WO2005115219A1 - 位置関係検出装置および位置関係検出システム - Google Patents
位置関係検出装置および位置関係検出システム Download PDFInfo
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- WO2005115219A1 WO2005115219A1 PCT/JP2005/009381 JP2005009381W WO2005115219A1 WO 2005115219 A1 WO2005115219 A1 WO 2005115219A1 JP 2005009381 W JP2005009381 W JP 2005009381W WO 2005115219 A1 WO2005115219 A1 WO 2005115219A1
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- magnetic field
- coordinate axis
- target
- reference coordinate
- linear magnetic
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00025—Operational features of endoscopes characterised by power management
- A61B1/00027—Operational features of endoscopes characterised by power management characterised by power supply
- A61B1/00029—Operational features of endoscopes characterised by power management characterised by power supply externally powered, e.g. wireless
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
Definitions
- the present invention relates to a technique for detecting a positional relationship between a target coordinate axis fixed with respect to a detection target and a reference coordinate axis set irrespective of the motion of the detection target.
- capsule endoscopes In recent years, in the field of endoscopes, swallowable capsule endoscopes have been proposed. This capsule endoscope is provided with an imaging function and a wireless communication function. Capsule-type endoscopes are peristaltic in body cavities, for example, inside organs such as the stomach and small intestine, after they are swallowed from the subject's mouth for observation (examination) and before they are naturally excreted. And has the function of sequentially capturing images.
- image data captured inside the body by the capsule endoscope is sequentially transmitted to the outside by wireless communication, and is stored in a memory provided outside.
- a receiver equipped with a wireless communication function and a memory function the subject can freely act after swallowing the capsule endoscope until it is ejected.
- the doctor or nurse can display an image of the organ on a display based on the image data stored in the memory to make a diagnosis (for example, see Patent Reference 1).
- an object of the present invention is to enable a capsule endoscope to be driven for a long time even after being introduced into a subject.
- a configuration in which power is supplied using a wireless signal from an external device is also proposed.
- the capsule endoscope needs to adopt a lightweight and compact structure because it is introduced into the subject, the built-in battery has to be compact and lightweight. It is difficult to incorporate a battery having a capacity necessary for long-time operation.
- the capsule endoscope is further provided with a battery or the like having a charging function and a receiving mechanism such as a receiving antenna for receiving a wireless signal from the outside. Then, the capsule endoscope receives a wireless signal transmitted from the outside, reproduces power, and drives the capsule endoscope. We use it as dynamic power.
- a large configuration it is not necessary to incorporate a large-capacity battery in the capsule endoscope, and it is possible to realize a capsule endoscope that operates for a long time inside the subject. is there.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-19111
- the conventional capsule endoscope system has a problem that a wireless signal from the outside cannot be efficiently transmitted to the capsule endoscope.
- a wireless signal from the outside cannot be efficiently transmitted to the capsule endoscope.
- the receiving antenna provided in the capsule endoscope is fixedly arranged with respect to the capsule endoscope, in other words, the capsule type endoscope. It is arranged at a predetermined position on a coordinate axis fixed to the endoscope (hereinafter, referred to as “target coordinate axis”).
- target coordinate axis a coordinate axis fixed to the endoscope
- the capsule endoscope changes the traveling direction along the passage path while rotating around the traveling direction in the subject due to friction between the inner wall of the organs constituting the passage path and the like. It will move while moving.
- an external coordinate axis for example, a coordinate axis fixed to the outer surface of the subject (hereinafter referred to as a "reference coordinate axis") and a target coordinate axis fixed to the capsule endoscope
- the positional relationship between them fluctuates irregularly with the movement of the capsule endoscope. Therefore, the direction in which the receiving antenna fixed on the target coordinate axis can receive the radio signal most efficiently varies irregularly when viewed from the reference coordinate axis, and the position with the transmitting antenna fixed on the reference coordinate axis is irregular.
- the present invention has been made in view of the above, and has been made in consideration of a detection object such as a capsule endoscope.
- An object of the present invention is to realize a technique for deriving a positional relationship between a target coordinate axis fixed with respect to a reference coordinate axis and a reference coordinate axis set irrespective of movement of a detection target.
- a positional relationship detection device for detecting a positional relationship between a reference coordinate axis and a set reference coordinate axis, wherein a positional relationship between a traveling direction of the first linear magnetic field having a predetermined traveling direction on the target coordinate axis and a traveling direction on the reference coordinate axis is provided.
- the position of the target coordinate axis relative to the reference coordinate axis is determined. And an azimuth deriving means for deriving an azimuth.
- the positional relationship detection device is arranged at a predetermined position on the reference coordinate axis, and configured to form the first linear magnetic field.
- a second linear magnetic field forming unit arranged at a predetermined position on the reference coordinate axis to form the second linear magnetic field, wherein the azimuth deriving unit is configured to detect the target detected by the detection target. Deriving the azimuth based on the traveling directions of the first and second linear magnetic fields on the coordinate axis and the traveling directions of the first and second linear magnetic fields on the predetermined reference coordinate axis.
- the first linear magnetic field is formed by geomagnetism, is disposed at a predetermined position on the reference coordinate axis, and A second linear magnetic field forming unit that forms a magnetic field; and a magnetic field sensor unit that detects a traveling direction of the first linear magnetic field on the reference coordinate axis, wherein the azimuth guiding unit is detected by the magnetic field sensor unit.
- the direction is derived based on the direction of travel of the second linear magnetic field.
- the positional relationship detecting device is characterized in that, Based on the traveling direction of the diffused magnetic field having position dependence with respect to the direction at the location of the detection target and the azimuth formed by the target coordinate axis with respect to the reference coordinate axis, derived by the azimuth deriving means! And a position deriving means for deriving a position of an origin of the target coordinate axis with respect to the reference coordinate axis.
- the positional relationship detection device is characterized in that, in the above invention, the second linear magnetic field has such a characteristic that the magnetic field intensity is attenuated according to a distance from the second linear magnetic field forming means.
- the position deriving means derives a distance between the second linear magnetic field forming means and the detection target according to the magnetic field strength of the second linear magnetic field at the position of the detection target, and derives the derived distance. Is further used to derive the position of the origin of the target coordinate axis with respect to the reference coordinate axis.
