WO2010058756A1 - 位置検出システムおよび位置検出方法 - Google Patents

位置検出システムおよび位置検出方法 Download PDF

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Publication number
WO2010058756A1
WO2010058756A1 PCT/JP2009/069446 JP2009069446W WO2010058756A1 WO 2010058756 A1 WO2010058756 A1 WO 2010058756A1 JP 2009069446 W JP2009069446 W JP 2009069446W WO 2010058756 A1 WO2010058756 A1 WO 2010058756A1
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WIPO (PCT)
Prior art keywords
magnetic field
unit
signal
coil
switch
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PCT/JP2009/069446
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English (en)
French (fr)
Japanese (ja)
Inventor
木村　敦志
千葉　淳
佐藤　良次
河野　宏尚
Original Assignee
オリンパスメディカルシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by オリンパスメディカルシステムズ株式会社 filed Critical オリンパスメディカルシステムズ株式会社
Priority to CN200980142502.5A priority Critical patent/CN102196760B/zh
Priority to JP2010525145A priority patent/JP4643763B2/ja
Priority to EP09827537.3A priority patent/EP2347697A4/de
Publication of WO2010058756A1 publication Critical patent/WO2010058756A1/ja
Priority to US12/825,903 priority patent/US8049503B2/en

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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
    • A61B1/042—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 characterised by a proximal camera, e.g. a CCD camera
    • 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
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • 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
    • A61B1/00036—Means for power saving, e.g. sleeping mode
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • 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
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • 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
    • A61B5/073—Intestinal transmitters

Definitions

  • the present invention relates to a position detection system and a position detection method, and more particularly to a position detection system and a position detection method for detecting the position of a capsule-type in-subject introduction device introduced into a subject using a magnetic field.
  • capsule-type intra-subject introduction devices (hereinafter referred to as capsule endoscopes) equipped with an image sensor have been developed.
  • a capsule endoscope is introduced into a subject by oral means, for example, and images the inside of the subject, and the obtained image (hereinafter referred to as an in-subject image) is transmitted wirelessly to an extracorporeal device arranged outside the subject.
  • the operator can diagnose the symptom and the like of the subject by visually confirming the in-subject image received by the extracorporeal device.
  • Such a capsule endoscope cannot normally move within the subject itself, but moves within the subject by peristaltic movement of the digestive organ of the subject. For this reason, there are cases where the observation ability is inferior to an endoscope such as a fiberscope that allows an operator to select an observation site to some degree of freedom.
  • Patent Document 1 shown below exists as a technique for solving such a drawback.
  • a capsule endoscope is provided from the outside of the subject by applying a magnetic field (hereinafter referred to as a guidance magnetic field) to the capsule endoscope having a magnetic field generating means such as a permanent magnet from the outside of the subject. It becomes possible to positively control the posture and movement of the robot.
  • a guidance magnetic field a magnetic field generating means such as a permanent magnet
  • a resonance circuit (hereinafter referred to as an LC resonance circuit) including a coil (L) and a capacitor (C) is provided in a capsule endoscope, and the LC resonance circuit is a magnetic field applied from the outside.
  • the position and orientation of the capsule endoscope are detected by detecting the induced magnetic field generated by this (hereinafter referred to as the drive magnetic field).
  • a method for deriving information such as position and orientation from an induced magnetic field generated by applying a driving magnetic field to the LC resonance circuit from the outside is referred to as a passive method.
  • Patent Document 1 discloses that the position and orientation of a capsule endoscope are detected by inputting a signal of the resonance frequency to an LC resonance circuit mounted on the capsule endoscope and detecting an excitation magnetic field generated thereby. A configuration for detecting the error is also described.
  • a method of deriving information such as position and orientation from an excitation magnetic field generated by giving a signal of a resonance frequency to the LC resonance circuit in this way is referred to as an active method.
  • the merit of the passive method includes the power saving of the capsule endoscope.
  • the disadvantages of the passive method include an increase in size and complexity of an apparatus including an external apparatus, and a tendency for detection accuracy to be lowered.
  • the active method is adopted in a situation where high-precision position detection is required, and the passive method is adopted in a situation where the power consumption of the capsule endoscope is to be suppressed.
  • Patent Document 1 described above describes a configuration in which a switch is provided in an LC resonance circuit, and the switch is connected to and disconnected from the LC resonance circuit by controlling on / off of the switch.
  • this patent document 1 does not disclose a specific configuration for selectively using the passive method and the active method by using a connection / disconnection configuration, and has not yet achieved its realization.
  • the present invention has been made in view of the above problems, and provides a position detection system and a position detection method that can detect the position of the in-subject introduction apparatus by switching between the active method and the passive method. For the purpose.
  • a position detection system includes an in-subject introduction device arranged in a state of being introduced into a subject in a detection space, an external device arranged outside the subject,
  • the in-subject introduction device includes an oscillation circuit that outputs an induction signal having a resonance frequency, and the induction signal that is output from the oscillation circuit or the detection space that is formed in the detection space.
  • a resonance magnetic field is generated in accordance with a drive magnetic field having a resonance frequency, and a resonance circuit connected between the oscillation circuit and the ground line, and between the resonance circuit and the oscillation circuit or the ground line.
  • Driving A coil, a second switch for conducting / interrupting between the drive coil drive unit and the drive coil, a magnetic field sensor for detecting the resonant magnetic field, and information on the resonant magnetic field detected by the magnetic field sensor
  • a position deriving unit for deriving position information of the in-subject introduction apparatus, and when the second switch is in an off state, the second switch is between the drive coil drive unit and the drive coil.
  • the external device is based on the signal strength detection unit that detects the signal strength of the detection signal detected by the magnetic field sensor, and the signal strength detected by the signal strength detection unit. And a second switch controller for controlling on / off of the second switch.
  • the in-subject introduction apparatus has the internal power supply for supplying power to the in-subject introduction apparatus and the voltage level of the power supply voltage output from the internal power supply. And a first switch control unit that controls the first switch.
  • the external device includes a switching coil that forms a switching magnetic field in the detection space, and a switching coil driving unit that inputs a signal that causes the switching coil to generate the switching magnetic field.
  • the first switch is a magnetic reed switch that is turned on / off according to the switching magnetic field.
  • the external device includes a control signal transmission unit that transmits a control signal for controlling on / off of the first switch to the intra-subject introduction device.
  • the introduction device includes a control signal receiving unit that receives the control signal, and a first switch control unit that controls on / off of the first switch based on the control signal.
  • the control signal transmission unit includes a control coil that forms a control magnetic field in the detection space, and a control coil drive unit that inputs a signal that causes the control coil to generate the control magnetic field.
  • a magnetic reed switch that is turned on / off according to the control magnetic field, and a control signal receiving unit that controls on / off of the first switch based on a signal output from the magnetic reed switch.
  • a one-switch control unit is included in the control coil.
  • the above-described position detection system is characterized in that the control coil driving unit inputs a signal for generating the control magnetic field having a predetermined pattern to the control coil.
  • the in-subject introduction device has a magnetic field generation unit that generates a magnetic field, and the external device forms a guidance magnetic field that acts on the magnetic field generation unit in the detection space. And a guidance coil driving unit for inputting a signal for generating the guidance magnetic field in the guidance coil.
  • the in-subject introduction device has a magnetic field generation unit that generates a magnetic field, and the external device forms a guidance magnetic field that acts on the magnetic field generation unit in the detection space.
  • a guidance coil driving unit that inputs a signal for generating the guidance magnetic field to the guidance coil, and the switching coil is configured to use the guidance coil or the driving coil.
  • the in-subject introduction device has a magnetic field generation unit that generates a magnetic field, and the external device forms a guidance magnetic field that acts on the magnetic field generation unit in the detection space.
  • a guidance coil driving unit for inputting a signal for generating the guidance magnetic field to the guidance coil, and the guidance coil or the driving coil is used as the control coil.
  • the above-described position detection system according to the present invention is characterized in that the external device includes an averaging processing unit that averages the position information.
  • the above-described position detection system is characterized in that the averaging processing unit changes the number of matrixes of the position information to be averaged between when the second switch is on and when it is off. To do.
  • the above-described position detection system according to the present invention is characterized in that the external device includes an averaging processing unit that averages information of the resonance magnetic field.
  • the averaging processing unit changes the number of matrixes of the resonance magnetic field information to be averaged depending on whether the second switch is in an on state or an off state.
  • the position deriving unit introduces the information into the subject from information obtained by removing the information on the driving magnetic field from the magnetic field information included in the detection signal detected by the magnetic field sensor.
  • the position information of the apparatus is derived.
  • the drive coil is excited by the resonance magnetic field from the magnetic field information included in the detection signal detected by the magnetic field sensor when the position deriving unit is in the ON state of the second switch.
  • the position information of the in-subject introduction apparatus is derived from information obtained by removing information on unnecessary magnetic fields generated.
  • the in-subject introduction device images the inside of the subject and acquires an image, and image transmission that transmits the image acquired by the imaging unit to the external device
  • An image receiving unit that receives the image transmitted from the image transmitting unit, and a display unit that displays the image received by the image receiving unit together with the position information, It is characterized by having.
  • the position detection method is a position detection method for detecting the position in the subject of the in-subject introduction device provided with the resonance circuit that spontaneously or externally receives the magnetic field to generate the resonant magnetic field.
