WO2006009086A1 - 移動状態検出装置および移動状態検出システム - Google Patents
移動状態検出装置および移動状態検出システム Download PDFInfo
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- WO2006009086A1 WO2006009086A1 PCT/JP2005/013082 JP2005013082W WO2006009086A1 WO 2006009086 A1 WO2006009086 A1 WO 2006009086A1 JP 2005013082 W JP2005013082 W JP 2005013082W WO 2006009086 A1 WO2006009086 A1 WO 2006009086A1
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- movement state
- antenna
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- state detection
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Classifications
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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
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
Definitions
- the present invention relates to a movement state detection device that detects the movement state of an in-subject introduction device that moves inside a subject and outputs a sensor signal that attenuates according to a distance inside the subject. And a moving state detection system.
- Capsule-type endoscopes are peristaltic in the body cavity, for example, the stomach and small intestine, until they are spontaneously discharged after being swallowed from the subject's mouth for observation (examination). It has the function to move according to
- image data imaged inside the body by the capsule endoscope is sequentially transmitted to the outside by wireless communication and stored in a memory provided outside.
- a receiver equipped with a wireless communication function and a memory function the subject can freely move between swallowing the capsule endoscope and discharging it.
- a doctor or nurse can make a diagnosis by displaying an organ image on the display based on the image data stored in the memory (for example, patent Reference 1).
- the imaging interval of the in-subject image regarding the stomach, small intestine, etc. is the amount of image data obtained by imaging, the transmission capacity of the wireless communication function, and the power consumption of the imaging function, etc. It is determined in consideration of.
- the imaging interval is set in advance so that imaging is performed twice per second, and imaging is repeated at an imaging interval that is long until it is discharged outside the subject. .
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-19111
- the imaging interval is maintained at a constant value. Therefore, the capsule endoscope overlaps with the fluctuation of the moving speed of the capsule endoscope inside the subject. There are problems such as repeated imaging of the region. In the following, detailed issues will be explained.
- the movement state of the capsule endoscope in the subject is not constant.
- the capsule endoscope moves quickly in the esophagus, but stays in the stomach for a relatively long time. Has characteristics.
- the mode of the moving state of the capsule endoscope that is powerful differs for each subject, and even for the same subject, it differs depending on the physical condition and the like.
- the present invention has been made in view of the above, and a movement state detection device and a movement state detection system for detecting the movement state of an intra-subject introduction device such as a capsule endoscope inside the subject. It aims at realizing.
- the moving state detection apparatus moves inside the subject and attenuates in the subject according to the propagation distance.
- a moving state detecting device for detecting a moving state of the in-subject introducing device that outputs a sensor signal to receive, the receiving antenna means for receiving the sensor signal, and the receiving device
- a moving state deriving unit for deriving a moving state of the in-subject introduction device based on the reception intensity of the sensor signal in the signal antenna unit.
- a plurality of the reception antenna means are arranged, and the movement state derivation means is predetermined based on the reception strength of the sensor signal.
- Antenna selecting means for selecting one or more receiving antenna means from among the plurality of receiving antenna means for each time interval, and time measuring means for measuring the time during which the same receiving antenna means is continuously selected by the antenna selecting means
- determination means for determining the movement state of the in-subject introduction device based on the time measured by the time measuring means.
- the antenna selection means for selecting a plurality of reception antennas of a plurality of medium powers is provided, and the same reception antenna means is continuously selected by the antenna selection means. Since the state determination means for determining the movement state of the intra-subject introduction apparatus based on the above is provided, the movement state can be determined with a simple configuration.
- the moving state detection device is characterized in that the determination means introduces the sample into the subject when the time measured by the time measuring means is equal to or greater than a predetermined threshold. It is determined that the moving state of the device is a low speed state.
- the intra-subject introduction device has a function of transmitting a radio signal as the sensor signal, and the movement state derivation unit Is characterized in that a movement state of the intra-subject introduction device is derived based on the intensity of a radio signal from the intra-subject introduction device received by the antenna means.
- the movement state derivation unit may introduce the movement state into the subject based on a rate of change in reception intensity of the sensor signal in the reception antenna unit.
- the moving state of the apparatus is derived.
- the movement state derivation means is configured to determine a reception intensity of each of the plurality of reception antenna means. Based on the intensity change of the in-subject introduction device. The moving state is derived.
- the movement state derivation unit derives the position of the in-subject introduction device based on the reception intensity in the reception antenna unit.
- the state determination unit may be arranged at the position of the intra-subject derivation device derived at a plurality of different times by the position derivation unit. Based on this, the rate of change is derived.
- the antenna selection unit selects a predetermined number of the reception antenna units in order of magnitude of the reception intensity, and the time measurement unit Is characterized in that the same time is also measured as the continuous selection time for the magnitude relationship of the received strength between the same selected receiving antenna means.
- the movement state detection system is introduced into a subject, acquires predetermined in-subject information, and wirelessly transmits a radio signal including the in-subject information to the outside.
- An intra-subject movement state detection system comprising: an intra-sample introduction device; and a movement state detection device that receives a wireless signal transmitted from the intra-subject introduction device and derives the movement state of the in-subject information.
- the in-subject introduction apparatus includes a sensor signal transmission unit that transmits a sensor signal that attenuates according to a propagation distance, and the moving state detection unit includes a reception antenna unit that receives the sensor signal; And a moving state deriving unit for deriving a moving state of the in-subject introduction device based on the reception intensity of the sensor signal in the receiving antenna unit.
- the movement state detection device includes a plurality of the reception antenna means, and the movement state detection system.
- the output means includes an antenna selection means for selecting one or more reception antenna means from among the plurality of reception antenna means based on the reception strength of the sensor signal, and the same reception antenna means is continuously provided by the antenna selection means.
- the movement state detection system is introduced into a subject, acquires predetermined in-subject information, and wirelessly transmits a radio signal including the in-subject information to the outside.
- An intra-subject movement state detection system comprising: an intra-sample introduction device; and a movement state detection device that receives a wireless signal transmitted from the intra-subject introduction device and derives the movement state of the in-subject information.
- the in-subject introduction apparatus includes a sensor signal transmission unit that transmits a sensor signal that attenuates according to a propagation distance, and the moving state detection unit includes a reception antenna unit that receives the sensor signal; A position deriving unit for deriving a position of the in-subject introduction device based on a reception intensity in the reception antenna unit; and a subject based on a rate of change of the position derived by the position deriving unit. And a state determination means for determining the movement state of the internal introduction device.
- the movement state detection apparatus acquires in-subject information acquisition for acquiring predetermined in-subject information within the subject.
- the sensor signal transmitting means transmits a radio signal including the in-subject information as a sensor signal, and the moving state detecting device receives the radio signal from the radio signal received via the receiving antenna means.
- An information extracting means for extracting the in-subject information is further provided.
- the movement state detection system is characterized in that the in-subject information and the in-subject introduction apparatus in the vicinity of a position where at least the in-subject information is acquired.
- a display device for displaying the moving state is further provided.