- the positional relationship detection system detects a positional relationship between a detection target on which a predetermined target coordinate axis is set and a reference coordinate axis set irrespective of the motion of the detection target.
- a positional relationship detection device comprising: a magnetic field sensor configured to detect a magnetic field formed in a region where the detected object exists; and a magnetic field sensor configured to detect a magnetic field formed in a region where the detected object exists.
- Wireless signal transmitting means for transmitting a wireless signal including information on a magnetic field
- the positional relationship detecting device comprises: a magnetic field forming means for forming a magnetic field in a region where the detection target exists; and a radio signal transmitted from the detection target.
- Orientation deriving means for deriving an orientation formed by the target coordinate axis with respect to the reference coordinate axis based on
- the magnetic field forming means is arranged at a predetermined position on the reference coordinate axis and has a first straight line having a predetermined traveling direction.
- the deriving means includes a correspondence relationship between a traveling direction of the first linear magnetic field on the target coordinate axis and a traveling direction on the reference coordinate axis, and a traveling direction of the second linear magnetic field on the target coordinate axis and the traveling direction on the reference coordinate axis.
- the magnetic field forming means further includes a diffused magnetic field forming means for forming a diffused magnetic field having position dependence with respect to a traveling direction.
- the positional relationship detection device further comprises position deriving means for deriving the position of the origin of the target coordinate axis on the reference coordinate axis using position dependence of the traveling direction of the diffusion magnetic field. .
- the positional relationship detection device and the positional relationship detection system according to the present invention are configured to include azimuth deriving means for deriving the azimuth of the target coordinate axis with respect to the reference coordinate axis based on the correspondence relationship between the traveling directions of the plurality of linear magnetic fields.
- the positional relationship detection device and the positional relationship detection system derive the position of the origin of the target coordinate axis with respect to the reference coordinate axis based on the detection result of a diffused magnetic field having position dependency with respect to the traveling direction.
- the position of the origin of the target coordinate axis with respect to the reference coordinate axis can be detected even if the origin of the target coordinate axis moves with the movement of the detection target. Play.
- FIG. 1 is a schematic diagram showing an overall configuration of a positional relationship detection system according to a first embodiment.
- FIG. 2 is a block diagram showing a configuration of a capsule endoscope provided in the positional relationship detection system.
- FIG. 3 is a schematic diagram showing a configuration of a second linear magnetic field forming unit and a diffusion magnetic field forming unit provided in the positional relationship detection system.
- FIG. 4 is a block diagram showing a configuration of a processing device provided in the positional relationship detection system.
- FIG. 5 is a schematic diagram showing a traveling direction of a first linear magnetic field formed by a first linear magnetic field forming unit provided in the positional relationship detection system.
- FIG. 6 shows the traveling direction of the second linear magnetic field formed by the second linear magnetic field forming section.
- FIG. 7 is a schematic diagram showing a traveling direction of a diffusion magnetic field formed by a diffusion magnetic field forming unit.
- FIG. 8 is a schematic diagram for explaining an azimuth detection mechanism of a target coordinate axis with respect to a reference coordinate axis, which is detected by a positional relationship detection system.
- FIG. 9 is a schematic diagram for explaining a mechanism for detecting the position of the origin of the target coordinate axis with respect to the reference coordinate axis, which is detected by the positional relationship detection system.
- FIG. 10 is a schematic diagram for explaining a mechanism for detecting the position of the origin of the target coordinate axis with respect to the reference coordinate axis, which is detected by the positional relationship detection system.
- FIG. 11 is a schematic diagram showing an overall configuration of a positional relationship detection system according to a second embodiment.
- FIG. 12 is a block diagram showing a configuration of a processing device provided in the positional relationship detection system according to the second embodiment.
- Amplifier circuit 47 Transmit antenna selection section
- FIG. 1 is a schematic diagram illustrating an overall configuration of the positional relationship detection system according to the first embodiment.
- the positional relationship detection system according to the first embodiment includes a capsule endoscope 2 which is introduced into the subject 1 and moves along a passage route, and a capsule endoscope 2 Wireless communication with the capsule endoscope 2 and a positional relationship detecting device 3 for detecting a positional relationship between a target coordinate axis fixed to the capsule endoscope 2 and a reference coordinate axis fixed to the subject 1.
- Display device 4 that displays the content of the wireless signal transmitted from the capsule endoscope 2 and received by the positional relationship detecting device 3, and information transfer between the positional relationship detecting device 3 and the display device 4.
- a portable recording medium 5 for performing the following.
- a target coordinate axis formed by the X axis, the Y axis, and the Z axis and fixed to the capsule endoscope 2, and an X axis
- the y-axis and the z-axis which are defined independently of the movement of the capsule endoscope 2, and specifically set a reference coordinate axis which is a coordinate axis fixed to the subject 1.
- the positional relationship of the target coordinate axis with respect to the reference coordinate axis is detected using a structure.
- the display device 4 is for displaying an in-vivo image or the like captured by the capsule endoscope 2 and received by the positional relationship detection device 3, and is displayed on the portable recording medium 5. Therefore, it has a configuration such as a workstation that performs image display based on the obtained data. Specifically, the display device 4 may be configured to directly display an image or the like on a CRT display, a liquid crystal display, or the like, or may be configured to output an image or the like to another medium such as a printer.
- the portable recording medium 5 is detachable from the processing device 12 and the display device 4, which will be described later, and has a structure capable of outputting and recording information when inserted into both. Specifically, the portable recording medium 5 is inserted into the processing device 12 while the capsule endoscope 2 is moving inside the body cavity of the subject 1, and the target coordinate axis with respect to the image in the subject and the reference coordinate axis. Is stored. Then, after the capsule endoscope 2 is ejected from the subject 1, the capsule endoscope 2 is taken out of the processing device 12, inserted into the display device 4, and the recorded data is read out by the display device 4.
- the communication between the processing device 12 and the display device 4 is performed. Unlike the case where the wired connection is made, the subject 1 can freely move even when the capsule endoscope 2 is moving inside the subject 1.
- the capsule endoscope 2 functions as an example of a detection target in the claims. Specifically, the capsule endoscope 2 is introduced inside the subject 1, acquires the in-subject information while moving inside the subject 1, and transmits a radio signal including the acquired in-subject information to the outside. Has the function of transmitting to Further, the capsule endoscope 2 has a magnetic field detection function for detecting a positional relationship described later and has a configuration in which driving power is supplied from the outside, and specifically, the capsule endoscope 2 is transmitted from the outside. A function of receiving a wireless signal and reproducing the received wireless signal as driving power;
- FIG. 2 is a block diagram showing a configuration of the capsule endoscope 2.
