating means is arranged and unitized is configured to be movable in a manner facing the space where the capsule medical apparatus exists. 45. The apparatus of claim 44, wherein the base is installed in a movable and rotatable multi-degree of freedom movable device, and the operation of the multi-degree of freedom movable device is such that a magnetic field detected by a specific one of the magnetic field detection means disposed in the base is maximized. A capsule medical device position and posture detection system having a control device for controlling the control. The movable device according to claim 44, wherein the base is provided; The housing having an opening through which the living body is inserted and the movable device is movable; And a control device for controlling the operation of the movable device so that a magnetic field detected by a specific one of the magnetic field detection means arranged in the base is maximized. The capsule medical device position and posture detection according to claim 1, further comprising: a frame for providing the magnetic field detecting means, wherein the frame is an induction device for guiding the orientation and / or position of the main body of the capsule medical device by a rotating magnetic field from outside the body. system. 48. The capsule medical apparatus position and posture detection system according to claim 47, wherein the frequency of the rotating magnetic field generated by said induction device is a different frequency from that of said resonant circuit. 48. The capsule medical apparatus position and posture detection system according to claim 47, wherein said frame has an opening through which said living body can be inserted, and at least three magnetic field detection means are arranged in said frame so as to be in different detection directions, respectively. The capsule medical device position / posture detection system according to claim 49, wherein the frame has a chair on which the living body is seated. The capsule medical apparatus position / posture detection system according to claim 49, wherein at least one of the magnetic field detection means is configured to be movable or detachable with respect to the frame. 50. The capsule medical apparatus according to claim 49, wherein the frame is substantially cube-shaped, and the at least three magnetic field detecting means are arranged to have different detection directions on the remaining surfaces except at least one of the surfaces serving as the openings of the frame. Device position and position detection system. The capsule medical apparatus position and posture detection system according to claim 49, wherein the frame has a substantially cube shape, and the magnetic field detecting means has a detection direction that is not parallel to a normal line of any surface of the frame having the substantially cube shape. 50. The magnetic field according to claim 49, wherein the normal direction of the surface serving as the opening and the detection direction of the magnetic field detecting means are substantially the same direction in addition to the surface serving as the opening and the surface opposite to the opening of the frame of the substantially cube. A capsule medical device position posture detection system in which a detection means is arranged. A capsule medical device body inserted into the living body; A coil in the capsule installed in the capsule medical device main body to form a resonance circuit; An oscillator installed in the capsule medical device body to oscillate the resonance circuit; A capsule medical apparatus position and posture detection system, disposed around the living body, comprising magnetic field detection means for detecting the intensity of a magnetic field generated by the coil in the capsule. The capsule medical device position and posture detection according to claim 55, further comprising: a frame for providing the magnetic field detecting means, wherein the frame is an induction device for guiding the orientation and / or position of the main body of the capsule medical device by a rotating magnetic field from outside the body. system. The capsule medical apparatus position / posture detection system according to claim 55 or 56, wherein the frequency of the rotating magnetic field generated by the induction apparatus and the resonance frequency of the resonant circuit are different from each other.

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