- the movement state detection device and the movement state detection system according to the present invention are provided with a propagation distance. Accordingly, a moving state deriving unit for deriving the moving state of the in-subject introduction device based on the received intensity of the sensor signal (radio signal) that attenuates in response is provided, for example, introduction into the subject based on a change in the received intensity. By deriving a change in the distance between the device and the receiving antenna means, the moving state of the intra-subject introduction device can be detected.
- the movement state detection device and the movement state detection system can determine the movement state of the in-subject introduction device based on the derived position by the state determination unit, for example, a doctor, It is possible for nurses and the like to easily understand the movement mode of the intra-subject introduction device within the subject!
- the movement state detection apparatus and movement state detection system include antenna selection means for selecting some reception antennas from among a plurality of antennas, and the same reception antenna means is continued by the antenna selection means. Since the state determination means for determining the movement state of the intra-subject introduction apparatus based on the continuously selected time is provided, the movement state can be determined with a simple configuration.
- FIG. 1 is a schematic diagram showing an overall configuration of a moving state detection system according to a first embodiment.
- FIG. 2 is a block diagram illustrating a configuration of a capsule endoscope provided in the moving state detection system according to the first embodiment.
- FIG. 3 is a block diagram of a configuration of a movement state detection device provided in the movement state detection system according to the first embodiment.
- FIG. 4 is a flowchart for explaining an antenna selection operation in the moving state detection system according to the first exemplary embodiment.
- FIG. 5 is a flowchart for explaining the movement state determination operation of the movement state detection system according to the first exemplary embodiment.
- FIG. 6 is a block diagram showing a configuration of a movement state detection device provided in the movement state detection system according to the second embodiment.
- FIG. 7 illustrates the movement state determination operation of the movement state detection system according to the second embodiment. It is a flowchart for clarifying.
- FIG. 8 is a block diagram of a configuration of a movement state detection device provided in the movement state detection system according to the third embodiment.
- FIG. 9 is a flowchart for explaining the movement state determination operation of the movement state detection system according to the third embodiment.
- FIG. 10 is a schematic diagram for explaining an advantage of the moving state detection system according to the third embodiment.
- FIG. 11 is a block diagram of a configuration of a movement state deriving device provided in the movement state detection system according to the fourth embodiment.
- FIG. 12 is a flowchart showing processing performed by the selection control unit in the position derivation antenna selection operation according to the fourth embodiment.
- FIG. 13 is a schematic diagram for explaining a position deriving operation performed by the position deriving unit according to the fourth embodiment.
- FIG. 14 is a flowchart showing the operation of the state determination unit in the determination of the movement state according to the fourth embodiment.
- FIG. 15 is a schematic diagram illustrating an example of a display mode on the screen of the display device according to the fourth embodiment.
- FIG. 16 is a block diagram of a configuration of a movement state deriving device included in the movement state detection system according to the fifth embodiment.
- FIG. 17 is a flowchart for explaining the determination operation of the state determination unit according to the fifth embodiment.
- State determination unit 8 Selected antenna storage unit BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 is a schematic diagram illustrating the overall configuration of the movement state detection system according to the first embodiment.
- the moving state detection system according to the first embodiment includes a capsule endoscope 2 that is introduced into the subject 1 and functions as an example of the in-subject introduction device, and the subject 1
- a moving state detecting device 3 for detecting the moving state of the capsule endoscope 2 inside, and a display device 4 for displaying the moving state of the capsule endoscope 2 detected by the moving state detecting device 3
- a portable recording medium 5 for transferring information between the moving state detection device 3 and the display device 4 is provided.
- the display device 4 is for displaying the movement state and the like of the capsule endoscope 2 acquired by the movement state detection device 3, and is based on data obtained by the portable recording medium 5. It has a configuration such as a workstation that performs display. Specifically, the display device 4 may be configured to directly display an image or the like using 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 a moving state deriving device 8 and a display device 4 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 moving state deriving device 8 while the capsule endoscope 2 moves in / out of the body cavity of the subject 1, and is attached to the capsule endoscope 2. Record information about position 2. Then, after the capsule endoscope 2 is ejected from the subject 1, the capsule endoscope 2 is taken out from the moving state deriving device 8 and inserted into the display device 4, and the recorded data is read out by the display device 4. Between the moving state deriving device 8 and the display device 4 Portable recording media such as Compact Flash (registered trademark) memory
- the subject 1 even when the capsule endoscope 2 is moving inside the subject 1 is different from the case where the movement state deriving device 8 and the display device 4 are wired. Can act freely.
- the capsule endoscope 2 functions as an example of an in-subject introduction apparatus in the claims, and is introduced into the subject 1 to acquire in-subject information and the acquired subject. This is for transmitting a radio signal including in-sample information to the outside. Further, as will be described later, the radio signal transmitted from the capsule endoscope 2 not only functions as a transmission signal for in-vivo information but also functions as an example of a sensor signal in the claims. .
- FIG. 2 is a block diagram showing a configuration of the capsule endoscope 2.
- the force-pessel endoscope 2 is a wireless transmission that transmits an in-subject information acquisition unit 9 and a radio signal including the in-subject information acquired by the in-subject information acquisition unit 9.
- Unit 10 a system control circuit 18 for controlling the driving state of the in-subject information acquisition unit 9 and the wireless transmission unit 10, and a capacitor 19 for supplying driving power to the wireless transmission unit 10 and the like.
- the in-subject information acquisition unit 9 has the capsule endoscope 2 introduced into the subject 1! In the meantime, the in-subject information, which is information related to the inside of the subject 1, is acquired.
- the in-subject image is acquired as the in-subject information, and the in-subject information acquisition unit 9 is necessary for acquiring the in-subject image. It has components.
- the in-subject information acquisition unit 9 includes an LED 11 that functions as an example of an illuminating unit in the claims, an LED drive circuit 12 that controls the drive state of the LED 11, and a patent request. It includes a CCD 13 that functions as an example of an imaging means in the range, and a CCD drive circuit 14 that controls the drive state of the CCD 13.
- the wireless transmission unit 10 includes the in-subject information acquired by the in-subject information acquisition unit 9, and transmits to the outside a wireless signal that functions as an example of a sensor signal in the claims. Is. Specifically, the wireless transmission unit 10 generates a wireless signal by performing predetermined processing on the in-vivo image acquired by the CCD 13 as necessary. And a transmission antenna unit 17 for transmitting a radio signal generated by the transmission circuit 16.
- the moving state detection device 3 has a configuration including receiving antennas 7a to 7h and a moving state deriving device 8 connected to the receiving antennas 7a to 7h.
- the receiving antennas 7a to 7h are for receiving radio signals transmitted from the capsule endoscope 2.
- the receiving antennas 7a to 7h have a configuration including, for example, a loop antenna and a fixing means for fixing the loop antenna on the body surface of the subject 1.
- the movement state deriving device 8 includes a mechanism for selecting a reception antenna 7 suitable for reception from the reception antennas 7a to 7h, and in-subject information (this book) from a radio signal received via the selected reception antenna 7.