- the forceps endoscope 2 has a mechanism for acquiring in-subject information, an in-subject information acquiring unit 14 for acquiring in-subject information, and an acquired in-subject information. Perform predetermined processing on A signal processing unit 15;
- the capsule endoscope 2 includes a magnetic field sensor 16 that detects a magnetic field as a magnetic field detection mechanism and outputs an electric signal corresponding to the detected magnetic field, an amplification unit 17 for amplifying the output electric signal, and an amplification unit 17.
- An AZD converter 18 for converting an electric signal output from the unit 17 into a digital signal.
- the in-subject information acquiring unit 14 is for acquiring in-subject information, in the first embodiment, an in-subject image which is image data of the inside of the subject.
- the in-vivo information acquiring unit 14 includes an LED 22 functioning as an illumination unit, an LED drive circuit 23 that controls the driving of the LED 22, and an image capturing at least a part of an area illuminated by the LED 22.
- the CCD 24 includes a CCD 24 that functions as a unit, and a CCD drive circuit 25 that controls the driving state of the CCD 24.
- a CMOS or the like may be used as the imaging unit.
- the magnetic field sensor 16 is for detecting the azimuth and intensity of the magnetic field formed in the region where the capsule endoscope 2 is present.
- the magnetic field sensor 16 is formed using, for example, an MI (Magneto Impedance) sensor.
- the Ml sensor has a configuration using, for example, an FeCoSiB-based amorphous wire as a magneto-sensitive medium, and when a high-frequency current is applied to the magneto-sensitive medium, the magnetic impedance of the magneto-sensitive medium changes significantly due to an external magnetic field.
- the magnetic field intensity is detected using the Ml effect.
- the magnetic field sensor 16 may be configured using, for example, an MRE (magnetoresistive effect) element, a GMR (giant magnetoresistance effect) magnetic sensor, or the like, in addition to the Ml sensor.
- target coordinate axes defined by the X, Y, and Z axes are assumed as the coordinate axes of the capsule endoscope 2 to be detected. are doing.
- the magnetic field sensor 16 detects the magnetic field strength of the X-direction component, the Y-direction component, and the Z-direction component of the magnetic field formed in the region where the capsule endoscope 2 is located, corresponding to the target coordinate axis to be pressed, It has the function of outputting electrical signals corresponding to the magnetic field strength in each direction.
- the capsule endoscope 2 includes a transmission circuit 26 and a transmission antenna 27, and a radio transmission unit 19 for performing radio transmission to the outside, and a signal output to the radio transmission unit 19. And a switching unit 20 for appropriately switching between a signal output from the signal processing unit 15 and a signal output from the AZD conversion unit 18.
- the capsule endoscope 2 includes a timing generation unit 21 for synchronizing the drive timings of the in-subject information acquisition unit 14 , the signal processing unit 15, and the switching unit 20.
- the capsule endoscope 2 includes, as a mechanism for receiving a radio signal for supplying an external force, a receiving antenna 28, and a radio signal power received through the receiving antenna 28.
- a power regeneration circuit 29 for regenerating power, a booster circuit 30 for boosting the voltage of the power signal output from the power regeneration circuit 29, and a power signal changed to a predetermined voltage by the booster circuit 30 are stored.
- the receiving antenna 28 is formed using, for example, a loop antenna.
- a loop antenna is fixed at a predetermined position in the capsule endoscope 2, and specifically has a predetermined position and a pointing direction on a target coordinate axis fixed to the capsule endoscope 2. It is arranged as follows.
- the positional relationship detection device 3 supplies power to the reception antennas 7a to 7d for receiving a radio signal transmitted from the capsule endoscope 2, and to the capsule endoscope 2. Transmitting antennas 8a to 8d for transmitting wireless signals for transmission, a first linear magnetic field forming unit 9 for forming a first linear magnetic field, a second linear magnetic field forming unit 10 for forming a second linear magnetic field,
- the apparatus includes a diffused magnetic field forming unit 11 that forms a diffused magnetic field, and a processing device 12 that performs predetermined processing on radio signals and the like received via the receiving antennas 7a to 7d.
- the receiving antennas 7a to 7d are for receiving a radio signal transmitted from the radio transmission unit 19 provided in the capsule endoscope 2. Specifically, the receiving antennas 7a to 7d are formed by loop antennas and the like, and have a function of transmitting the received radio signal to the processing device 12.
- the transmission antennas 8a to 8d are for transmitting a radio signal generated by the processing device 12 to the capsule endoscope 2. Specifically, the transmitting antennas 8a to 8d And a loop antenna or the like electrically connected to the processing device 12.
- FIG. 1 schematically shows these components only, and the number of receiving antennas 7a to 7d is not limited to the number shown in FIG.
- the shape and the like are not limited to those shown in FIG. 1, and any configuration can be adopted.
- the first linear magnetic field forming section 9 is for forming a linear magnetic field in a predetermined direction in the subject 1.
- the “linear magnetic field” refers to a magnetic field component force in substantially only one direction at least in a predetermined space region, in the first embodiment, in a space region where the capsule endoscope 2 inside the subject 1 can be located. It means a magnetic field.
- the first linear magnetic field forming unit 9 includes a coil formed so as to cover the body of the subject 1 and a current that supplies a predetermined current to the coil.
- a coil (not shown), and has a function of forming a linear magnetic field in a spatial region inside the subject 1 by passing a predetermined current through the coil.
- any direction may be selected as the traveling direction of the first linear magnetic field, but in the first embodiment, the first linear magnetic field is determined by z in the reference coordinate axis fixed to the subject 1. It is assumed that the linear magnetic field proceeds in the axial direction.
- the second linear magnetic field forming unit 10 is for forming a second linear magnetic field that is a linear magnetic field that travels in a direction different from the first linear magnetic field. Further, the diffusion magnetic field forming unit 11 is different from the first linear magnetic field forming unit 9 and the second linear magnetic field forming unit 10 in that the diffusion magnetic field has a position-dependent magnetic field direction. This is to form a magnetic field that diffuses as the distance increases.