  • a resonance magnetic field strength detection step for detecting a magnetic field strength of the resonance magnetic field, and a resonance magnetic field strength determination step for determining whether or not the magnetic field strength detected in the resonance magnetic field strength detection step is a predetermined value or more.
  • the external magnetic field forming step for forming the external magnetic field and the resonant magnetic field generated spontaneously by the resonance circuit or the external magnetic field formed by the external magnetic field forming step are received.
  • a resonant magnetic field detecting step for detecting the resonant magnetic field formed inductively, and the introduction device in the subject based on the resonant magnetic field detected in the resonant magnetic field detecting step Wherein characterized in that it comprises a position deriving step of deriving position information indicating a position in the subject of.
  • the position deriving step accumulates the position information derived in the position deriving step for a predetermined number of times, and the predetermined information accumulated in the position information accumulating step.
  • Position information averaging step for averaging position information for a number of times, and deriving position information indicating the position of the in-subject introduction apparatus in the subject based on the averaged position information. It is characterized by that.
  • the resonance circuit spontaneously emits a resonance magnetic field by switching the first switch in the in-subject introduction apparatus (active method) and the external magnetic field (drive magnetic field) to induce the resonance magnetic field. It is possible to switch between a system that emits (passive system) and a system that emits a drive magnetic field to the drive coil by switching the second switch in an external device (active system) and a system that does not emit (passive system) Therefore, it is possible to realize a position detection system and a position detection method capable of detecting the position of the in-subject introduction apparatus by switching between the active method and the passive method.
  • FIG. 1 is a schematic diagram showing a schematic configuration of a position detection magnetic guidance system according to any of Embodiments 1 to 3 of the present invention.
  • FIG. 2 is a block diagram showing a schematic configuration of the capsule medical device according to Embodiment 1 or 2 of the present invention.
  • FIG. 3 is an external view showing a schematic configuration of the capsule medical device according to any of Embodiments 1 to 3 of the present invention.
  • FIG. 4 is a diagram showing a schematic configuration of the resonant magnetic field generation unit according to the first embodiment of the present invention.
  • FIG. 5 is a diagram illustrating a circuit configuration example of the resonant magnetic field generation unit according to the first embodiment of the present invention.
  • FIG. 6 is a flowchart showing an outline of mode switching processing according to any of Embodiments 1 to 3 of the present invention.
  • FIG. 7 is a flowchart showing an outline of position detection processing according to any of Embodiments 1 to 3 of the present invention.
  • FIG. 8 is a flowchart showing an outline of the calibration process according to any one of the first to third embodiments of the present invention.
  • FIG. 9 is a flowchart showing position information derivation processing according to any of Embodiments 1 to 3 of the present invention.
  • FIG. 10 is a flowchart showing an outline of the averaging process according to any one of the first to third embodiments of the present invention.
  • FIG. 11 is a flowchart showing an outline of guidance processing according to Embodiment 1 of the present invention.
  • FIG. 12 is a diagram showing a schematic configuration of a resonant magnetic field generation unit according to Modification 1 of Embodiment 1 of the present invention.
  • FIG. 13 is a diagram illustrating a circuit configuration example of the resonant magnetic field generation unit according to the first modification of the first embodiment of the present invention.
  • FIG. 14 is a diagram illustrating a circuit configuration example of the resonant magnetic field generation unit according to the second modification of the first embodiment of the present invention.
  • FIG. 15 is a diagram showing a schematic configuration of the resonant magnetic field generation unit according to the second embodiment of the present invention.
  • FIG. 16 is a block diagram showing a schematic configuration of a capsule medical device according to the third embodiment of the present invention.
  • FIG. 17 is a flowchart showing an outline of mode switching processing executed by the external device according to Embodiment 3 of the present invention.
  • FIG. 18 is a flowchart showing an outline of mode switching processing executed by the capsule medical device according to the third embodiment of the present invention.
  • FIG. 19 is a block diagram showing a schematic configuration of a capsule medical device according to the first modification of the third embodiment of the present invention.
  • each drawing only schematically shows the shape, size, and positional relationship to the extent that the contents of the present invention can be understood. Therefore, the present invention is illustrated in each drawing. It is not limited to only the shape, size, and positional relationship. Moreover, in each figure, a part of hatching in a cross section is abbreviate
  • FIG. 1 is a schematic diagram showing a schematic configuration of a position detection magnetic guidance system 1 according to the present embodiment.
  • the position detection magnetic guidance system 1 includes a detection space K that houses a subject into which the capsule medical device 10 is introduced, and the position and orientation (attitude) of the capsule medical device 10 in the detection space K. ) And an external device 200 that guides the capsule medical device 10 in the direction and orientation desired by the operator.
  • Capsule type medical device 10 guides the capsule type medical device 10 using a resonance magnetic field generator 11 that generates a magnetic field for position detection (a resonance magnetic field described later) and an external magnetic field (a guidance magnetic field described later).
  • a resonance magnetic field generator 11 that generates a magnetic field for position detection (a resonance magnetic field described later) and an external magnetic field (a guidance magnetic field described later).
  • a capsule control unit 13 that controls each part in the capsule medical device 10 and various information in the subject are acquired.
  • the radio receiving unit 16 and the receiving antenna 16a that receive various operation instructions transmitted as radio signals from the 200, and power in each unit in the capsule medical device 10 A capsule internal power supply 17 to be supplied.
  • the in-subject information acquisition unit 14 for example, an imaging unit 142 that acquires an in-subject image as in-subject information, and an illumination unit 141 that illuminates the subject when the imaging unit 142 images the subject. And a signal processing unit 143 that performs predetermined signal processing on the in-vivo image acquired by the imaging unit 142.
  • the imaging unit 142 converts an incident light into an electrical signal to form an image, an objective lens 142c disposed on the light receiving surface side of the imaging element 142a, and an imaging An imaging element driving circuit (not shown) that drives the element 142a.
  • an imaging element driving circuit (not shown) that drives the element 142a.
  • a CCD (Charge Coupled Device) camera, a CMOS (Complementary Metal Oxide Semiconductor) camera, or the like can be used as the imaging element 142a.
  • the image sensor drive circuit drives the image sensor 142 a under the control of the capsule controller 13 and acquires an in-subject image of an analog signal.
  • the image sensor driving circuit outputs the in-subject image of the analog signal read from the image sensor 142 a to the signal processing unit 143.
  • each light source 141A for example, an LED (Light Emitting Diode) can be used.
  • the light source driving circuit illuminates the inside of the subject by driving the light source 141A in accordance with the driving of the imaging unit 142 under the control of the capsule control unit 13.
  • the signal processing unit 143 performs predetermined signal processing, such as sampling, amplification, and A / D (Analog to Digital) conversion, on the analog in-vivo image input from the imaging unit 142, so that the digital subject An inner image is generated.
  • predetermined signal processing such as sampling, amplification, and A / D (Analog to Digital) conversion
  • sampling, amplification, and A / D (Analog to Digital) conversion on the analog in-vivo image input from the imaging unit 142, so that the digital subject An inner image is generated.
  • the in-subject image that has been subjected to various processes is input to the wireless transmission unit 15.
  • the in-subject information acquisition unit 14 may include a sensor element (not shown) and a sensor element driving circuit that controls driving of the sensor element.
  • the sensor element includes, for example, a thermometer, a pressure gauge, a pH meter, and the like, and appropriately acquires the temperature, pressure, pH value, and the like in the subject as in-subject information.
  • the sensor element driving circuit drives the sensor element to acquire in-subject information and inputs this to the wireless transmission unit 15.
  • the wireless transmission unit 15 is connected to a transmission antenna 15a configured by a coil antenna or the like, and transmits a reference frequency signal for transmission to in-subject information such as an in-subject image input from the signal processing unit 143. After performing various processes such as superimposition, modulation, and up-conversion, the data is transmitted as a radio signal from the transmitting antenna 15a to the external device 200. That is, the wireless transmission unit 15 transmits the in-subject information (for example, the in-subject image) acquired by the in-subject information acquisition unit 14 (for example, the imaging unit) to the external apparatus 200 (for example, the in-subject information transmission unit (for example, the imaging unit)). It also functions as an image transmission unit).
  • in-subject information for example, the in-subject image
  • the external apparatus 200 for example, the in-subject information transmission unit (for example, the imaging unit)
  • the radio receiving unit 16 is connected to a receiving antenna 16a configured by a coil antenna or the like, and receives various operation instructions and the like transmitted as radio signals from the external device 200 via the receiving antenna 16a and receives them. After performing various processing such as filtering, down-conversion, demodulation and decoding on the processed signal, it is output to the capsule controller 13.
  • the capsule control unit 13 is configured by, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and the like, and is a memory (not illustrated) based on various operation instructions input from the external device 200 via the wireless reception unit 16. Each part in the capsule medical device 10 is controlled by reading and executing the program and parameters read from the part.
  • a CPU Central Processing Unit
  • MPU Micro Processing Unit
  • the capsule control unit 13 is configured by, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and the like, and is a memory (not illustrated) based on various operation instructions input from the external device 200 via the wireless reception unit 16.
  • Each part in the capsule medical device 10 is controlled by reading and executing the program and parameters read from the part.
  • the capsule internal power supply 17 includes, for example, a button battery that is a primary battery or a secondary battery, and a power supply circuit that boosts the power output from the button battery and supplies it to each part in the capsule medical device 10. Driving power is supplied to each part in the medical device 10.
  • a permanent magnet can be used for the magnetic field generator 12.