- the first embodiment includes a mechanism for acquiring (in-subject image information).
- the moving state deriving device 8 includes a mechanism for grasping the moving state of the capsule endoscope 2 based on the selection mode of the receiving antennas 7a to 7h.
- the movement state deriving device 8 is a mechanism for selecting the reception antenna 7 suitable for reception from the reception antennas 7a to 7h, and the radio signal received by each of the reception antennas 7a to 7h.
- an antenna selection unit 21 that outputs only a radio signal received via the selected reception antenna 7, and a reception circuit 22 that performs predetermined processing on the radio signal input via the antenna selection unit 21,
- an AZD conversion unit 26 for analog-to-digital conversion of the reception intensity signal output from the reception circuit 22.
- a selection control unit 24 a for performing predetermined control during the antenna selection operation is provided in the control unit 24.
- the antenna selection unit 21 is for selecting a reception antenna 7 suitable for receiving a radio signal transmitted from the capsule endoscope 2 from the reception antennas 7a to 7h.
- the receiving antennas 7a to 7h are arranged at different positions on the body surface of the subject 1, and receive signals as the capsule endoscope 2 moves in the subject 1. The distance between each of the antennas 7a to 7h and the capsule endoscope 2 will change. For this reason, the first embodiment is most suitable for receiving a radio signal transmitted from the capsule endoscope 2 by the antenna selection unit 21 among the plurality of reception antennas 7a to 7h.
- a configuration for selecting the receiving antenna 7 is adopted. Specifically, the antenna selection unit 21 has a function of selecting the reception antenna 7 based on the control of the selection control unit 24a included in the control unit 24.
- the receiving circuit 22 is for performing predetermined processing on a radio signal received via any of the receiving antennas 7a to 7h. Specifically, the receiving circuit 22 performs processing necessary for extracting in-subject information, which will be described later, and sends a signal corresponding to the reception strength of the radio signal, such as RSSI (Received), to the AZD conversion unit 26.
- RSSI Receiveived
- Signal Strength Indicator Received signal strength indication signal
- the selection control unit 24a is provided in the control unit 24, and performs antenna selection based on the reception strength of each of the reception antennas 7a to 7h. Specifically, the selection control unit 24a selects the reception antenna 7 that is most suitable for reception based on the information regarding the reception intensity input via the AZD conversion unit 26, and the radio received via the selected reception antenna 7
- the antenna selector 21 is controlled so that only the signal is output to the receiving circuit 22. A specific antenna selection algorithm by the selection control unit 24a will be described in detail later.
- the movement state deriving device 8 serves as a mechanism for acquiring in-subject information from the radio signal subjected to predetermined processing via the antenna selection unit 21 and the receiving circuit 22.
- Information extraction circuit 23 for extracting in-sample information, in-subject image information for the first embodiment, and an output interface for outputting the extracted in-subject image and the like to the portable recording medium 5 25.
- an output control unit 24b for controlling the output of the acquired in-subject information and the like is provided.
- the output interface 25 is for outputting information output from the control unit 24 to the portable recording medium 5.
- the output interface 25 has a physical configuration in which the portable recording medium 5 can be mounted, and the information output from the control unit 24 is transferred to the portable recording medium based on the control of the output control unit 24b. Has a function to write to 5.
- the movement state deriving device 8 is configured to determine the force in the subject 1 based on the antenna selection mode.
- a time detecting unit 27 having a clock function and a time measuring unit 28 having a time measuring function are provided.
- a state determining unit 24c for determining the moving state of the capsule endoscope 2 based on information output from the time measuring unit 28 is provided.
- the timekeeping unit 28 functions as a timer having a timekeeping function. Specifically, each time a different reception antenna 7 is selected by an antenna selection operation, the selected reception antenna 7 is changed. This is to measure the time to start receiving the radio signal used. The time measured by the time measuring unit 28 is used for determining the moving state of the capsule endoscope 2 in the state determining unit 24c.
- the moving state deriving device 8 further includes a storage battery 29 for supplying the driving power of each of the above-described components.
- the moving state deriving device 8 is configured by the above components.
- the movement state detection system includes an antenna selection operation for selecting a reception antenna 7 that receives a radio signal transmitted from the capsule endoscope 2, and a capsule endoscope based on the antenna selection mode. It has a function to perform a state determination operation to determine the movement state of mirror 2.
- FIG. 4 is a flowchart for explaining the operation of the selection control unit 24a in the antenna selection operation.
- the strongest receiving strength is set as the maximum strength value P
- the receiving antenna 7 that realizes the strongest strength value is set as n
- P the received strength that is actually detected.
- the receiving antenna 7 that is selected as the antenna that receives the radio signal from the capsule endoscope 2 is numbered as n. Also, as an initial setting, the antenna
- the selection control unit 24a selects the n-th receiving antenna 7 (step S101), and detects the reception intensity P of the selected receiving antenna 7 (step S102). And the maximum strength P temp
- Step S103 the detected received strength P
- step S102 the received strength P exceeds max temp temp
- step S104 the contents of number n of receiving antenna 7 that achieves the maximum receiving strength are scanned.
- step S105 1 Update to n selected in step S101 (step S105).
- step S105 the content of the number n of the selected receiving antenna 7 is updated to n + 1, and it is determined whether or not the updated value of n is equal to 9 (step S107). If the updated value of n is less than 9 (No at step S107), the operations of steps S101 to S106 are repeated again using the updated value of n.
- n 9 that is, when the operations of steps S101 to S106 are completed with respect to the receiving antennas 7a to 7h (step S107, Yes), the number n of the receiving antenna 7 that achieves the maximum receiving strength and the subject The number n of the receiving antenna 7 selected to receive the internal information
- step S108 Judgment is made as to whether the forces match or not (step S108). If they do not match (step S108, No), the time measured by the time measuring unit 28 is reset (step S109) and the value of the number n of the selected receiving antenna 7 is changed to the steps S101 to S106. Led by
- the updated n value is updated, and the updated n value is output to the antenna selector 21 (STE).
- the selection control unit 24a stores the time detected by the time detection unit 27 and the value of n (step S111).
- the antenna selection operation is completed, and the antenna selection unit 21 selects the reception antenna 7 used for the radio signal corresponding to n and receives it by the selected reception antenna 7.
- the received radio signal is output to the receiving circuit 22.
- the processes in steps S 101 to S 111 are performed many times at predetermined time intervals, and the capsule in the subject 1 is encapsulated.
- the receiving antenna 7 having the highest receiving intensity is appropriately selected according to the change in the position of the video endoscope 2.
- a radio signal transmitted from the capsule endoscope 2 is received. That is, the in-subject information acquired by the in-subject information acquisition unit 9 in the capsule endoscope 2, that is, the in-subject image information in the first embodiment, is wirelessly transmitted by the wireless transmission unit 10.
- the moving state detection device 3 receives the radio signal transmitted through the selected reception antenna 7, reproduces the in-subject image through the reception circuit 22 and the information extraction circuit 23, and reproduces the reproduced in-subject object.