- the first linear magnetic field generator 9, the second linear magnetic field generator 10, and the diffused magnetic field generator 11 generate magnetic fields at different times. That is, in the first embodiment, the first linear magnetic field forming unit 9 and the like are configured to form a magnetic field in a predetermined order instead of forming a magnetic field at the same time, and the magnetic field provided in the capsule endoscope 2
- the sensor 16 detects the first linear magnetic field, the second linear magnetic field, and the diffusion magnetic field separately and independently.
- FIG. 3 is a schematic diagram showing a specific configuration of the second linear magnetic field generator 10 and the diffusion magnetic field generator 11. As shown in FIG.
- the second linear magnetic field generator 10 extends in the y-axis direction on the reference coordinate axis, and has a coil 32 formed so that the coil cross section is parallel to the xz plane. And a current source 33 for performing Further, the diffusion magnetic field forming unit 11 includes a coil 34 and a current source 35 for supplying a current to the coil 34.
- the coil 32 is arranged so as to form a magnetic field having a traveling direction in the direction determined in advance, and in the case of the first embodiment, the linear magnetic field formed by the coil 32 advances. They are arranged so that the row direction is the y-axis direction on the reference coordinate axis. Further, the coil 34 is fixed at a position where the same magnetic field direction as the magnetic field direction stored in the magnetic field direction database 42 described later is formed.
- the processing device 12 has a function of performing wireless communication with the capsule endoscope 2, and detects a direction, a position, and the like of the capsule endoscope 2 based on a received wireless signal, that is, It has a function of deriving a positional relationship between a target coordinate axis fixed to the capsule endoscope 2 and a reference coordinate axis fixed to the subject 1.
- FIG. 4 is a block diagram showing a specific configuration of the processing device 12.
- the processing device 12 first has a mechanism for extracting in-vivo image data from a wireless signal transmitted from the capsule endoscope 2.
- the processing device 12 includes a reception antenna selection unit 37 that selects an antenna suitable for receiving a radio signal from a plurality of reception antennas 7a to 7d, and a reception antenna selected by the reception antenna selection unit 37.
- a receiving circuit 38 that performs processing such as demodulation on a radio signal received via the antenna 7, and a signal for extracting information on a detected magnetic field, an in-vivo image, and the like from the processed radio signal.
- a processing unit 39 is a block diagram showing a specific configuration of the processing device 12.
- the processing device 12 first has a mechanism for extracting in-vivo image data from a wireless signal transmitted from the capsule endoscope 2.
- the processing device 12 includes a reception antenna selection unit 37 that selects an antenna suitable for receiving a radio signal from a plurality of reception antennas 7a
- the processing device 12 is fixed to the subject 1 using the detection result of the magnetic field formed in the region where the capsule endoscope 2 exists, transmitted from the capsule endoscope 2.
- the processing device 12 includes an azimuth deriving unit 40 that derives an azimuth formed by the target coordinate axis with respect to the reference coordinate axis based on the magnetic field signals Sl and S2 output from the signal processing unit 39, and an azimuth deriving unit 40.
- a position deriving unit 41 that derives the position of the origin of the target coordinate axis with respect to the reference coordinate axis using the output direction information on the direction of the target coordinate axis and the magnetic field signals S2 and S3 output from the signal processing unit 39, and a position deriving unit
- a magnetic field direction database 42 for storing information on magnetic field directions used in the arithmetic processing in 41.
- the processing device 12 includes a storage unit 43 for storing the extracted in-vivo image and the positional relationship between the target coordinate axis and the reference coordinate axis.
- the storage unit 43 has a function of writing information to the portable recording medium 5 shown in FIG.
- the processing device 12 has a mechanism for transmitting a wireless signal to the capsule endoscope 2.
- the processing device 12 includes an oscillator 44 that regulates the frequency of the radio signal to be transmitted, an amplification circuit 46 that amplifies the intensity of the radio signal output from the oscillator 44, and a transmission antenna that is used to transmit the radio signal.
- the processing device 12 includes a selection control unit 48 that controls the antenna selection operation of the reception antenna selection unit 37 and the transmission antenna selection unit 47 based on the derivation results of the azimuth derivation unit 40 and the position derivation unit 41. .
- the selection control unit 48 is specifically configured based on the azimuth of the target coordinate axis derived by the azimuth deriving unit 40 and the position of the origin of the target coordinate axis derived by the position deriving unit 41.
- the directional directions and positions of the transmitting antenna 27 and the receiving antenna 28 provided in 2 on the reference coordinate axis are derived.
- the transmission antenna selection unit 47 selects the transmission antenna 8 and the reception antenna 7 that can transmit or receive the radio signal most efficiently, and switches to the selected antenna. And a function of instructing the receiving antenna selecting unit 37.
- the processing apparatus 12 includes a power supply unit 49 for supplying drive power for each component.
- the processing device 12 is configured by these components, and the processing device 12 is configured to perform the function of each component in the subject that is imaged by the capsule endoscope 2. Not only does it have a function of acquiring an image and transmitting a wireless signal reproduced as driving power for the capsule endoscope 2, but also has a target coordinate axis with respect to a reference coordinate axis based on a magnetic field detected by the capsule endoscope 2. Is derived.
- FIG. 5 is a schematic diagram showing the first linear magnetic field formed by the first linear magnetic field forming unit 9.
- the coil forming the first linear magnetic field forming section 9 is formed so as to include the torso of the subject 1 therein, and has a configuration extending in the z-axis direction on the reference coordinate axis.
- the first linear magnetic field formed inside the subject 1 by the first linear magnetic field forming unit 9 is formed with magnetic lines of force traveling in the z-axis direction on the reference coordinate axis. Accordingly, the first linear magnetic field formed by the first linear magnetic field forming unit 9 can be used as an index indicating the direction of the z-axis in the reference coordinate axis inside the subject 1, and the capsule endoscope 2 can be used.
- the z-axis direction in the target coordinate axis is detected as described later.
- FIG. 6 is a schematic diagram illustrating a second linear magnetic field formed by the second linear magnetic field forming unit 10.