  • the present invention is not limited to this, and any circuit that generates a propulsive force, a rotational force, or the like in the capsule medical device 10 by absorbing the magnetic field from the outside, such as a circuit that generates a magnetic field using an electric current, may be used. .
  • the resonant magnetic field generator 11 emits a magnetic field (hereinafter referred to as an excitation magnetic field) by being excited by a position detection magnetic field (hereinafter referred to as a drive magnetic field) input from the outside, or an oscillation circuit 113 described later.
  • LC resonance circuit 111 that emits a magnetic field (hereinafter referred to as an induction magnetic field) that is induced by a frequency signal (hereinafter referred to as an induction signal) of resonance frequency F0 input from, and an oscillation circuit 113 that oscillates at resonance frequency F0.
  • the first switch SW1 that conducts / cuts off between the oscillation circuit 113 and the LC resonance circuit 111 and the first switch SW1 according to the voltage level of the power supply voltage VCC output from the capsule internal power supply 17 (see FIG. 2).
  • a drive circuit 114 (first switch control unit) that is turned on / off.
  • the resonance frequency F0 is the resonance frequency of the LC resonance circuit 111.
  • the excitation magnetic field and the induction magnetic field are collectively referred to simply as a resonance magnetic field.
  • the capsule medical device 10 has an active mode and a passive mode as its operation mode.
  • the first switch SW1 When the capsule medical device 10 is operating in the active mode, the first switch SW1 is turned on, and the induction signal having the resonance frequency F0 is supplied from the oscillation circuit 113 to the LC resonance circuit 111. As a result, an induced magnetic field is emitted from the LC resonance circuit 111.
  • the first switch SW1 When the capsule medical device 10 is operating in the passive mode, the first switch SW1 is turned off, and the LC resonance circuit 111 and the oscillation circuit 113 are electrically separated. Therefore, the LC resonance circuit 111 emits an excitation magnetic field by being excited when a drive magnetic field having a frequency substantially equal to the resonance frequency F0 is input from the outside.
  • a configuration example of the resonance magnetic field generator 11 will be described in detail later with reference to the drawings.
  • the above-described parts (11, 12, 13, 14, 15, 15a, 16, 16a, 17 and SW1) are housed in a capsule-type casing 18.
  • the casing 18 has a substantially cylindrical or semi-elliptical spherical shape container 18a having a hemispherical dome shape at one end and an opening at the other end, and a hemispherical shape.
  • the cap 18b seals the inside of the housing 18 by being fitted into the opening of the container 18a.
  • the case 18 is large enough to be swallowed by a subject, for example.
  • at least the cap 18b is formed of a transparent material.
  • the light source 141A described above is mounted on a circuit board 141B on which the above-described light source driving circuit (not shown) is mounted.
  • the image sensor 142a and the objective lens 142c are mounted on a circuit board (not shown) on which an image sensor drive circuit (not shown) is mounted.
  • the circuit board 141B on which the light source 141A is mounted and the circuit board on which the imaging element 142a is mounted are arranged on the cap 18b side in the housing 18.
  • the element mounting surface of each circuit board is directed to the cap 18b side. Therefore, the imaging / illumination directions of the imaging element 142a and the light source 141A are directed outside the capsule medical device 10 via the transparent cap 18b, as shown in FIG.
  • drive coils 223a and 223b that form a substantially uniform drive magnetic field in the detection space K, and a plurality of sense coils 213 that detect a resonance magnetic field generated by the LC resonance circuit 111 of the capsule medical device 10
  • Guidance coils 233x and 234x, 233y and 234y, and 233z and 234z for guiding the position and orientation (posture) of the capsule medical device 10 are disposed.
  • the drive coils 223a and 223b are disposed to face each other so as to sandwich the detection space K, for example.
  • two opposing drive coils 223a and 223b are arranged so as to generate a substantially uniform drive magnetic field in the x-axis direction (see FIG. 1) in the detection space K.
  • Each sense coil 213 is a magnetic sensor composed of, for example, three coils capable of detecting the magnetic field strength and direction in the directions of three axes (x axis, y axis, and z axis in FIG. 1).
  • the plurality of sense coils 213 are, for example, arranged in a two-dimensional array on a plane so as not to be affected by the drive magnetic field and to detect the resonance magnetic field generated by the LC resonance circuit 111.
  • the plurality of sense coils 213 are arranged on the bottom surface of the detection space K (the xy plane below the detection space K).
  • each sense coil 213 is not limited to a magnetic sensor formed of a coil, and may be configured of a magnetic sensor formed of, for example, a magnetoresistive element or a magnetic impedance element (MI element).
  • each sense coil 213 can be constituted by a uniaxial magnetic sensor or the like.
  • Guidance coils 233x and 234x, 233y and 234y, and 233z and 234z are arranged so as to surround the detection space K.
  • the guidance coil 233x and the guidance coil 234x are arranged to face each other so as to sandwich the detection space K in the x-axis direction, and generate a guidance magnetic field that controls the position and orientation of the capsule medical device 10 by being driven simultaneously.
  • the guidance coil 233y and the guidance coil 234y, and the guidance coil 233z and the guidance coil 234z are arranged to face each other so as to sandwich the detection space K in the y-axis direction or the z-axis direction, and are driven simultaneously.
  • a guidance magnetic field for controlling the position and orientation of the capsule medical device 10 is generated. Which combination is driven is appropriately selected depending on the direction and direction in which the capsule medical device 10 is to be moved.
  • the external device 200 is obtained by a drive magnetic field generation unit 220 that inputs a signal (hereinafter referred to as a drive signal) for generating a drive magnetic field used in the passive mode to the drive coils 223a and 223b, and the sense coil 213.
  • the position deriving unit 210 for deriving the position and orientation of the capsule medical device 10 from the voltage change (hereinafter referred to as a detection signal), and the position and orientation of the capsule medical device 10 to the guidance coils 233x to 233z and 234x to 234z.
  • Capsule guiding unit 230 for inputting a signal for appropriately generating a guidance magnetic field to be controlled (hereinafter referred to as guidance signal), a control unit 201 for controlling each unit in the external device 200, and executed when the control unit 201 controls each unit.
  • a memory unit 202 for storing various programs and parameters, etc.
  • a wireless transmission unit 206 and a transmission antenna 206a that transmit various operation instructions such as an imaging instruction to the capsule medical device 10 as wireless signals are provided.
  • the control unit 201 is composed of, for example, a CPU or MPU, and controls each unit in the external device 200 according to a program and parameters read from the memory unit 202.
  • the memory unit 202 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and holds programs and parameters executed when the control unit 201 controls each unit.
  • the memory unit 202 appropriately stores in-vivo images received from the capsule medical device 10, position information such as the position and orientation of the capsule medical device 10 derived by the position deriving unit 210, and the like.
  • the operation unit 203 includes, for example, a keyboard, a mouse, a numeric keypad, and a joystick.
  • the operation unit 203 includes various operation instructions for the capsule medical device 10 such as an imaging instruction (including other in-subject information acquisition instructions) and the capsule medical device 10.
  • This is a configuration for an operator to input various operation instructions to the external apparatus 200 such as a movement instruction when guiding the screen and a screen switching instruction for switching a screen displayed on the display unit 204.
  • the switching function of the screen displayed on the display unit 204 is such that the capsule medical device 10 includes a plurality of imaging units 142 and images acquired by the capsule medical device 10 in real time are displayed on the display unit 204. It is good to prepare for the display.
  • the display unit 204 is configured by a display device such as a liquid crystal display, a plasma display, or an LED array, for example, and the position information of the capsule medical device 10 or the inside of the subject such as an image within the subject transmitted from the capsule medical device 10 Display information. Further, the display unit 204 may be equipped with a sound reproduction function using a speaker or the like. The display unit 204 informs the operator of information (including warnings) about various operation guidance and the remaining battery level of the capsule medical device 10 by using this sound reproduction function.
  • the wireless receiving unit 205 is connected to a receiving antenna 205a including a dipole antenna disposed close to the detection space K, and is transmitted as a wireless signal from the capsule medical device 10 via the receiving antenna 205a.
  • the in-subject image or the like is received, and various processes such as filtering, down-conversion, demodulation, and decoding are performed on the received signal, and then output to the control unit 201.
  • the wireless reception unit 205 also functions as an in-subject information receiving unit (for example, an image receiving unit) that receives in-subject information (for example, an in-subject image) transmitted from the capsule medical device 10.
  • the wireless transmission unit 206 is connected to a transmission antenna 206a composed of a dipole antenna or the like disposed in the vicinity of the detection space K, and receives signals such as various operation instructions for the capsule medical device 10 input from the control unit 201. After performing various processes such as superposition, modulation and up-conversion on the reference frequency signal for transmission, this is transmitted from the transmission antenna 206a to the capsule medical device 10 as a radio wave signal.
  • the driving magnetic field generation unit 220 includes a signal generation unit 221, a driving coil driving unit 222, and a second switch SW2.
  • the signal generation unit 221 calculates a signal waveform having a frequency substantially equal to the resonance frequency F0 of the LC resonance circuit 111 in the capsule medical device 10 according to the control signal input from the control unit 201, and a drive signal having this signal waveform Is output to the drive coil drive unit 222.
  • the drive coil drive unit 222 current-amplifies the drive signal input from the signal generation unit 221 and then inputs the amplified drive signal to the drive coils 223a and 223b via the second switch SW2.