- the image is recorded on the portable recording medium 5 via the output interface 25.
- step S103 after the value of n is updated to 8, the temp value of the received signal strength P of the radio signal received by the receiving antenna 7h is greater than the maximum received signal strength value P so far. Is determined to be large (step S103, Yes) and max
- the value of the reception strength of the radio signal received by the reception antenna 7h is newly registered as the maximum reception strength P (step S104), and the number max of the reception antenna 7 having the maximum reception strength is set.
- the selection control unit 24a grasps that the reception strength of the radio signal at the reception antenna 7h is the highest.
- the antenna selection operation is terminated without performing the changing process.
- the selection control unit 24a switches the value of the selection antenna number n to 8 (step S109) and selects the reception antenna 7
- step S110 the time when the selection switching is performed and the fact that the selection antenna is switched to the reception antenna 7h are stored (step S110).
- Such information may be recorded in the portable recording medium 5, or a storage unit is provided in the control unit 24, and once stored in the storage unit, the capsule endoscope 2 is inspected by the subject 1.
- Mobile phone after being discharged outside Recording on the mold recording medium 5 is also possible.
- the time counting unit 28 is reset in step S109, and the time measuring unit 28 measures an elapsed time from the time when the selected antenna is switched.
- FIG. 5 is a flowchart for explaining the determination operation in the state determination unit 24c.
- the state determination unit 24c inputs the elapsed time measured by the time measuring unit 28 (step S201), and determines whether the elapsed time t exceeds a predetermined threshold t (step S202). elapsed time
- Step S202 If t exceeds the threshold t (Step S202, Yes), it is determined that the vehicle is moving at low speed (Step S202).
- step S204 If it falls below (step S202, No), it is determined as a normal movement state (step S204), the determination result is stored, and the process ends.
- the radio signal used as the sensor signal has a characteristic that the intensity gradually decreases according to the transmission distance.
- the distance between the receiving antenna 7 and the capsule endoscope 2 can be estimated.
- the receiving antenna 7 having the highest radio signal reception strength is selected, and the antenna selection shown in the flowchart of FIG.
- the operation means that the receiving antenna 7 closest to the capsule endoscope 2 is selected.
- the capsule endoscope 2 moves the inside of the subject 1 at low speed. If the selected antenna changes frequently, it can be assumed that the capsule endoscope 2 is moving at high speed in the subject 1. Is possible.
- the movement state of the capsule endoscope 2 in the subject 1 is grasped by making a determination by the state determination unit 24c based on a principle that works.
- the movement state detection system can detect the movement state of the capsule endoscope 2 inside the subject 1.
- the capsule endoscope 2 for example capsules
- it has the advantage of being able to deal with browsing, etc., and performing efficient diagnosis.
- it is possible to realize a configuration such as adjusting the imaging interval in the CCD 13 provided in the capsule endoscope 2 based on the detected movement state.
- the movement state detection system changes the movement state of the capsule endoscope 2 based on the change of the reception antenna 7 selected by the antenna selection unit 21.
- the structure which detects is adopted.
- a mechanism for receiving a radio signal using the receiving antenna 7 having the best receiving sensitivity is generally adopted, and a powerful mechanism is used.
- the movement state detection system according to the first embodiment can detect the movement state of the capsule endoscope 2 with a simple configuration. That is, in the moving state detection system according to the first embodiment, only the time measuring unit 28 and the state determining unit 24c are necessary components for detecting the moving state. Since these components can be used with simple and low power consumption, it is not necessary to newly install special components to enable detection of the movement state. Is not newly generated.
- the movement state detection system according to the second exemplary embodiment includes a single reception antenna as a simple configuration, and detects the movement state of the capsule endoscope based on a change in reception strength of a radio signal at the single reception antenna. It has a configuration to detect.
- the constituent elements common to the first embodiment have the same functions as those in the first embodiment unless otherwise specified below.
- the moving state detection system according to the second embodiment also includes the capsule endoscope 2, the display device 4, and the portable recording medium 5 as in the first embodiment.
- FIG. 6 is a block diagram showing the configuration of the movement state detection device provided in the movement state detection system according to the second embodiment. As shown in FIG. 6, the movement in the second embodiment The state detection device includes a single receiving antenna 7 having the same configuration as that of the first embodiment and a moving state deriving device 31.
- the movement state deriving device 31 includes a receiving circuit 22, an information extracting circuit 23, an output interface 25, an AZD conversion unit 26 and a time detection unit 27 as well as the first embodiment, and outputs from the A ZD conversion unit 26.
- the received intensity value is stored in association with the time output from the time detection unit 27, and the control unit 33 is provided.
- the intensity storage unit 32 stores the intensity of the radio signal received via the reception antenna 7 in association with the reception time.
- the intensity storage unit 32 has a configuration in which information is input from the AZD conversion unit 26 and the time detection unit 27, and outputs the stored information to the control unit 33 in accordance with instructions from the control unit 33. It has the function to do.
- the control unit 33 is for performing control corresponding to the movement state determination mechanism in the second embodiment in addition to the normal control operation.
- the control unit 33 includes the output control unit 24b as in the first embodiment, and has a configuration newly including an intensity change rate deriving unit 33a and a state determination unit 33b.
- the intensity change rate deriving unit 33a is for deriving the change rate of the reception intensity of the radio signal transmitted from the capsule endoscope 2 based on the information stored in the intensity storage unit 32. is there. As described above, since the intensity storage unit 32 stores the reception intensity and the time when the reception intensity is detected, the intensity change rate deriving unit 33a, for example, calculates the difference value of the reception intensity at a plurality of times. At the same time, the rate of change in received strength is derived by dividing the difference value in received strength by the time difference. Note that the “change rate” in the second embodiment refers not only to a mathematical differential value, but also to all values corresponding to changes in received strength according to time changes.
- the state determination unit 33b is for determining the movement state of the capsule endoscope 2 based on the rate of change of the received intensity derived by the intensity change rate deriving unit 33a. Hereinafter, the movement state determination operation by the state determination unit 33b will be described.
- FIG. 7 is a flowchart for explaining the determination operation of the state determination unit 33b.
- the state determination unit 33b inputs the rate of change in received strength (step S301), and determines the magnitude relationship between the input rate of change and a predetermined threshold (step S302).
- Receive If the intensity change rate exceeds the threshold (Step S302, Yes), the capsule endoscope 2 is determined to be in the normal state (Step S303), and the reception intensity change rate does not exceed the threshold.
- Step S302, No it is determined that the moving state is the low speed state (Step S304), the determination result is stored, and the determination operation of the state determination unit 33b is completed.
- the radio signal transmitted from the capsule endoscope 2 has a characteristic that the intensity decreases according to the transmission distance. Accordingly, the value of the reception strength of the radio signal received through the reception antenna 7 reflects the distance between the reception antenna 7 and the capsule endoscope 2, and the reception antenna 7 is in the body of the subject 1.