- the second linear magnetic field forming unit 10 since the second linear magnetic field forming unit 10 has a configuration extending in the y-axis direction on the reference coordinate axis, the formed second linear magnetic field has a traveling direction of the magnetic force lines of y as shown in FIG. The magnetic field is parallel to the axial direction. Further, unlike the first linear magnetic field forming unit 9, the second linear magnetic field forming unit 10 has a configuration in which the coil 32 is arranged outside the subject 1, so that the second linear magnetic field is generated inside the subject 1 The magnetic field strength gradually decreases as the distance from the second linear magnetic field generator 10 increases.
- the second linear magnetic field has a strong characteristic
- the y-axis direction in the target coordinate axis is detected similarly to the first linear magnetic field, and the second linear magnetic field is detected based on the magnetic field strength.
- the distance between the linear magnetic field generator 10 and the capsule endoscope 2 will be derived.
- FIG. 7 is a schematic diagram illustrating a diffusion magnetic field formed by the diffusion magnetic field forming unit 11.
- the coil 34 provided in the diffused magnetic field forming unit 11
- the magnetic field formed by the coil 34 has a radial magnetic field line. It is formed so as to diffuse and enter the coil 34 again.
- the diffused magnetic field is used to derive the position of the origin of the target coordinate axis on the reference coordinate axis, as described later.
- FIG. 8 is a schematic diagram showing the relationship between the reference coordinate axis and the target coordinate axis when the capsule endoscope 2 is moving in the subject 1.
- the capsule endoscope 2 rotates by a predetermined angle about the traveling direction while traveling inside the subject 1 along the passage path. Therefore, the target coordinate axis fixed with respect to the capsule endoscope 2 is shifted from the reference coordinate axis fixed with the subject 1 as shown in FIG.
- the first linear magnetic field generator 9 and the second linear magnetic field generator 10 each have a configuration fixed to the subject 1.
- the first and second linear magnetic fields formed by the first linear magnetic field forming unit 9 and the second linear magnetic field forming unit 10, respectively have a fixed direction with respect to the reference coordinate axis, specifically, the first linear magnetic field. Is in the z-axis direction on the reference coordinate axis, and the second linear magnetic field is in the y-axis direction. Therefore, the traveling directions of the first and second linear magnetic fields on the target coordinate axis correspond to the z-axis direction and the y-axis direction of the reference coordinate axis, respectively. It is used to derive the azimuth of the target coordinate axis with respect to the reference coordinate axis.
- the azimuth derivation is performed as follows. First, the traveling directions of the first linear magnetic field and the second linear magnetic field supplied in a time-sharing manner are detected by the magnetic field sensor 16 provided in the capsule endoscope 2. As described above, the magnetic field sensor 16 corresponds to the capsule endoscope 2. The sensor is arranged so as to be fixed in a fixed manner, and is configured to detect magnetic field components in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, provided inside the sensor. Accordingly, the traveling directions of the first and second linear magnetic fields on the target coordinate axes are detected by the magnetic field sensor 16, and the detection results are transmitted to the positional relationship detection device 3 via the wireless transmission unit 19. You.
- the positional relationship detection device 3 receives a radio signal via the reception antennas 7a to 7d, and performs a predetermined process on the radio signal received by each of the reception circuit 38 and the signal processing unit 39.
- the signal processing unit 39 outputs the magnetic field signals Sl and S2 to the azimuth deriving unit 40 as shown in FIG.
- the magnetic field signal S1 reflects the detection result of the first linear magnetic field
- the magnetic field signal S2 reflects the detection result of the second linear magnetic field.
- the magnetic field signal S1 includes information about the coordinates (X, Y, Z) as the traveling direction of the first linear magnetic field
- the magnetic field signal S2 includes the traveling direction of the second linear magnetic field.
- the direction will include information about the coordinates (X, Y, Z).
- the azimuth deriving unit 40 receives the input of the strong magnetic field signals Sl and S2 and derives the azimuth of the target coordinate axis with respect to the reference coordinate axis. That is, as described above, the traveling direction of the first linear magnetic field corresponding to the z-axis direction on the reference coordinate axis is (X, Y, Z) on the target coordinate axis.
- the azimuth deriving unit 40 displays the target coordinate axes on the basis of the strong correspondence.
- the azimuth deriving unit 40 determines that the value of the inner product for both (X, Y, Z) and (X, Y, Z) is 0 on the target coordinate axis.
- the coordinates (X, Y, Z) are grasped as corresponding to the direction of the Z axis in the reference coordinate axis.
- the azimuth deriving unit 40 knows the directions on the target coordinate axes with respect to the X axis, the y axis, and the z axis.
- the azimuth derivation may be completed only by grasping a strong correspondence, but in the first embodiment, the azimuth of the target coordinate axis with respect to the reference coordinate axis is derived.
- the azimuth deriving unit 40 performs a predetermined coordinate conversion process based on the above-described correspondence, and determines the X-axis, the Y-axis, and the Z-axis of the target coordinate axes in the reference coordinate axes. Derive the coordinates, It is to be output as direction information.
- the positional relationship detection system performs the derivation of not only the azimuth of the target coordinate axis but also the position of the origin of the target coordinate axis. Will be explained.
- the position deriving unit 41 has a configuration in which the magnetic field signals S2 and S3 are input from the signal processing unit 39, and the azimuth information is input from the azimuth deriving unit 40. Further, the position deriving unit 41 has a configuration in which information stored in the magnetic field direction database 42 is input as needed.
- the magnetic field signal S2 is, as described above, the coordinates on the target coordinate axis indicating the traveling direction of the second linear magnetic field detected by the magnetic field sensor 16, and in the example of FIG. 8, the coordinates (X, Y, Z) are used as information.
- the magnetic field signal S3 is generated by the magnetic field sensor 16.
- the azimuth information input from the azimuth deriving unit 40 is, specifically, information indicating the directions of the target coordinate axes on the X-axis, Y-axis, and Z-axis on the reference coordinate axes.
- the information describes the relationship between the position on the area and the traveling direction of the diffusion magnetic field in an area separated by a distance!: From the coil 32 provided in the second linear magnetic field forming unit 10.
- the position deriving unit 41 first derives a distance!: Between the capsule endoscope 2 and the second linear magnetic field forming unit 10 based on the magnetic field signal S2 among these pieces of information. As described above, since the coil 32 provided in the second linear magnetic field forming unit 10 has a configuration arranged outside the subject 1, the intensity of the second linear magnetic field inside the subject 1 is At a distance from 32 And the distance from the coil 32 has a correlation with the magnetic field strength. For this reason, the position deriving unit 41 derives the detection strength of the second linear magnetic field at the position of the capsule endoscope 2 based on the magnetic field signal S2, and forms the second linear magnetic field formation based on the derived magnetic field strength.