  • the drive coils 223a and 223b to which the drive signal after amplification is input emits a magnetic field having a frequency substantially equal to the resonance frequency F0 of the LC resonance circuit 111 of the capsule medical device 10, and thereby the LC in the detection space K.
  • a driving magnetic field that excites the resonance circuit 111 is formed.
  • the current amplification factor by the drive coil drive unit 222 is set in consideration of the processing capability (for example, dynamic range) of the sense coil 213 and the signal processing unit 211 described later, the S / N ratio of the detection signal obtained by the sense coil 213, and the like. Is done.
  • the second switch SW2 switches the connection state between the drive coil drive unit 222 and the drive coils 223a and 223b in accordance with the control signal s12 input from the control unit 201. That is, when operating in the active mode, the control unit 201 inputs, for example, a low level control signal s12 to the second switch SW2. As a result, the second switch SW2 is turned off and the connection between the drive coil driver 222 and the drive coils 223a and 223b is cut off. In this state, the drive magnetic field by the drive coils 223a and 223b is not formed in the detection space K. On the other hand, when operating in the passive mode, the control unit 201 inputs, for example, a high level control signal s12 to the second switch SW2.
  • the second switch SW2 is turned on, and the connection between the drive coil drive unit 222 and the drive coils 223a and 223b becomes conductive.
  • the drive signal output from the drive coil drive unit 222 is input to the drive coils 223a and 223b via the second switch SW2, and a drive magnetic field is formed in the detection space K.
  • the induced magnetic field having the resonance frequency F0 is emitted from the LC resonance circuit 111 of the capsule medical device 10 introduced into the detection space K for each subject.
  • a drive magnetic field having a frequency substantially equal to the resonance frequency F0 is formed in the detection space K by the drive coils 223a and 223b. An excitation magnetic field having F0 is emitted.
  • phase of the resonance magnetic field emitted from the LC resonance circuit 111 when operating in the passive mode is delayed by about 90 ° from the phase of the drive magnetic field formed by the drive coils 223a and 223b. Therefore, the phase of the resonant magnetic field is shifted by about 90 ° from the phase of the drive signal input to the drive coils 223a and 223b.
  • the position calculation unit 212 described later separates it from the drive magnetic field (calibration process).
  • the position deriving unit 210 uses magnetic field information (hereinafter referred to as magnetic field information) included in the detection signal detected by the sense coil 213 to perform predetermined processing (position detection described later) according to the active mode and the passive mode. By executing the processing, the position and orientation (position information, etc.) of the capsule medical device 10 are derived in substantially real time.
  • magnetic field information hereinafter referred to as magnetic field information
  • the position deriving unit 210 includes a signal processing unit 211 and a position calculation unit 212, for example.
  • the signal processing unit 211 receives detection signals detected by the plurality of sense coils 213, respectively.
  • the signal processing unit 211 appropriately amplifies the input detection signal, band-limits, AD (Analog to Digital) conversion, and FFT (Fast Fourier Transform), and outputs a detection signal after each processing.
  • the signal processing unit 211 periodically receives a detection signal from the sense coil 213, performs the above-described signal processing on the detection signal, and then inputs the detection signal to the position calculation unit 212.
  • the detection signal is a signal that represents magnetic field information such as magnetic field strength and direction in voltage.
  • Band limitation is executed to remove frequency components that deviate from the resonance frequency F0 by a certain bandwidth or more, such as guidance magnetic field information (hereinafter referred to as guidance magnetic field information) and noise information, from the detection signal.
  • the position calculation unit 212 performs predetermined calculation processing on the detection signal input from the signal processing unit 211, thereby deriving current position information and the like of the capsule medical device 10 from the magnetic field information included in the detection signal. To do. In addition, the position calculation unit 212 outputs the derived position information and the like to the control unit 201.
  • the detection signal input to the position calculation unit 212 includes the resonance frequency F0 as well as information on the resonance magnetic field or self-induced magnetic field emitted from the LC resonance circuit 111 (hereinafter referred to as resonance magnetic field information).
  • Information of an unnecessary magnetic field having the same frequency (hereinafter referred to as unnecessary magnetic field) (hereinafter referred to as unnecessary magnetic field information) is also included.
  • coils eg, guidance coils 233x to 233z and 234x to 234z, drive coils 223a and 223b
  • drive coils 223a and 223b There are a magnetic field emitted and a driving magnetic field emitted from the drive coils 223a and 223b.
  • the unnecessary magnetic field as described above can be reduced by reducing the number of coils arranged in an effective state in the vicinity of the detection space K. Therefore, in the present embodiment, in the active mode, the drive coils 223a and 223b that are not used are electrically disconnected from the drive coil drive unit 222 using a second switch SW2 described later. As a result, in the active mode, the drive coils 223a and 223b can be prevented from being arranged in the vicinity of the detection space K in a state where the closed circuit is formed by the output impedance of the drive coil drive unit 222 (effective state). Unnecessary magnetic field information included in the detection signal input to the calculation unit 212 can be reduced. As a result, the position detection accuracy in the active mode can be further improved. In addition, this configuration eliminates the need for calibration processing described later, thereby simplifying position detection processing described later in the active mode.
  • the detection signals output from the signal processing unit 211 include the guidance coils 233x to 233z and 234x in addition to the resonance magnetic field information to be obtained.
  • ⁇ 234z is excited by a resonant magnetic field, information on a magnetic field (hereinafter referred to as guidance coil unnecessary magnetic field information) (hereinafter referred to as guidance coil unnecessary magnetic field information), and drive coils 223a and 223b are resonant magnetic fields.
  • driving coil unnecessary magnetic field information The information of the magnetic field (hereinafter referred to as “driving coil unnecessary magnetic field information”) emitted by being excited by the drive (hereinafter referred to as “driving coil unnecessary magnetic field information”) and the driving emitted by driving the driving coils 223a and 223b.
  • Driving coil unnecessary magnetic field information Magnetic field information (hereinafter referred to as drive magnetic field information) and unnecessary magnetic field information It is included in.
  • processing for removing driving coil unnecessary magnetic field information, processing for removing guidance coil unnecessary magnetic field information, and driving magnetic field information for the detection signal output from the signal processing unit 211 are performed.
  • the process to remove is performed.
  • the process of deriving the position information of the capsule medical device 10 from the detection signal is referred to as a position detection process.
  • the process of removing the drive magnetic field information from the detection signal is called a calibration process, and the process of removing the guidance coil unnecessary magnetic field information and / or the drive coil unnecessary magnetic field information from the detection signal is called a position information derivation process.
  • the control unit 201 displays information such as the current position and orientation of the capsule medical device 10 on the display unit 204 using the input position information and the like. As a result, the operator can confirm the current position and orientation of the capsule medical device 10 from the display unit 204.
  • the signal processing unit 211 measures the signal intensity of the detection signal detected by the sense coil 213.
  • the signal processing unit 211 also functions as a signal strength detection unit that detects the signal strength of the detection signal detected by the sense coil 213.
  • a signal (hereinafter referred to as an intensity detection signal) s11 indicating the measured signal intensity is input to the control unit 201.
  • the control unit 201 switches its own operation to either the active mode or the passive mode based on the signal strength notified by the strength detection signal s11. For example, in the initial state, the control unit 201 operates in the active mode, and then the power supply voltage VCC output from the capsule internal power supply 17 in the capsule medical device 10 decreases, whereby the self-induction by the LC resonance circuit 111 is performed.
  • the control unit 201 switches its own operation mode to the passive mode.
  • the control unit 201 also functions as a second switch control unit that controls on / off of the second switch SW2 based on the signal strength detected by the signal processing unit 211 that also functions as a signal strength detection unit. .
  • the control unit 201 In the active mode, the control unit 201 outputs a control signal s12 that turns off the second switch SW2, thereby electrically disconnecting the drive coil drive unit 222 from the drive coils 223a and 223b.
  • the control unit 201 electrically connects the drive coil drive unit 222 and the drive coils 223a and 223b by outputting a control signal s12 that turns on the second switch SW2, and also generates a signal generation unit 221.
  • a drive signal having a frequency substantially equal to the resonance frequency F0 is generated.
  • the switching process between the active mode and the passive mode including the control of the second switch SW2 is hereinafter referred to as a mode switching process.
  • the operator can input an operation instruction for operating the position and orientation of the capsule medical device 10 from the operation unit 203. Furthermore, the operator can input an in-subject information acquisition instruction or the like to the capsule medical apparatus 10 using the operation unit 203.
  • the control unit 201 gives the magnetic field generation unit (permanent magnet) 12 mounted on the capsule medical device 10 from the current position and orientation of the capsule medical device 10 and the target position and orientation input from the operation unit 203.
  • Information including the guidance magnetic field to be calculated (hereinafter referred to as guidance information) is calculated and input to the capsule guiding unit 230.
  • guidance processing processing for calculating guidance information and causing the capsule guiding unit 230 to guide the position and orientation of the capsule medical device 10 is referred to as guidance processing.
  • the capsule guiding unit 230 includes a signal generating unit 231 and a guidance coil driving unit 232.
  • the guidance information calculated by the control unit 201 is input to the signal generation unit 231 in the capsule guiding unit 230.
  • the signal generator 231 calculates a signal waveform necessary for generating a guidance magnetic field according to the input guidance information, and generates and outputs a guidance signal having this signal waveform.
  • the guidance signal output from the signal generation unit 231 is input to the guidance coil driving unit 232.