- the rate of change in the received intensity is a value corresponding to the degree of change in the position of the capsule endoscope 2.
- the moving state detection system detects the moving state based on the rate of change in received intensity by using the principle of power. That is, when the rate of change of the reception intensity is large, it is estimated that the capsule endoscope 2 is moving at a high speed with respect to the receiving antenna 7, and when the rate of change is small, the capsule endoscope It is estimated that Mirror 2 is moving at a low speed. Based on the strong estimation, the second embodiment determines that the vehicle is moving in the normal state when the rate of change is greater than or equal to a predetermined threshold value, and moves in the low speed state when the change rate is less than the threshold value. It is determined that
- the movement state detection system according to the third embodiment includes a plurality of reception antennas and moves the capsule endoscope 2 by comprehensively determining the rate of change in reception intensity at the plurality of reception antennas. It has a configuration for detecting a state.
- the constituent elements common to the first embodiment have the same functions as those in the first embodiment unless otherwise specified below.
- the moving state detection system according to the third embodiment also includes the capsule endoscope 2, the display device 4, and the portable recording medium 5 as in the first embodiment.
- FIG. 8 is a schematic diagram illustrating a configuration of a movement state detection device provided in the movement state detection system according to the third embodiment. As shown in FIG.
- the movement state detection apparatus includes receiving antennas 7a to 7h.
- the movement state deriving device 35 includes an antenna selection unit 21, a reception circuit 22, an information extraction circuit 23, an output interface 25, a time detection unit 27, and a storage battery 29. Similar to 2, an intensity storage unit 32 is provided.
- the movement state deriving device 35 newly includes a control unit 36, and the control unit 36 includes a selection control unit 24a and an output control unit 24b as in the first embodiment, and each of the reception antennas 7a to 7h.
- An intensity change rate deriving unit 36a for deriving a rate of change in received intensity at the state
- a state determining unit 36b for determining the moving state of the capsule endoscope 2 based on the derived rate of change in received intensity.
- the intensity change rate deriving unit 36a is for deriving the intensity change rate of the received radio signal for each of the receiving antennas 7a to 7h.
- the change rate deriving process for each of the receiving antennas 7a to 7h is the same as that of the intensity change rate deriving unit 33a in the second embodiment.
- the intensity change rate deriving unit 36a receives a signal based on the received intensity value in each of the receiving antennas 7a to 7h stored in the intensity storage unit 32 and the time when the received intensity value is detected.
- the rate of change in received intensity at each of antennas 7a to 7h is derived.
- the state determination unit 36b is for determining the movement state of the capsule endoscope 2.
- the state determination unit 36b determines the movement state of the capsule endoscope 2 based on the rate of change of the reception intensity for each of the reception antennas 7a to 7h derived by the intensity change rate deriving unit 36a. It has a function.
- FIG. 9 is a flowchart for explaining the determination operation performed by the state determination unit 36b during the movement state determination operation.
- the state determination unit 36b inputs the rate of change in reception strength in each of the reception antennas 7a to 7h derived by the strength change rate deriving unit 36a (step S401). And whether there is any input signal rate of change exceeding the specified threshold. Is determined (step S402). If it exists (Step S402, Yes), it is determined that the mobile state is in the normal state (Step S403), and if the rate of change of all received strengths does not exceed the threshold (Step S402, No), It is determined that the moving state is the low speed state (step S404), and the process ends.
- the moving state detection system according to the third embodiment has an advantage that the moving state of the capsule endoscope 2 can be detected with a simple configuration, as in the first embodiment.
- FIG. 10 is a schematic diagram for explaining the advantages of the moving state detection system according to the third embodiment.
- the capsule endoscope 2 is moving in the large intestine as an example, and the capsule endoscope 2 has points A, B, C, and D in FIG. Pass through sequentially.
- the receiving antennas 7c and 7g are arranged at the positions shown in the figure (other receiving antennas are not shown).
- the distance between the receiving antenna 7g and each of the points A to D is substantially equal r.
- the reception intensity of the radio signal at the reception antenna 7g becomes a substantially constant value. Therefore, when the rate of change of the received intensity for only the receiving antenna 7g is derived, the rate of change is almost zero even if the force-pusal endoscope 2 moves in the normal state.
- the state determination unit 36b may determine that the capsule endoscope 2 is moving at a low speed.
- the distance between the receiving antenna 7c and each of the points A to D is r to r, respectively.
- the state determination unit 36b determines the movement state of the capsule endoscope 2 by using the rate of change of the reception intensity with respect to each of the plurality of reception antennas 7a to 7h. Even when the endoscope 2 is in the movement mode as shown in FIG. 10, it is possible to accurately detect the movement state. (Embodiment 4)
- the moving state detection system according to the fourth embodiment has a configuration for grasping the moving state inside the subject 1 by detecting the rate of change of the position of the capsule endoscope 2.
- the components common to the first embodiment have the same configuration as the first embodiment unless otherwise specified below.
- the moving state detection system according to the fourth embodiment also includes the capsule endoscope 2, the display device 4, and the portable recording medium 5 as in the first embodiment. .
- FIG. 11 is a schematic diagram illustrating a configuration of a movement state detection device provided in the movement state detection system according to the fourth embodiment.
- the moving state detection apparatus according to the fourth embodiment includes receiving antennas 7a to 7h.
- the movement state deriving device 108 includes the antenna selection unit 21, the reception circuit 22, the information extraction circuit 23, the control unit 24, the output interface 25, the AZD conversion unit 26, the time measurement unit 28, and the storage battery 29 in the first embodiment. Instead, an antenna selection unit 121, a reception circuit 122, an information extraction circuit 123, a control unit 124, an output interface 125, an AZD conversion unit 126, a clock unit 127, and a storage battery 129 are provided.
- the moving state deriving device 108 is further provided with a capsule position storage unit 128 except for the time detection unit 27 in the first embodiment.
- the movement state deriving device 108 includes a mechanism for selecting a plurality of reception antennas 7 suitable for reception from the reception antennas 7a to 7h, and a radio signal received via the selected reception antenna 7 in the subject. And a mechanism for acquiring information relating to the in-vivo image in the fourth embodiment. Further, the movement state deriving device 108 includes a mechanism for deriving the position of the capsule endoscope 2 based on the reception intensity of the radio signal at each of the selected plurality of receiving antennas 7, and the derived capsule endoscope And a mechanism for grasping the moving state of the capsule endoscope 2 on the basis of the position variation mode.
- the movement state deriving device 108 serves as a mechanism for selecting the reception antenna 7 suitable for reception from the reception antennas 7a to 7h, and the radio signals received by the reception antennas 7a to 7h, respectively.
- the antenna selection unit 121 that outputs only the radio signal received through the selected reception antenna 7 and the radio signal input through the antenna selection unit 121
- a reception circuit 122 that performs predetermined processing on the reception circuit 122 and an AZD conversion unit 126 that performs analog-to-digital conversion on the reception intensity signal output from the reception circuit 122 are provided.