- the distance r between the part 10 (accurately, the coil 32) and the capsule endoscope 2 is derived.
- the origin of the target coordinate axis fixed to the capsule endoscope 2 is formed by a set of points whose distance from the second linear magnetic field forming unit 10 is r. It is evident that it is located on the curved surface 51.
- the position deriving unit 41 derives the position of the origin of the target coordinate axis on the curved surface 51.
- the position deriving unit 41 calculates the diffusion magnetic field in the region where the capsule endoscope 2 exists. Deriving the traveling direction. That is, the magnetic field signal S3 reflects the detection result of the diffused magnetic field by the magnetic field sensor 16, and includes information on the traveling direction of the diffused magnetic field on the target coordinate axis.
- the position deriving unit 41 extracts the traveling direction of the diffused magnetic field on the target coordinate axis from the magnetic field signal S3, and performs coordinate transformation on the traveling direction of the diffused magnetic field based on the azimuth information, thereby obtaining the capsule endoscope.
- the traveling direction of the diffusion magnetic field on the reference coordinate axis at the position where the mirror 2 exists is derived.
- the position deriving unit 41 refers to the information stored in the magnetic field direction database 42 based on the derived traveling direction of the diffused magnetic field to derive the position of the origin of the target coordinate axis on the curved surface 51.
- FIG. 10 is a schematic diagram visually displaying information stored in the magnetic field direction bearing database 42.
- the diffused magnetic field formed by the diffused magnetic field forming unit 11 has position dependence with respect to the traveling direction unlike the linear magnetic field, and the traveling direction of the diffused magnetic field on the curved surface 51 is also different from the curved surface 51. Each location above will be different.
- the position deriving unit 41 derives it based on the magnetic field signal S3 and the like.
- the position of the origin of the target coordinate axis, which is fixed to the capsule endoscope 2, on the reference coordinate axis is derived by referring to the magnetic field line direction database 42 based on the traveling direction of the diffused magnetic field. Then, it outputs position information on the derived position.
- the target coordinate axis with respect to the reference coordinate axis is After the detection of the positional relationship is completed, the direction information derived by the direction deriving unit 40 and the position information derived by the position deriving unit 41 are output to the storage unit 43. Along with the image signal S4 corresponding to the image, the azimuth information and the position information are recorded on the portable recording medium 5 in a form associated with the image signal S4.
- the selection control unit 48 selects the receiving antenna 7 and the transmitting antenna 8 based on the detected positional relationship. And Hereinafter, the control operation of the selection control unit 48 will be described by taking the selection of the reception antenna 7 using the reception antenna selection unit 37 as an example.
- the selection control unit 48 stores in advance the position on the target coordinate axis and the pointing direction of the transmitting antenna 27 provided in the capsule endoscope 2, and also obtains the azimuth information and the directional information from the azimuth deriving unit 40 and the position deriving unit 41, respectively. It has a configuration in which position information is input.
- the selection control unit 48 converts the position and the pointing direction of the transmitting antenna 27 on the target coordinate axis into values on the reference coordinate axis based on the input azimuth information and position information, and transmits the transmitting antenna 27 on the reference coordinate axis. Know the 27 positions and pointing directions. After that, the selection control unit 48 determines the reception antenna 7 most suitable for receiving the radio signal transmitted from the transmission antenna 27 from among the reception antennas 7a to 7h based on the grasped position and directional direction of the transmission antenna 27. It extracts and sends an instruction to the receiving antenna selection unit 37 to select the strong receiving antenna 7. The receiving antenna selecting unit 37 selects a predetermined receiving antenna 7 based on the strong instruction, and the reception of the radio signal is started via the selected receiving antenna 7.
- the powerful selection mechanism is the same as for the selection of the transmitting antenna 8. That is, when the transmission antenna 8 is selected, the selection control unit 48 determines the position and the directional direction of the reception antenna 28 provided in the capsule endoscope 2 stored in the capsule endoscope 2 on the target coordinate axis, the input azimuth information and The position of the receiving antenna 28 on the reference coordinate axis is derived based on the position information. Then, based on the derived result, the most suitable transmitting antenna 8 for radio transmission to the receiving antenna 28 is extracted, and an instruction corresponding to the extracted result is output to the transmitting antenna selecting unit 47, whereby the transmitting antenna 8 You are making a selection. Next, advantages of the positional relationship detection system according to the first embodiment will be described.
- the positional relationship detection system detects the magnetic field formed by the first linear magnetic field forming unit 9 and the like using the magnetic field sensor 16 provided in the capsule endoscope 2 and generates a detection result. Based on this, the positional relationship between the target coordinate axis and the reference coordinate axis is derived. Theoretically, a magnetic field is formed by the mechanism inside the capsule endoscope 2, and it is possible to derive the positional relationship based on the magnetic field detected by a magnetic field sensor provided outside. By adopting a configuration in which the magnetic field formed by the mechanism is detected by the magnetic field sensor 16, there is an advantage that the configuration of the capsule endoscope 2 can be simplified.
- the magnetic field is formed by the mechanism inside the capsule endoscope 2, it is possible to prevent the strong magnetic field formed by the magnetic field forming mechanism from affecting the operation of the wireless transmission unit 19 and the like. Therefore, it is necessary to provide a magnetic field shielding mechanism or the like for performing the operation.
- the magnetic field is formed by a mechanism such as the first linear magnetic field forming unit 9 provided outside the capsule endoscope 2, so that the capsule endoscope 2
- the possibility that the operation of the components such as the wireless transmission unit 19 provided in the device will be adversely affected by the magnetic field can be substantially ignored, and there is no need to separately provide components such as the magnetic field shielding mechanism. Therefore, by adopting a configuration in which a magnetic field is formed by an external mechanism, the configuration of the capsule endoscope 2 can be simplified.