  • the guidance coil drive unit 232 amplifies the input guidance signal, and then inputs it to the guidance coils 233x to 233z and 234x to 234z as appropriate. Thereby, magnetic fields are emitted from the appropriately selected guidance coils 233x to 233z and 234x to 234z, and a guidance magnetic field for guiding the capsule medical device 10 to a target position and orientation is formed in the detection space K.
  • the guidance coils 233x to 233z and 234x to 234z, the guidance coil driving unit 232, and the signal generation unit 231 generate a three-dimensional guidance magnetic field in the detection space K, so that each axis (x axis, y axis, and z axis).
  • FIG. 4 is a diagram showing a schematic configuration of the resonant magnetic field generator 11 according to the present embodiment.
  • FIG. 5 is a diagram illustrating a circuit configuration example of the resonant magnetic field generator 11.
  • the resonance magnetic field generator 11 has a configuration in which an induction signal S1 having a resonance frequency F0 generated by the oscillation of the oscillation circuit 113 is input to the LC resonance circuit 111 via the first switch SW1.
  • the connection between the oscillation circuit 113 and the LC resonance circuit 111 is turned on or off by turning on / off the first switch SW1 by the control signal S2 output from the drive circuit 114.
  • the drive circuit 114 outputs a control signal S2 for turning on or off the first switch SW1 in accordance with the voltage level of the power supply voltage VCC output from the capsule internal power supply 17 (see FIG. 2).
  • the LC resonance circuit 111 has a capacitor C1 and an inductor L1 connected in parallel, and is connected between the first switch SW1 and the ground line.
  • the drive magnetic field formed in the detection space K by the drive coils 223a and 223b is input to the LC resonance circuit 111.
  • this drive magnetic field has a frequency substantially equal to the resonance frequency F0 of the LC resonance circuit 111. Therefore, the LC resonance circuit 111 is excited by the input drive magnetic field and emits the excitation magnetic field.
  • an induction signal S1 output from an oscillation circuit 113 described later is input to the LC resonance circuit 111.
  • the induction signal S1 is a signal having a frequency substantially equal to the resonance frequency F0 of the LC resonance circuit 111. Therefore, the LC resonance circuit 111 resonates with the induction signal S1 and emits an induction magnetic field having the resonance frequency F0.
  • the oscillation circuit 113 includes a crystal resonator 1131 that oscillates at a frequency corresponding to the applied voltage, a resistor 1132 connected in parallel with the crystal resonator 1131, and a signal (from the crystal resonator 1131 according to the power supply voltage VCC ( This is a so-called inverter oscillator having two inverting amplifier circuits 1133 and 1134 for amplifying the drive signal before amplification) and two capacitors 1135 and 1136.
  • a voltage that oscillates the crystal resonator 1131 at a frequency substantially equal to an integral multiple of the resonance frequency F0 is applied to the crystal resonator 1131.
  • a frequency dividing circuit that divides the frequency signal output from the crystal resonator 1131 is provided.
  • the present invention is not limited to the above-described VCO, and various oscillator circuits such as a solid oscillator oscillator circuit using a ceramic oscillator and a CR oscillator circuit including a capacitor (C) and a resistor (R), for example. Can be used.
  • the first switch SW1 includes, for example, one transistor Q1, a resistor R1 connected to the base terminal of the transistor Q1, and a resistor R2 connected between the base and collector of the transistor Q1. It functions as a mode changeover switch that switches the connection state between the LC resonance circuit 111 and another circuit in accordance with the active mode.
  • a control signal S2 output from the drive circuit 114 described later is input to the base of the transistor Q1 via the resistor R1. Therefore, the first switch SW1 conducts / cuts off between the oscillation circuit 113 and the LC resonance circuit 111 in accordance with the control signal S2 output from the drive circuit 114.
  • the resistors R1 and R2 are resistors that determine the base bias of the transistor Q1, and are appropriately changed depending on the output level of the oscillation circuit 113.
  • the drive circuit 114 includes a resistor 1142, a power source 1144 that outputs a reference voltage Vref, an induction signal S1 input to the non-inverting input terminal (+) via the resistor 1142, and an inverting input terminal ( ⁇ ) from the power source 1144.
  • This is a so-called hysteresis comparator including a comparison circuit 1141 to which the reference voltage Vref is input and a resistor 1143 connected between the output terminal of the comparison circuit 1141 and the non-inverting input terminal (+).
  • an inverting circuit for inverting the output from the comparison circuit 1141 is provided at the output of the hysteresis comparator.
  • the inverting circuit includes, for example, one transistor Q2, a resistor 1145 provided between the transistor Q2 and the power supply voltage VCC, a resistor 1146 and a transistor connected between the output terminal of the comparison circuit 1141 and the base of the transistor Q2. It comprises a resistor 1147 connected between the base of Q2 and the ground line.
  • the drive circuit 114 functions as a switch control unit that turns on / off the first switch SW1 according to the passive mode and the active mode. For example, the drive circuit 114 compares the power supply voltage VCC input to the non-inverting circuit (+) via the resistor 1142 with the reference voltage Vref input to the inverting input terminal ( ⁇ ), and the power supply voltage VCC is compared with the reference voltage Vref. When the value is lower than, a control signal S2 for turning off the first switch SW1 is output. The signal output from the comparison circuit 1141 is inverted by the inverting circuit and then input to the first switch SW1.
  • the resistors 1142 and 1143 are resistors that determine the input voltage of the non-inverting input terminal (+) of the comparison circuit 1141, and are appropriately changed depending on the voltage level of the power supply voltage VCC.
  • the resonant magnetic field generator 11 inputs the control terminals of the two inverting amplifier circuits 1133 and 1134 in the oscillation circuit 113 and the non-inverting input terminal (+) of the comparison circuit 1141 in the drive circuit 114, respectively.
  • a stabilization circuit 112 for stabilizing the voltage (power supply voltage VCC) includes, for example, a capacitor 1122 connected in series between a power supply line to which the power supply voltage VCC is applied and a ground line, and a secondary battery 1121a also connected between the power supply line and the ground line. And 1121b.
  • the capacitor 1122 functions as a smoothing circuit that removes noise and the like input to the power supply line and a high-frequency current supply circuit that functions as a high-frequency current supply source.
  • the secondary batteries 1121a and 1121b function as a circuit that prevents the voltage level of the power supply voltage VCC from changing suddenly when the in-subject information acquisition unit 14 is driven.
  • the operation of the position detection magnetic guidance system 1 according to the present embodiment includes a mode switching process for switching between the active mode and the passive mode detected by the signal processing unit 211 and depending on the signal intensity, and a mode switching process.
  • Position detection processing for deriving position information including information on the current position and orientation of the capsule medical device 10 in accordance with the operation mode switched by the operation mode, and the current position and orientation of the capsule medical device 10 and the operation unit
  • Guidance processing for causing the capsule guiding unit 230 to guide the position and orientation of the capsule medical device 10 in accordance with the position and orientation serving as the guidance target input from 203.
  • the position detection process includes a calibration process for removing the influence of the sense coil 213 by the drive magnetic field, and various coils (drive coils 223a and 223b and guidance coils 233x to 233z and 234x to 234z) arranged in the detection space K.
  • Etc. includes position information deriving processing for removing the influence (offset) that the sense coil 213 receives.
  • the active mode and the passive mode are provided in each of the capsule medical device 10 and the external device 200.
  • the mode switching in the capsule medical device 10 is performed by the power supply voltage VCC and the reference voltage Vref. Since this is realized by using the drive circuit 114 that compares them in a circuit form, the description of the mode switching in the capsule medical device 10 is omitted here.
  • the capsule medical device 10 shifts from the active mode to the passive mode, the emission of the induced magnetic field from the capsule medical device 10 stops, so that the signal intensity temporarily detected by the signal processing unit 211 at the time of the transition Decreases.
  • a temporary decrease in signal intensity due to the stop of emission of the induced magnetic field is detected, and the external device 200 is switched from the active mode to the passive mode.
  • the present invention is not limited to this. For example, if there is a sufficient difference between the magnetic field strengths of the induction magnetic field and the excitation magnetic field, a threshold value is simply provided for the signal strength, and the external device 200 is set according to whether or not the threshold value is exceeded.
  • the operation mode may be switched to either the active mode or the passive mode.
  • FIG. 6 is a flowchart showing an outline of the mode switching process executed in the external device 200.
  • the mode switching process is executed by the control unit 201.
  • the position detection in the active mode is performed in the initial stage, and the power supply voltage VCC supplied from the capsule internal power supply 17 in the capsule medical device 10 becomes smaller than the reference voltage Vref.
  • VCC supplied from the capsule internal power supply 17 in the capsule medical device 10 becomes smaller than the reference voltage Vref.
  • This is an example when position detection is performed in the passive mode. In the passive mode, it is not necessary to input the induction signal S1 from the oscillation circuit 113 to the LC resonance circuit 111, so that power consumption can be suppressed.
  • the control unit 201 when the mode switching process is started, the control unit 201 first sets the active mode (step S101). This mode management can be realized, for example, by storing a flag for managing the mode in a predetermined storage area of the memory unit 202.
  • the control unit 201 In the active mode, the control unit 201 generates, for example, a low-level control signal s12, inputs the control signal s12 to the second switch SW2, and turns off the second switch SW2. 223a and 223b are electrically disconnected. Therefore, at this stage, no drive magnetic field is formed in the detection space K, and the drive coils 223a and 223b do not form a closed circuit. That is, the detection signal detected by the sense coil 213 does not include drive magnetic field information and drive coil unnecessary magnetic field information.