- a selection control unit 124a for performing predetermined control during the antenna selection operation is provided in the control unit 124.
- the antenna selection unit 121 is for selecting the reception antenna 7 suitable for receiving the radio signal transmitted from the capsule endoscope 2 from the reception antennas 7a to 7h.
- the receiving antennas 7a to 7h are arranged at different positions on the body surface of the subject 1, and receive as the capsule endoscope 2 moves in the subject 1. The distance between each of the antennas 7a to 7h and the capsule endoscope 2 will change. Therefore, in the fourth embodiment, a plurality of receiving antennas 7a to 7h are provided, and the receiving antenna 7 that is most suitable for receiving a radio signal transmitted from the capsule endoscope 2 by the antenna selecting unit 121 is provided.
- the configuration to be selected is adopted.
- the antenna selection unit 121 has a function of selecting the reception antenna 7 based on the control of the selection control unit 124a included in the control unit 124.
- the receiving circuit 122 is for performing a predetermined process on the radio signal received via any of the receiving antennas 7a to 7h. Specifically, the reception circuit 122 performs processing necessary for extraction of in-subject information, which will be described later, and also sends a signal corresponding to the reception strength of the radio signal, such as RSSI (Received), to the AZD conversion unit 126.
- RSSI Receiveived
- Signal Strength Indicator Received signal strength indication signal
- the selection control unit 124a is provided in the control unit 124, and performs antenna selection based on the reception strength of each of the reception antennas 7a to 7h. Specifically, the selection control unit 124a selects three reception antennas 7 suitable for reception based on the reception intensity value input via the AZD conversion unit 126, and receives signals via the selected reception antenna 7.
- the antenna selector 121 is controlled so that only the received radio signal is output to the receiving circuit 122. A specific antenna selection algorithm by the selection control unit 124a will be described in detail later.
- the movement state deriving device 108 is a mechanism for acquiring in-subject information.
- An information extraction circuit 123 that extracts in-subject information from the radio signal that has undergone predetermined processing via the tenor selection unit 121 and the receiving circuit 122, and in the fourth embodiment, in-subject image information; And an output interface 125 for outputting the extracted in-subject image and the like to the portable recording medium 5.
- an output control unit 124b for controlling the output operation of the acquired in-subject information and the like is provided.
- the output interface 125 is for outputting information output from the control unit 124 to the portable recording medium 5.
- the output interface 125 has a physical configuration in which the portable recording medium 5 can be mounted, and also outputs information output from the control unit 124 based on the control of the output control unit 124b! Has a function of writing to the portable recording medium 5.
- the movement state deriving device 108 has a configuration in which a position deriving unit 124c is provided in the control unit 124 as a mechanism for deriving the position of the capsule endoscope 2 inside the subject 1. .
- the position deriving unit 124c derives the position of the capsule endoscope 2 based on the reception strengths of the plurality of reception antennas 7 selected by the antenna selection unit 121 and the positions of the plurality of selected reception antennas 7. It has a function.
- the movement state deriving device 108 includes a timer unit 127 and a capsule position storage unit 128 as a mechanism for deriving the movement state of the capsule endoscope 2, and the control unit 124 includes The state determination unit 124d is provided.
- the clock unit 127 is for outputting the time to the control unit 124.
- the time measuring unit 127 outputs to the control unit 124 the time at which the position deriving unit 124c derives the position of the capsule endoscope 2 based on an instruction from the control unit 124. I decided to.
- the capsule position storage unit 128 stores the position of the capsule endoscope 2 derived by the position deriving unit 124c in association with the derived time output from the time measuring unit 127.
- the capsule position storage unit 128 stores the position of the capsule endoscope 2 at a plurality of times corresponding to the position derivation performed a plurality of times by the position derivation unit 124c in association with the derivation time, and the state determination unit Information stored based on 124d instructions Has a function of outputting.
- the state determination unit 124d determines the movement state of the capsule endoscope 2 based on the position of the capsule endoscope 2 at a plurality of times and the derivation time of the position. Specifically, the state determination unit 124d derives the rate of change of the position of the capsule endoscope 2 based on the position of the capsule endoscope 2 at a plurality of times, and based on the derived rate of change !, Thus, the capsule endoscope 2 has a function of determining the movement state. Details of the determination function will be described later.
- the moving state deriving device 108 further includes a storage battery 129 for supplying the driving power of each of the above-described components.
- the movement state deriving device 108 is configured by the above components.
- the moving state detection system selects a plurality of receiving antennas 7 used for deriving the position of the capsule endoscope 2 introduced into the subject 1 from the receiving antennas 7a to 7h.
- Position deriving antenna selection operation a position deriving operation for deriving the position of the capsule endoscope 2 based on the reception strength of the radio signal at the selected receiving antenna 7, and a capsule type based on the derived position. It has a function to perform a movement state deriving operation for deriving the movement state of the endoscope 2. In the following, these operations will be described in sequence.
- FIG. 12 is a flowchart showing processing performed by the selection control unit 124a during the position derivation antenna selection operation.
- the position-derived antenna selection operation will be described with reference to FIG.
- each of the receiving antennas 7a to 7h is referred to with a number n.
- ... n 8 for the receiving antenna 7h.
- the strongest receiving strength is the strength value P
- the second strength is the receiving strength P
- the third strength is the receiving strength P.
- ⁇ is stored as 0, and antenna number ⁇ is stored as 1.
- the selection control unit 124a selects the n-th receiving antenna 7 (step S501), detects the reception strength P at the selected receiving antenna 7 (step S502), and is set to temp.
- the magnitude relationship between the received strength P and the received strength P is determined (step S503).
- the update process of signal strength P and antenna number n3 is performed. That is, the value of the reception strength P is updated to the value of the reception strength P detected in step S502 (step S504),
- the value of antenna number n3 is updated to the value of n which is the number of receiving antenna 7 selected in step S501 (step S505).
- the reception strength P is lower than the reception strength P! /, And temp max3
- the selection control unit 124a determines the magnitude relationship between the reception strength P detected in step S502 and the reception strength P set in advance in temp (step S506), and if the reception strength P exceeds (Step S506, Yes), received power P, P and antenna number temp max2 max3
- Update processing is performed on the values of the n2 and n3 signals. That is, the value of received strength P is received max3
- step S507 Update to the value of strength P (step S507) and detect the value of received strength P in step S502 m x, max,
- Step S509 the value of antenna number n2 is updated to the value of n selected in Step S501 (Step S510). If the received strength P is lower than the received strength P, temp max2
- Step S506, No the process proceeds to Step S516 described later.
- the selection control unit 124a determines the magnitude relationship between the reception strength P detected in step S502 and the reception strength P set in advance temp (step S511), and the reception strength P maxl
- Update processing is performed on the values of the signals nl and n2. That is, the value of received strength P is received max2
- step S512 Update to the value of strength P (step S512), and change the value of received strength P to the value of received strength P maxl maxl temp Update (step S513), update the value of antenna number n2 to the value of antenna number nl (step S514), update the value of antenna number nl to the value of antenna number n (step S515), and proceed to step S516. Transition. Note that if the reception strength P is lower than the reception strength P
- Step S511, No If (Step S511, No), the process proceeds to Step S516 without performing the processes of Steps S512 to S515.