- the positional relationship detection system derives the positional relationship based on the traveling directions of the plurality of linear magnetic fields in both the reference coordinate axis and the target coordinate axis. For example, if the configuration is such that the azimuth of the target coordinate axis is derived using a single linear magnetic field, it is difficult to uniquely determine the azimuth of the target coordinate axis.However, as is clear from the above description, multiple linear By adopting a configuration for performing azimuth detection using a magnetic field, it is possible to accurately detect the azimuth of the target coordinate axis.
- the position of the origin of the target coordinate axis is derived using the position dependence of the diffusion magnetic field in the direction of the magnetic field travel.
- a configuration for deriving the position of the origin for example, it has a function of forming a magnetic field that attenuates according to the distance, and by providing a plurality of, for example, three magnetic field forming sources fixed on the reference coordinate axis, the reference coordinate axis is provided.
- a configuration for deriving the position of the origin of the target coordinate axis may be employed.
- the number of magnetic field generation sources can be reduced by employing a configuration using the diffusion magnetic field generation unit 11 as in the first embodiment.
- the positional relationship detection system has the advantage that the number of magnetic field forming mechanisms required for position detection can be reduced.
- the position of the origin of the target coordinate axis is detected by utilizing the fact that the magnetic field formed by the second linear magnetic field forming unit 10 has a characteristic of attenuating according to the distance.
- the diffused magnetic field forming unit 11 in the first embodiment is parallel to the yz plane on the reference coordinate axis, and the traveling direction of the diffused magnetic field in the plane region including the coil 34 is parallel to the X axis at any position.
- the distance between the second linear magnetic field forming unit 10 and the capsule endoscope 2 is also configured to be used at the time of position detection, and a strong configuration is adopted. This enables more accurate position detection.
- the second linear magnetic field forming unit 10 and the diffusion magnetic field forming unit 11 can be arranged at positions close to each other.
- the viewpoint of improving the accuracy of position detection As for the force it is preferable to adopt a configuration in which the respective magnetic field forming mechanisms are separated from each other by a predetermined distance.
- the second linear magnetic field and the diffusion magnetic field are used for position detection based on different viewpoints, respectively.
- the second linear magnetic field forming unit 10 and the diffusion magnetic field forming unit 11 It has an advantage that the system configuration can be simplified.
- the positional relationship detection system according to the second embodiment uses the geomagnetism as the first linear magnetic field, and omits the first linear magnetic field forming unit corresponding to using the geomagnetism as the first linear magnetic field. Having.
- FIG. 11 is a schematic diagram illustrating an overall configuration of the positional relationship detection system according to the second embodiment.
- components having the same names and reference numerals as those of the first embodiment have the same configuration and functions as those of the first embodiment unless otherwise specified.
- the positional relationship detection device 53 newly includes a geomagnetic sensor 54 for detecting the traveling direction of terrestrial magnetism and a processing device. 55, has a new configuration for deriving the traveling direction of geomagnetism on the reference coordinate axis based on the detection result by the geomagnetic sensor 54.
- the geomagnetic sensor 54 has basically the same configuration as the magnetic field sensor 16 provided in the capsule endoscope 2. That is, the geomagnetic sensor 54 has a function of detecting the intensity of a magnetic field component in three predetermined axial directions in the arranged area, and outputting an electric signal corresponding to the detected magnetic field intensity.
- the geomagnetic sensor 54 is arranged on the body surface of the subject 1, and is arranged in the X-axis, y-axis, and z-axis directions on the reference coordinate axes fixed with respect to the subject 1. It has a function of detecting the intensity of the corresponding magnetic field component.
- the geomagnetic sensor 54 has a function of detecting the traveling direction of the geomagnetism, and outputs an electric signal corresponding to the magnetic field strength detected in the X-axis direction, the y-axis direction, and the z-axis direction to the processing device 55. Having a configuration.
- FIG. 12 is a block diagram showing a configuration of the processing device 55.
- the processing device 55 has a configuration basically similar to that of the processing device 12 in the first embodiment. It has a configuration provided with a geomagnetic azimuth deriving unit 56 that derives the traveling direction of geomagnetism on the reference coordinate axis based on the input electric signal and outputs the derivation result to the azimuth deriving unit 40.
- a problem when using geomagnetism as the first linear magnetic field is deriving the traveling direction of geomagnetism on a reference coordinate axis fixed with respect to the subject 1. That is, since the subject 1 can freely move while the capsule endoscope 2 moves inside the body, the positional relationship between the reference coordinate axis fixed to the subject 1 and the geomagnetism is determined. Is expected to fluctuate as the subject 1 moves. On the other hand, from the viewpoint of deriving the positional relationship between the target coordinate axis and the reference coordinate axis, if the traveling direction of the first linear magnetic field in the reference coordinate axis becomes unknown, the reference coordinate axis and the target This causes a problem that the correspondence between the coordinate axes cannot be clarified.
- the second embodiment includes the geomagnetic sensor 54 and the geomagnetic azimuth deriving unit 56 for monitoring the traveling direction of the geomagnetism that fluctuates on the reference coordinate axis due to the movement of the subject 1 or the like. I'm supposed to. That is, based on the detection result of the geomagnetic sensor 54, the geomagnetic azimuth deriving unit 56 derives the traveling direction of the geomagnetism on the reference coordinate axis, and outputs the derivation result to the azimuth deriving unit 40.
- the azimuth deriving unit 40 derives the correspondence between the reference coordinate axis and the target coordinate axis with respect to the traveling direction of the geomagnetism by using the input traveling direction of the geomagnetism, and In addition, it is possible to derive azimuth information.
- the traveling direction of the terrestrial magnetism and the second linear magnetic field formed by the second linear magnetic field generator 10 may be parallel to each other.
- the positional relationship can be detected by using data on the azimuth of the target coordinate axis and the position of the origin.
- the extending direction of the coil 34 constituting the second linear magnetic field forming unit 10 is set in the reference coordinate axis as shown in FIG. For example, it is also effective to extend in the z-axis direction instead of the y-axis direction.
- the positional relationship detection system according to the second embodiment has the advantage of the first embodiment that However, there is a further advantage of using geomagnetism.
- geomagnetism By adopting a configuration using terrestrial magnetism as the first linear magnetic field, it is possible to omit the mechanism for forming the first linear magnetic field, and it is possible to perform a test when the capsule endoscope 2 is introduced. It is possible to derive the positional relationship between the target coordinate axis and the reference coordinate axis while reducing the burden on the body 1. Since the geomagnetic sensor 54 can be configured using an Ml sensor or the like, the size can be sufficiently reduced, and the provision of the new geomagnetic sensor 54 increases the burden on the subject 1. None.