  • the control unit 201 inputs an intensity detection signal s11 (see FIG. 1) including information about the signal intensity of the detection signal from the signal processing unit 211 (see FIG. 1) of the position deriving unit 210 (step S102).
  • the signal processing unit 211 acquires the signal strength of the detection signal detected by the sense coil 213 periodically or constantly, generates the strength detection signal s11 that represents the signal strength as a voltage level, and inputs the signal to the control unit 201. is doing.
  • the control unit 201 determines whether or not the reception intensity included in the intensity detection signal s11 is equal to or greater than a predetermined value (step S103). . This is because, for example, a prescribed value is prescribed by a reference voltage, and whether or not the voltage level of the intensity detection signal s11, which expresses the signal intensity as a voltage level, is lower than the reference voltage is compared by digital processing or analog processing. Can be determined.
  • the determination in step S103 may determine whether or not the intensity detection signal s11 has fallen below a specified value for a certain period. As a result, it is possible to prevent malfunction due to sudden non-detection of the detection signal.
  • step S103 if the reception intensity is equal to or higher than the specified value (Yes in step S103), the control unit 201 continues the active mode (step S104) and returns to step S102.
  • control unit 201 shifts to the passive mode by resetting a flag managed in the memory unit 202, for example (step S105).
  • control unit 201 generates, for example, a high-level control signal s12 that turns on the second switch SW2, and inputs the control signal s12 to the second switch SW2 to turn on the separation switch.
  • the drive coils 223a and 223b are electrically connected (step S106), and the operation of the signal generator 221 is started (step S107).
  • a drive signal having a frequency substantially equal to the resonance frequency F0 is output from the signal generator 221.
  • the drive signal output from the signal generator 221 is amplified in the drive coil driver 222 and then input to the drive coils 223a and 223b via the second switch SW2 in the on state.
  • the drive coils 223a and 223b form a drive magnetic field having a frequency substantially equal to the resonance frequency F0 in the detection space K in accordance with the input drive signal.
  • the control unit 201 ends the mode switching process.
  • the operation mode of the external device 200 can be switched.
  • the position detection process by this Embodiment includes the position detection process in the passive mode and the position detection process in the active mode.
  • FIG. 7 is a flowchart showing an outline of position detection processing according to the present embodiment.
  • This position detection process is executed by the position calculation unit 212.
  • the position calculation unit 212 first periodically determines whether or not each processed detection signal such as amplification, band limitation, AD conversion, and FFT is input from the signal processing unit 211. (Step S111).
  • the position calculation unit 212 periodically determines whether or not an end command is input from the control unit 201, for example (step S112). Therefore, if no detection signal is input (No in step S111) and no end command is input (No in step S112), the position calculation unit 212 returns to step S111.
  • the position calculation unit 212 ends the process.
  • detection signals detected in each of the plurality of sense coils 213 are periodically input to the signal processing unit 211.
  • the signal processing unit 211 processes each detection signal input for each sense coil 213, and inputs the processed detection signal to the position calculation unit 212 in association with the sense coil 213.
  • the control unit 201 determines that an end instruction is input from the operator in step S ⁇ b> 103 of FIG. 6, the control unit 201 inputs an end command to the position calculation unit 212.
  • the position calculation unit 212 determines whether the current operation mode is the active mode or the passive mode. Is specified (step S113). For example, even if the position calculation unit 212 refers to the flag for managing the operation mode by directly referring to the memory unit 202, the operation mode is identified by referring to the flag via the control unit 201. May be.
  • the position calculation unit 212 determines whether or not the current operation mode is the active mode (step S114). If the current operation mode is the active mode (Yes in step S114), the position calculation unit 212 The position information deriving process is executed using the detection signal input from the signal processing unit 211 (step S115). Note that the position information deriving process in step S115 will be described in detail later.
  • the position calculation unit 212 inputs the derived position information and the like to the control unit 201 (step S116), and then returns to step S111.
  • the control unit 201 to which position information or the like is input displays the current position and orientation of the capsule medical device 10 on the display unit 204 using the position information and the like.
  • in-subject information such as the latest in-subject image received from the capsule medical device 10 may be displayed on the display unit 204 together with the current position and orientation of the capsule medical device 10.
  • the position information and the like output in step S115 may be held in the memory unit 202 and the like together with the above-described latest in-subject information and information such as the time when this information is derived.
  • step S114 determines whether the current operation mode is passive mode. If the result of determination in step S114 is that the current operation mode is passive mode (No in step S114), the position calculation unit 212 performs calibration processing on the detection signal input from the signal processing unit 211. Execute (Step S117). The calibration process in step S117 will be described in detail later.
  • step S118 the position calculation unit 212 performs position information deriving processing using the detection signal from which the drive coil unnecessary magnetic field information has been removed by the calibration processing (step S118), and then proceeds to step S116 to derive the derived position.
  • step S116 the process returns to step S111. Note that the position information deriving process in step S118 will be described in detail later together with the position information deriving process in step S115.
  • step S117 of FIG. 7 a process of removing drive magnetic field information included in the detection signal output from the signal processing unit 211 is executed.
  • the magnetic field information B_dt (vector) indicated by the detection signal output from the sense coil 213 includes drive magnetic field information B_dr (vector), resonance magnetic field information B_reso (vector), as shown in the above-described and Equation 1 below. Is included.
  • the resonance magnetic field information B_reso (vector) can be obtained by subtracting the drive magnetic field information B_dr (vector) from the magnetic field information B_dt (vector) by vector calculation as shown in the following equation 2 (calibration). processing).
  • the detection signal includes unnecessary magnetic field information. However, the unnecessary magnetic field information is ignored here for simplification of description.
  • FIG. 8 is a flowchart showing an outline of calibration processing according to this embodiment.
  • the position calculation unit 212 refers to the operation mode specified in step S113 in FIG. 7 (step S121), and drives magnetic field information corresponding to the operation mode (this is calibrated). B_dr (vector) is also acquired (step S122). Next, the position calculation unit 212 subtracts the drive magnetic field information B_dr (vector) acquired in step S122 from the magnetic field information B_dt (vector) included in the detection signal input in step S111 of FIG. 7 by vector calculation (step S123). Then, the process returns to step S117 of FIG.
  • the calibration process As described above, in the present embodiment, it is possible to remove drive magnetic field information included as unnecessary magnetic field information in the detection signal. Even when the current operation mode is the active mode (Yes in step S114), the same calibration process as the operation shown in FIG. 8 may be executed. In this case, the calibration information used for removal is substantially a vector of “0”.
  • the drive magnetic field information B_dr (vector) used in the calibration process is, for example, the drive coils 223a and 223b in a state where the capsule medical device 10 (that is, the LC resonance circuit 111) is not introduced into the detection space K. Can be calculated by driving the signal processing unit 211 and the position calculation unit 212 in this state. Further, the calculated drive magnetic field information B_dr (vector) is managed, for example, in the memory unit 202 or the like. Therefore, in step S122 of FIG. 8, the position calculation unit 212 appropriately acquires the drive magnetic field information B_dr (vector) with reference to the memory unit 202 and the like, and acquires the drive magnetic field information B_dt (vector) included in the detection signal. Resonance magnetic field information B_reso (vector) is calculated by subtracting the drive magnetic field information B_dr (vector) by vector calculation (step S123).
  • step S115 the position information derivation process in steps S115 and S118 in FIG. 7 will be described in detail. Since the principle of the position information deriving process in step S115 is the same as that of the position information deriving process in step S118, the following description focuses on the position information deriving process in step S115.
  • accurate position information and the like are derived from the resonance magnetic field information obtained by removing unnecessary magnetic field information included in the detection signal.
  • step S115 that is, the position information derivation process in the active mode
  • correction for removing guidance coil unnecessary magnetic field information included in the magnetic field information as unnecessary magnetic field information is executed.
  • a detection signal having a voltage proportional to the magnetic flux passing through the self is detected from each sense coil 213 arranged close to the detection space K. Therefore, the magnetic flux passing through each sense coil 213 can be obtained from the detection signal input from each sense coil 213 to the position calculation unit 212 via the signal processing unit 211.
  • the magnetic flux obtained from the detection signal input from the arbitrary sensing coil 213 to the position calculation unit 212 via the signal processing unit 211 is defined as a magnetic flux Bdi.
  • the positional information of the LC resonance circuit 111 (that is, the capsule medical device 10) is as follows: It is possible to calculate by this method.
  • the magnetic moment of the magnetic dipole (LC resonance circuit 111), the position coordinates of the magnetic dipole, and the position vector of the place where the magnetic field is to be calculated are as follows.
  • Equation 3 to Equation 5 the position vector for the magnetic dipole at the location where the magnetic field is to be calculated and the magnetic field strength at this location can be expressed by the following equations 6 and 7.
  • the detection signal processed in step S115 includes guidance coil unnecessary magnetic field information in addition to the resonant magnetic field information.
  • Guidance coils 233x to 233z and 234x to 234z (hereinafter referred to as an optional guidance coil reference numeral 233), which are the generation sources of the unnecessary magnetic field of the guidance coil, are normally connected to the drive coil drive unit 222 having a low impedance. .
  • the guidance coil 233 is excited thereby, and a current determined by the impedance of the drive coil 223a or 223b flows.
  • a magnetic field having a phase (guidance coil unnecessary magnetic field) that cancels the magnetic flux that has passed through the drive coil is generated.