- step S517 a process of updating the antenna number n determined in step S501 to n + 1 is performed (step S516), and it is determined whether or not the updated antenna number n matches 9 (step S5 17). ). If the antenna number n matches 9 (step S517, Yes), it means that the processing of steps S501 to S515 has been completed for all of the receiving antennas 7a to 7h. If they do not match (step S517, No), the process from step S501 is repeated again using the antenna number n updated in step S516.
- the one with the highest reception strength and the third with the highest reception strength are selected and used for deriving the position of the capsule endoscope 2 using the three powerful reception antennas 7.
- one more receiving antenna 7 is selected from the selected three receiving antennas 7, and a radio signal transmitted from the capsule endoscope 2 is received.
- the wireless signal transmitted from the capsule endoscope 2 functions as a sensor signal, and the in-subject information acquired by the capsule endoscope 2 (the subject in the fourth embodiment).
- the movement state deriving device 108 has a function of extracting powerful in-subject information. Specifically, the movement state deriving device 108 has, for example, a value of received intensity P
- FIG. 13 is a schematic diagram for explaining the position deriving operation performed by the position deriving unit 124c. Note that the example shown in FIG. 13 shows the case where the reception antennas 7a, 7c, and 7d are selected by the selection control unit 124a, but the selected reception antenna is the position of the capsule endoscope 2 inside the subject 1. Of course, there are differences, etc., and Fig. 13 is just an example, and it goes without saying! /.
- the position deriving unit 124c grasps the position coordinates of the receiving antennas 7a to 7h in advance, and the position coordinates (x, y, z), (x, y, z) of the receiving antennas 7a, 7c, 7d, respectively. ), ( ⁇ , y,
- the signal strength is known during the position derivation antenna selection operation described above, and the position derivation unit 1
- the reception intensity at each of the reception antennas 7a, 7c, 7d is a value corresponding to the distance from the capsule endoscope 2.
- the position deriving unit 124c uses the capsule type based on the proportional relationship.
- the distances r 1, r 2 and r between the endoscope 2 and the receiving antennas 7a, 7c and 7d are derived.
- the position deriving unit 124c is, for example,
- the position coordinates (X, y, z) of the capsule endoscope 2 are
- each value of (X, y, z) is derived, and the position deriving operation for the capsule endoscope 2 is completed.
- the derived position of the capsule endoscope 2 is stored in the capsule position storage unit 128 in a manner associated with the derived time, and is also stored in the portable recording medium 5 via the output interface 125. .
- FIG. 14 shows the operation of the state determination unit 124d when determining the movement state. It is a flowchart shown. Hereinafter, the movement state determination operation will be described with reference to FIG.
- the state determination unit 124d inputs information on the position of the capsule endoscope 2 at a plurality of different times based on the information stored in the capsule position storage unit 128 (step S601). Based on the obtained information, the rate of change of the position of the capsule endoscope 2 is derived (step S602). For example, the state determination unit 124d obtains the position coordinates (X, y, z) of the capsule endoscope 2 derived at time tl and the capsule derived at time t2.
- Step S603 it is determined whether or not the derived change rate is greater than or equal to a predetermined threshold (step S603). If it is determined that the threshold value is exceeded (Step S603, Yes), the moving state of the capsule endoscope 2 is determined to be a normal state (Step S604), and if it is determined that it is less than the threshold value (Step S603, No) ), A low speed state is determined (step S605). After that, the derived determination result is recorded on the portable recording medium 5 via the output interface 125, and after the capsule endoscope 2 is discharged outside the subject 1, the moving state together with the in-subject image is obtained. Displayed on display device 4.
- FIG. 15 is a schematic diagram showing an example of a display mode on the screen of the display device 4 based on information recorded on the portable recording medium 5.
- the in-subject image 132 captured by the CCD 13 provided in the capsule endoscope 2 is displayed on the screen of the display device 4, and the outer shape of the subject 1 is schematically shown.
- the object image 133 shown is displayed.
- a passage path 134 of the capsule endoscope 2 in the subject 1 and an imaging position 135 of the in-subject image 132 are displayed.
- the displayed passage 134 is formed by a normal region 134a in which the capsule endoscope 2 moves in a normal state and a low speed region 134b in which the capsule endoscope 2 moves in a low speed state.
- the normal region 134a and the low-speed region 134b that are powerful are derived based on the determination result in the state determination unit 137d.
- the capsule endoscope 2 is used for diagnosis or the like using the in-subject image It is possible to grasp in which part of the body 1 the low speed state has been reached.
- the movement state detection system can grasp the movement state inside the subject 1 by using the change rate of the position of the capsule endoscope 2. For this reason, for example, when viewing a large number of in-vivo images captured by the capsule endoscope 2, all the in-subject images corresponding to the area determined to be in the low speed state are browsed. Instead, it is possible to cope with browsing only a part of the data, which has the advantage of enabling efficient diagnosis. Further, it is possible to realize a configuration such as adjusting the imaging interval in the CCD 13 provided in the capsule endoscope 2 based on the detected moving state.
- the moving state detection system moves not only the in-vivo image 132 but also the capsule endoscope 2 on the screen of the display device 4. Even if the status is displayed, it will be displayed together.
- doctors, nurses, and the like can visually recognize changes in the moving state, such as in which part of the subject 1 the capsule endoscope 2 is in a low-speed state.
- the moving state detection system according to the fifth embodiment has a configuration for detecting the moving state of the capsule endoscope based on a time length during which a predetermined receiving antenna is continuously selected.
- FIG. 16 is a block diagram showing a configuration of the movement state deriving device 136 included in the movement state detection system according to the fifth embodiment.
- the in-subject introduction system includes the capsule endoscope 2, the display device 4, and the portable recording medium 5 as in the first embodiment. I will do it.
- the moving state detection system is similar to the fourth embodiment in that the antenna selection unit 121, the reception circuit 122, the information extraction circuit 123, the A / D conversion unit 126, the output interface
- the selected antenna storage unit 138 that stores information about the selected receiving antenna 7 and the information stored in the selected antenna storage unit 138 are identical to each other.
- a control unit 137 provided with a state determination unit 137d for determining the movement state of the capsule endoscope 2 based on the time length for which the receiving antenna is continuously selected.
- the selected antenna storage unit 138 has a function of storing history information of the selected antenna, which is information in which the identification information of the receiving antenna 7 selected by the selection control unit 124a is associated with the selected time. Specifically, the selected antenna storage unit 138 associates information for identifying the receiving antenna 7 selected by the selection control unit 124a with information on the time at which the selection control unit 124a performs antenna selection. I remember it. More specifically, the selected antenna storage unit 138 stores the derived values of nl, n2, and n3 and the time when these values are derived in the example of the fourth embodiment.