- the present invention has been described over the first and second embodiments.
- the present invention is not limited to the first and second embodiments, and those skilled in the art need not interpret various examples, Modifications can be envisaged.
- a mechanism for deriving the position of the origin of the target coordinate axis in addition to the mechanism described in the embodiment, a plurality of magnetic field forming units that form a linear magnetic field or a diffusion magnetic field that attenuates according to the distance may be used. good. That is, the positions of the plurality of magnetic field forming units in the reference coordinate system are grasped at a glance, and based on the magnetic field strength detected by the capsule endoscope 2, the plurality of magnetic field forming units and the capsule endoscope are used. By deriving the distance between the two, it is possible to detect the position of the origin of the target coordinate axis.
- the reference coordinate axis and the target coordinate axis are defined based on the orthogonal three-dimensional coordinate system, but are limited to the orthogonal three-dimensional coordinate system based on the reference coordinate axis and the like.
- the reference coordinate axes and the like may be defined by, for example, a three-dimensional polar coordinate system, or may be further defined by a two-dimensional coordinate system or a one-dimensional coordinate system depending on the application.
- the positional relationship detection device and the positional relationship detection system are: This is useful for a positional relationship detection device and a positional relationship detection system that derives a positional relationship between a target coordinate axis fixed with respect to a detection target and a reference coordinate axis set independently of movement of the detection target. Particularly, it is suitable for a positional relationship detecting device and a positional relationship detecting system for a capsule endoscope.
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Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05741511.9A EP1749473A4 (en) | 2004-05-26 | 2005-05-23 | POSITION INFORMATION DETECTION DEVICE AND POSITION INFORMATION DETECTION SYSTEM |
US11/597,221 US20080200760A1 (en) | 2004-05-26 | 2005-05-23 | Positional Relationship Detecting Apparatus and Positional Relationship Detecting System |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-156408 | 2004-05-26 | ||
JP2004156408A JP4009617B2 (ja) | 2004-05-26 | 2004-05-26 | 位置関係検出装置および位置関係検出システム |
Publications (1)
Publication Number | Publication Date |
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WO2005115219A1 true WO2005115219A1 (ja) | 2005-12-08 |
Family
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Family Applications (1)
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PCT/JP2005/009381 WO2005115219A1 (ja) | 2004-05-26 | 2005-05-23 | 位置関係検出装置および位置関係検出システム |
Country Status (5)
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US (1) | US20080200760A1 (ja) |
EP (1) | EP1749473A4 (ja) |
JP (1) | JP4009617B2 (ja) |
CN (1) | CN100466962C (ja) |
WO (1) | WO2005115219A1 (ja) |
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EP1712176B1 (en) * | 2004-02-06 | 2011-04-06 | Olympus Corporation | Receiver |
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JP5265179B2 (ja) * | 2007-11-28 | 2013-08-14 | オリンパスメディカルシステムズ株式会社 | カプセル医療システム |
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WO2009117833A1 (en) | 2008-03-25 | 2009-10-01 | Orthosoft Inc. | Method and system for planning/guiding alterations to a bone |
AU2009227956B2 (en) | 2008-03-25 | 2014-04-10 | Orthosoft Inc. | Tracking system and method |
US10076228B1 (en) * | 2008-10-29 | 2018-09-18 | University Of South Florida | Minimally invasive networked surgical system and method |
US8551108B2 (en) | 2010-08-31 | 2013-10-08 | Orthosoft Inc. | Tool and method for digital acquisition of a tibial mechanical axis |
EP2691142B1 (en) | 2011-03-22 | 2020-07-29 | Given Imaging Ltd. | Systems and methods for synchronizing between an in-vivo device and a localization system |
US9035671B2 (en) * | 2011-07-06 | 2015-05-19 | Everspin Technologies, Inc. | Probe card and method for testing magnetic sensors |
CN103240882B (zh) * | 2013-03-28 | 2015-09-09 | 惠州八毫米科技有限公司 | 一种基于地磁感应的3d打印机 |
CN103908216A (zh) * | 2014-04-10 | 2014-07-09 | 重庆金山科技(集团)有限公司 | 一种具磁场定位功能的胶囊内镜系统及其胶囊内镜 |
CN103932654B (zh) * | 2014-04-17 | 2015-11-04 | 上海交通大学 | 基于永磁和三轴力传感器的胶囊内镜控制系统及控制方法 |
CN106963324B (zh) * | 2017-03-28 | 2019-05-14 | 重庆金山医疗器械有限公司 | 一种胶囊内镜位置的推定方法及装置 |
JP6498856B1 (ja) * | 2017-07-07 | 2019-04-10 | オリンパス株式会社 | 自走式内視鏡装置及びその制御装置 |
DE102017214189A1 (de) * | 2017-08-15 | 2019-02-21 | Carl Zeiss Microscopy Gmbh | Verfahren zum Betrieb einer Mikroskopieranordnung und Mikroskopieranordnung mit einem ersten Mikroskop und mindestens einem weiteren Mikroskop |
CN108186017B (zh) * | 2017-11-30 | 2020-10-02 | 北京理工大学 | 一种用于确定内窥镜胶囊体内位姿的检测系统和方法 |
CN109044249B (zh) * | 2018-08-23 | 2022-02-15 | 重庆金山医疗技术研究院有限公司 | 胶囊内镜姿态检测校准方法及系统 |
CN109753155B (zh) * | 2019-01-02 | 2021-01-22 | 京东方科技集团股份有限公司 | 头戴显示设备、其驱动方法及虚拟现实显示装置 |
CN114487968A (zh) * | 2022-01-28 | 2022-05-13 | 上海安翰医疗技术有限公司 | 一种磁球校准方法和磁球校准装置 |
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Also Published As
Publication number | Publication date |
---|---|
EP1749473A4 (en) | 2014-12-24 |
JP4009617B2 (ja) | 2007-11-21 |
US20080200760A1 (en) | 2008-08-21 |
CN100466962C (zh) | 2009-03-11 |
CN1956675A (zh) | 2007-05-02 |
EP1749473A1 (en) | 2007-02-07 |
JP2005334251A (ja) | 2005-12-08 |
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