  • the guidance coil unnecessary magnetic field generated as described above can be obtained if the position and orientation of the guidance coil 233 are determined. That is, when the position and orientation of the guidance coil 233 are fixed, it is possible to obtain the magnetic flux density (see the following formula 9) that passes through a point on the opening surface of the guidance coil 233.
  • the magnetic flux density shown in Equation 9 is obtained from the electromotive force generated in the guidance coil 233. Therefore, in calculating the magnetic flux density, a plurality of calculation points are taken and the average value is obtained.
  • the average value of the magnetic flux density can be expressed by the following formula 10.
  • the electromotive force generated in the guidance coil 233 by the resonant magnetic field is proportional to the average value of the magnetic flux density expressed by Equation 10 in terms of the number of turns of the guidance coil 233, the area, and the angular frequency. Therefore, the current flowing through the guidance coil 233 can be obtained by dividing the electromotive force by the impedance of the guidance coil 233. That is, the current flowing through the guidance coil 233 due to the resonant magnetic field can also be expressed as a function of a vector composed of the parameters of the magnetic dipole (LC resonant circuit 111), as shown in Equation 11 below.
  • the guidance coil 233 is much larger than the LC resonance circuit 111. For this reason, the guidance coil 233 cannot be handled as a magnetic dipole. Therefore, in the present embodiment, the guidance coil 233 can be obtained by dividing the current coil into a plurality of current vectors, applying Biosavall's law to the current vector, and adding the divided number.
  • Coil unnecessary magnetic field information can be expressed by the following Expression 15.
  • the guidance-unnecessary magnetic field information included in the detection signal obtained by each sense coil 213 has its distribution shape determined when the position with respect to the guidance coil 233 is determined. Therefore, the current I c flowing through the guidance coil 233 previously calculated as 1, which is be retained and managed as a look-up table (LUT) in the memory unit 202 or the like, it is possible to simplify the calculation .
  • LUT look-up table
  • the magnetic field information included in the detection signal obtained by the sense coil 213 cancels the resonant magnetic field B (p) generated by the magnetic dipole (LC resonant circuit 111), and therefore, the total value of the magnetic field B c (p) become. Therefore, the evaluation function in the position derivation can be expressed by the following Expression 16.
  • FIG. 9 is a flowchart showing an outline of position information derivation processing according to this embodiment.
  • the position calculation unit 212 refers to the operation mode specified in step S113 in FIG. 7 (step S131), and then the LUT held in the memory unit 202 or the like. Is directly or via the control unit 201, guidance coil unnecessary magnetic field information in each sense coil 213 corresponding to the operation mode (active mode) is acquired (step S132). Next, the position calculation unit 212 calculates the above equation from the acquired guidance coil unnecessary magnetic field information (and drive coil unnecessary magnetic field information) and magnetic field information (may be magnetic field information after calibration processing) included in the detection signal. Position information and the like are derived using the evaluation function shown in FIG. 16 (step S133). Thereafter, the position calculation unit 212 returns to step S115 in FIG.
  • the drive coil unnecessary magnetic field information is also included in the detection signal as unnecessary magnetic field information. Therefore, in the position information derivation process in step S118, for example, In addition, position information and the like are derived in consideration of drive coil unnecessary magnetic field information. Since the principle of the process for canceling the drive coil unnecessary magnetic field information is the same as the principle of the process for canceling the guidance coil described above, detailed description is omitted here.
  • the position detection process described with reference to FIGS. 7 to 9 may be obtained each time by performing the calibration process (see FIG. 8) and / or the position information deriving process (see FIG. 9) as described above.
  • the position information and the like corresponding to the operation mode and the detection signal are calculated in advance and stored and managed as an LUT, and the LUT is appropriately referred to according to the current operation mode and the detection signal at the time of detection. Current position information and the like may be specified.
  • a process of averaging a plurality of pieces of position information (hereinafter referred to as an averaging process) May be executed.
  • This averaging process is executed by the control unit 201, for example. That is, the control unit 201 also functions as an averaging processing unit that averages a plurality of pieces of position information.
  • the averaging process according to the present embodiment will be described in detail with reference to FIG.
  • FIG. 10 is a flowchart showing an outline of the averaging process according to this embodiment.
  • the controller 201 first, when position information or the like is input from the position calculator 212, the controller 201 temporarily stores it in the memory unit 202 (step S141). Subsequently, the control unit 201 identifies the current operation mode (step S142). When the current operation mode is the active mode (Yes in step S143), position information and the like for M times or more are accumulated in the memory unit 202. It is determined whether or not (step S144). M is a positive integer.
  • step S144 As a result of the determination in step S144, when the position information or the like for M times or more is accumulated in the memory unit 202 (Yes in step S144), the control unit 201 counts the latest M position information and the like from the memory unit. 202 (step S145) and average it (step S146). Thereby, position information and the like with improved accuracy are generated by averaging. On the other hand, as a result of the determination in step S144, when the position information and the like for M times are not accumulated in the memory unit 202 (No in step S144), the control unit 201 returns to step S141.
  • step S142 determines whether or not position information or the like for N times or more is accumulated in the memory unit 202. (Step S147).
  • N is a positive integer larger than M. The reason why N is larger than M will be described later.
  • step S147 As a result of the determination in step S147, when the position information or the like for N times or more is accumulated in the memory unit 202 (Yes in step S147), the control unit 201 counts the latest position information and the like for N times from the memory unit. 202 (step S148) and average it (step S149). Thereby, position information and the like with improved accuracy are generated by averaging. On the other hand, as a result of the determination in step S147, when the position information for N times or the like is not accumulated in the memory unit 202 (No in step S147), the control unit 201 returns to step S141.
  • step S150 the in-subject information such as the latest in-subject image received from the capsule medical device 10 may be displayed on the display unit 204 together with the current position and orientation of the capsule medical device 10.
  • the position information derived in the passive mode may be less accurate than the position information derived in the active mode. Therefore, in the present embodiment, the number N of matrixes averaged in the passive mode is set to a value larger than the number of matrixes M averaged in the active mode. For example, M is 1 and N is 10. That is, the control unit 201 functioning as an averaging processing unit may change the number of bases such as position information to be averaged between when the second switch SW2 is in an on state and when it is in an off state. As a result, the position detection accuracy in the active mode and the position detection accuracy in the passive mode can be made comparable.
  • FIG. 11 is a flowchart showing an outline of guidance processing according to the present embodiment.
  • the control unit 201 monitors whether an operation instruction is input from the operator using the operation unit 203 (step S151), and the operation instruction is input. In the case (Yes in step S151), it is determined whether or not this is a movement instruction (step S152). Note that the control unit 201 waits until an operation instruction is input for this operation (No in step S151). As a result of the determination in step S152, when the input operation instruction is not a movement instruction (No in step S152), the control unit 201 determines whether the input operation instruction is an end instruction (step S153). If it is an end instruction (Yes in step S153), the guidance process is ended. On the other hand, if it is not an end instruction (No in step S153), the control unit 201 cancels the input operation instruction (step S154) and returns to step S151.
  • step S152 If the input operation instruction is a movement instruction as a result of the determination in step S152 (Yes in step S152), the control unit 201 refers to the memory unit 202 and the current position of the capsule medical device 10 and The orientation and the input target position and orientation are specified (step S155), and the guidance magnetic field to be given to the magnetic field generator (permanent magnet) 12 mounted on the capsule medical device 10 using these is specified. Information (guidance information) is calculated (step S156).
  • control unit 201 causes the signal generation unit 231 of the capsule guiding unit 230 to generate a guidance signal for generating the guidance magnetic field calculated in step S156 (step S157). Further, the control unit 201 determines whether or not the capsule medical device 10 has achieved the target position and orientation (step S158), and continues the operation of step S157 until it can be achieved (No in step S158). Moreover, when it can achieve (Yes of step S158), it returns to step S151.
  • a guidance signal to be given from the signal generator 231 to the guidance coil 233 is output.
  • the guidance signal output from the signal generation unit 231 is input to the guidance coil 233 after being amplified in the guidance coil driving unit 232.
  • the guidance coil 233 forms a guidance magnetic field in the detection space K for guiding the capsule medical device 10 to a target position and orientation according to the input guidance signal.
  • the control unit 201 returns to step S151 after step S158. Note that this process ends by, for example, an interrupt process.
  • the first switch SW1 is switched based on the voltage level of the power supply voltage VCC supplied from the capsule internal power supply 17 in the capsule medical device 10 which is the intra-subject introduction device.
  • the LC resonance circuit 111 can switch between an active mode that spontaneously emits a resonant magnetic field and a passive mode that receives an external magnetic field (driving magnetic field) and emits a resonant magnetic field.
  • the second switch SW2 By switching the second switch SW2 according to the signal strength of the detection signal detected at 213 (in other words, the strength of the resonance magnetic field), the passive mode in which the drive coils 223a and 223b emit the drive magnetic field and the active mode that does not emit are switched. It is possible.
  • the position detection magnetic guidance system 1 which can detect the position etc. of the capsule type medical device 10 by switching between the active mode and the passive mode according to the situation can be realized.
  • the external device 200 when the capsule medical device 10 shifts to the passive mode when the first switch SW1 is turned off, the external device 200 automatically detects this shift and the operation mode of the external device 200 is also set.
  • the operator may be configured to switch the operation mode of the external device 200 from the operation unit 203. .