- the selection control unit 124a has a function of selecting the three reception antennas 7 in order from the reception antennas 7a to 7h in order of the reception strength in order to detect the position.
- the selection control unit 124a performs the antenna selection operation at every predetermined time, and by performing the selection operation at every predetermined time, according to the movement of the capsule endoscope 2, It is possible to perform a receiving operation via the receiving antenna 7 suitable for receiving a radio signal transmitted from the capsule endoscope 2.
- the selected antenna storage unit 138 stores the result of the antenna selection operation repeatedly performed by the selection control unit 124a and the time when the antenna selection operation is performed for the purpose, thereby receiving the reception selected by the selection control unit 124a. It has a function of storing the history of the antenna 7 and supplying the information stored in the determination operation described later to the state determination unit 137d.
- state determination unit 137d moves capsule endoscope 2 based on the continuous selection time of the selected antenna stored in selection antenna storage unit 138. It has a function to determine the state. Specifically, the state determination unit 137d determines whether the same receiving antenna 7 is selected according to the length of the continuous selection time. 2 has a function of determining that the moving state is the normal state or the low speed state.
- FIG. 17 is a flowchart for explaining the determination operation of the state determination unit 137d.
- the operation of the state determination unit 137d will be described with reference to FIG.
- the state determination unit 137d inputs the history of the selected antenna stored in the selected antenna storage unit 138 (step S701), and derives the continuous selection time in which the same reception antenna 7 is continuously selected. (Step S702). Then, it is determined whether or not the derived continuous selection time is equal to or greater than the threshold (step S703). If it is determined that the capsule endoscope 2 is less than the threshold (Step S703, No), the moving state of the capsule endoscope 2 is determined to be the normal state (Step S705).
- the selection control unit 124a has three reception antennas with high reception strength of radio signals transmitted from the capsule endoscope 2 from the viewpoint of receiving radio signals under better conditions. 7 is going to be selected.
- the radio signal transmitted from the capsule endoscope 2 has a characteristic that it gradually attenuates as the distance from the capsule endoscope 2 increases. For this reason, the intensity of the radio signal received via each of the receiving antennas 7a to 7h reflects the distance between the receiving antennas 7a to 7h and the capsule endoscope 2.
- the reception antenna 7 selected by the selection control unit 124a means not only a reception antenna most suitable for reception of a radio signal but also a reception antenna closest to the capsule endoscope 2. It will be. Therefore, when the same receiving antenna 7 is selected in a plurality of antenna selection operations, it can be assumed that the position of the capsule endoscope 2 in the subject 1 has hardly changed. is there. Further, when the selected receiving antenna 7 is frequently switched, it can be estimated that the capsule endoscope 2 is moving at a certain speed inside the subject 1.
- the selection history of the receiving antenna 7 since there is a correspondence between the selection history of the receiving antenna 7 and the movement state of the capsule endoscope 2, in the fifth embodiment, the selection history of the receiving antenna 7 In particular It is assumed that the movement state of the capsule endoscope 2 is detected based on the continuous selection time during which the same receiving antenna 7 is continuously selected.
- the moving state detection system according to the fifth embodiment is stored with a mechanism for storing the selection history of the receiving antenna, compared to a conventional capsule endoscope system including a selection control unit and the like. This can be realized by newly adding a mechanism for determining the movement state of the capsule endoscope based on the selection history.
- the moving state detection system according to the fifth embodiment has the advantage that the system can be easily configured.
- a wireless signal is used as an example of a sensor signal, but it is not necessary to interpret the sensor signal in the scope of claims as being limited to a wireless signal.
- a capsule endoscope The moving state of the capsule endoscope 2 may be detected by disposing a permanent magnet inside 2 and detecting the strength of the static magnetic field formed by the powerful permanent magnet.
- the static magnetic field since it has a characteristic of decaying according to the distance from the generation source, it can be used in the same manner as the sensor signal in the claims as well as the radio signal.
- any sensor signal that attenuates with distance can be used as a sensor signal.
- each of the state determination units 24c, 33b, 36b, 124d, and 137d is a normal state or a low speed state as a moving state!
- the movement state detected in the present invention is not necessarily limited to these.
- at least one moving state such as a high speed state, a normal state, a low speed state, and a stagnation state may be detected by using a threshold value of 1 or more.
- each of the movement state deriving devices 8, 31, 35, 108, and 136 has a configuration for performing the determination of the movement state, and the display device 4 is separately and independently provided. It is supposed to be configured.
- the moving state deriving device 8 and the like and the display device 4 may be configured integrally, or a configuration in which a state determination unit is provided in the display device 4 may be used.
- the number of receiving antennas 7 in Embodiments 1 and 3 can be any number that is not necessarily limited to eight.
- the movement state detection apparatus and movement state detection system move within the subject and output a sensor signal that attenuates according to the distance inside the subject.
- This is useful for in-subject detection devices and in-subject detection systems that detect the movement state of an in-sample introduction device.
- in-subject detection that detects the movement state of a capsule endoscope as an in-subject introduction device. Suitable for detection devices and in-subject detection systems.
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Abstract
Description
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US11/632,559 US20070252892A1 (en) | 2004-07-16 | 2005-07-14 | Moving-State Detecting Apparatus and Moving-State Detecting System |
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JP2004210528A JP4575057B2 (ja) | 2004-07-16 | 2004-07-16 | 移動状態検出装置および移動状態検出システム |
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JP2003019111A (ja) * | 2001-05-20 | 2003-01-21 | Given Imaging Ltd | 生体内信号源の位置を探知するアレーシステム及び方法 |
JP2003116781A (ja) * | 2001-10-16 | 2003-04-22 | Olympus Optical Co Ltd | カプセル型医療機器 |
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IL159451A0 (en) * | 2001-06-20 | 2004-06-01 | Given Imaging Ltd | Motility analysis within a gastrointestinal tract |
IL147221A (en) * | 2001-12-20 | 2010-11-30 | Given Imaging Ltd | Device, system and method for image based size analysis |
US7001329B2 (en) * | 2002-07-23 | 2006-02-21 | Pentax Corporation | Capsule endoscope guidance system, capsule endoscope holder, and capsule endoscope |
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2005
- 2005-07-14 WO PCT/JP2005/013082 patent/WO2006009086A1/ja active Application Filing
- 2005-07-14 US US11/632,559 patent/US20070252892A1/en not_active Abandoned
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JP2001046358A (ja) * | 1999-08-06 | 2001-02-20 | Asahi Optical Co Ltd | ラジオカプセル受信システム |
JP2003019111A (ja) * | 2001-05-20 | 2003-01-21 | Given Imaging Ltd | 生体内信号源の位置を探知するアレーシステム及び方法 |
JP2003116781A (ja) * | 2001-10-16 | 2003-04-22 | Olympus Optical Co Ltd | カプセル型医療機器 |
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JP2016063868A (ja) * | 2014-09-22 | 2016-04-28 | オリンパス株式会社 | 画像表示装置、画像表示方法、及び画像表示プログラム |
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