  • the operator inputs an instruction to switch the operation mode from the operation unit 203 to the external device 200.
  • the external device 200 turns on the second switch SW2 to supply a drive signal to the drive coils 223a and 223b, thereby forming a drive magnetic field in the detection space K, thereby releasing the capsule medical device 10
  • the excited magnetic field is detected to obtain the current position and orientation of the capsule medical device 10 and displayed on the display unit 204.
  • the resonance magnetic field generator 11 in the capsule medical device 10 can be configured as shown in FIGS.
  • the configuration of the resonant magnetic field generator 11A shown in FIGS. 12 and 13 will be described as a first modification of the first embodiment of the present invention.
  • the resonance magnetic field generation unit 11 ⁇ / b> A according to the first modification includes the first switch SW ⁇ b> 1, the oscillation circuit 113, the LC resonance circuit 111, and the like. It has a configuration provided between the LC resonance circuit 111 and the ground line, not between the two.
  • the first switch SW1 only needs to cut at least one point from the oscillation circuit 113, which is the supply source of the induction signal, to the ground line.
  • the LC resonance circuit The operation mode of the capsule medical device 10 can be switched by stopping the supply of the guidance signal to 111.
  • Other configurations and operations are the same as those of the first embodiment described above, and thus detailed description thereof is omitted here.
  • the resonant magnetic field generator 11 in the capsule medical device 10 according to the present embodiment can be configured as shown in FIG.
  • the configuration of the resonant magnetic field generator 11B shown in FIG. 14 will be described as a second modification of the first embodiment of the present invention.
  • the resonant magnetic field generator 11B according to the second modification has a configuration in which the drive circuit 114 (see FIG. 5) is omitted.
  • the resonant magnetic field generator 11B switches between the active mode and the passive mode using the base-emitter voltage of the transistor Q1 in the first switch SW1. Accordingly, when the voltage level of the power supply voltage VCC supplied from the capsule internal power supply 17 of the capsule medical device 10 decreases, the voltage level of the induction signal output from the oscillation circuit 113 that oscillates according to the applied voltage decreases.
  • the switch SW1 cannot be turned on. As a result, since the transistor Q1 remains off, the active mode and the passive mode are switched according to the voltage level of the power supply voltage VCC supplied from the capsule internal power supply 17, as in the first embodiment. Is possible. Other configurations and operations are the same as those of the first embodiment described above, and thus detailed description thereof is omitted here.
  • the position detection magnetic guidance system according to the present embodiment can use the same configuration as the position detection magnetic guidance system 1 according to the first embodiment described above.
  • the resonant magnetic field generator 11 of the capsule medical device 10 is replaced with a resonant magnetic field generator 21.
  • FIG. 15 shows a schematic configuration of the resonant magnetic field generator 21 according to the present embodiment.
  • the resonant magnetic field generator 21 according to the present embodiment includes the first switch SW ⁇ b> 1 (see FIG. 4) in the magnetic resonant field generator 11 of the first embodiment described above. It is replaced by a magnetic reed switch SW21 (see FIG. 15).
  • the magnetic reed switch SW21 is turned on when a magnetic field having a certain level or more is applied from the outside, and is kept off if the external magnetic field does not satisfy a certain level or more. Therefore, in the present embodiment, a magnetic field (hereinafter referred to as a mode switching magnetic field) for turning on the magnetic reed switch SW21 is given to the capsule medical device 10 introduced into the detection space K using the external device 200. As a result, the operation mode of the capsule medical device 10 is switched from the outside.
  • a magnetic field hereinafter referred to as a mode switching magnetic field
  • the mode switching magnetic field can be emitted from the guidance coil 233 by driving and controlling the capsule guiding unit 230, for example.
  • the control unit 201 causes the signal generation unit 231 of the capsule guiding unit 230 to generate a signal that causes the guidance coil 233 to emit a mode switching magnetic field (hereinafter referred to as a mode switching signal). After the current is amplified at 232, it is released by being appropriately input to the guidance coil 233.
  • the guidance coil 233 and the guidance coil driving unit 232 that drives the guidance coil 233 also function as a switching coil that forms a mode switching magnetic field in the detection space K and a switching coil driving unit that drives the switching coil.
  • the present invention is not limited to this, and the mode switching magnetic field may be generated using the drive coils 223a and / or 223b, or the mode switching magnetic field may be generated by providing a dedicated magnetic field emission unit and coil.
  • the capsule medical device 30 according to this modification has the same configuration as that of the capsule medical device 10 according to the above-described first embodiment, and the resonant magnetic field generation unit 11 resonates.
  • the magnetic field generator 31 is replaced.
  • the resonant magnetic field generator 31 has a configuration in which the drive circuit 114 in the resonant magnetic field generator 11 is omitted. Instead, in the present embodiment, on / off of the first switch SW1 is directly controlled by the capsule controller 13.
  • a control signal (hereinafter referred to as a mode control signal) for switching the operation mode of the capsule medical device 30 is input from the external device 200 to the capsule control unit 13 via, for example, the wireless reception unit 16. That is, the wireless transmission unit 206 of the external device 200 in the present embodiment functions as a control signal transmission unit that transmits a mode control signal for controlling on / off of the first switch SW1 in the capsule medical device 30, and is a capsule type.
  • the wireless receiving unit 16 of the medical device 30 functions as a control signal receiving unit that receives a mode control signal.
  • the capsule control unit 13 switches the operation mode of the capsule medical device 30 between the active mode and the passive mode in accordance with the mode control signal. That is, the capsule controller 13 functions as a first switch controller that controls on / off of the first switch SW1 based on the mode control signal.
  • the capsule control unit 13 When the capsule control unit 13 sets the operation mode to the active mode according to the mode control signal, the capsule control unit 13 turns on the first switch SW1 of the resonance magnetic field generation unit 31 and inputs the induction signal from the oscillation circuit 113 to the LC resonance circuit 111. .
  • the capsule switch 13 turns off the first switch SW1 of the resonant magnetic field generator 31 to electrically connect the oscillation circuit 113 and the LC resonance circuit 111. Cut off.
  • the switching between the active mode and the passive mode in the present embodiment is, for example, a signal of a detection signal detected by the signal processing unit 211 of the position deriving unit 210 based on an operation input from the operation unit 203 by the operator. It may be based on strength.
  • FIG. 17 is a flowchart showing an outline of the mode switching process executed by the external apparatus 200 in the present embodiment.
  • FIG. 18 is a flowchart showing an outline of mode switching processing executed by the capsule medical device 30 in the present embodiment.
  • the initial operation mode of the external device 200 and the capsule medical device 30 is assumed to be the active mode.
  • step S301 Mode switching processing (external device)
  • the active unit 200 sets the active mode (step S301).
  • step S301 is the same as step S101 of FIG. 6 in the first embodiment described above.
  • control unit 201 determines whether or not the operator has input an operation mode switching instruction from the operation unit 203 (see FIG. 1) (step S302), and waits until the operation mode switching instruction is input. (No in step S302).
  • step S302 when an operation mode switching instruction is input (Yes in step S302), the control unit 201 specifies the current operation mode by referring to the memory unit 202, for example (step S302).
  • step S303 it is determined whether or not the switching instruction input from the operation unit 203 is a switching instruction to the active mode (Step S304).
  • step S304 determines whether or not the current operation mode identified in step S303 is the active mode ( If the active mode is selected (step S305) (Yes in step S305), the active mode is continued (step S306), and the process returns to step S302.
  • step S305 when the current operation mode is not the active mode (No in step S305), the control unit 201 shifts to the active mode by resetting the operation mode to the active mode (step S307). . Thereafter, the control unit 201 transmits a mode control signal for switching the operation mode to the active mode from the wireless transmission unit 206 to the capsule medical device 30 (step S308), and controls the second switch SW2 to be turned off, for example, low level control. After generating the signal s12 and inputting it to the second switch SW2 to turn off the disconnect switch, the drive coil driver 222 and the drive coils 223a and 223b are electrically disconnected (step S309), and then the step Return to S302.
  • step S304 determines whether or not the current operation mode identified in step S303 is passive mode. If it is the passive mode (Yes in Step S310), the passive mode is continued (Step S311), and the process returns to Step S302.
  • step S310 when the current operation mode is not the passive mode (No in step S310), the control unit 201 shifts to the passive mode by resetting the operation mode to the passive mode (step S312). . Thereafter, the control unit 201 transmits a mode control signal for switching the operation mode to the passive mode from the wireless transmission unit 206 to the capsule medical device 30 (step S313). Further, the control unit 201 generates, for example, a high-level control signal s12 for turning on the second switch SW2, and inputs the control signal s12 to the second switch SW2 to turn on the separation switch.
  • the drive coils 223a and 223b are electrically connected (step S314), and the operation of the signal generator 221 is started (step S315).
  • a drive signal having a frequency substantially equal to the resonance frequency F0 is output from the signal generator 221.
  • the drive signal output from the signal generator 221 is amplified in the drive coil driver 222 and then input to the drive coils 223a and 223b via the second switch SW2 in the on state.
  • the drive coils 223a and 223b form a drive magnetic field having a frequency substantially equal to the resonance frequency F0 in the detection space K in accordance with the input drive signal.
  • the control unit 201 returns to step S302 after step S315.
  • Step S321 the capsule control unit 13 sets the active mode (step S321).
  • This mode management can be realized by storing a flag for managing the mode in a predetermined storage area of a memory unit (not shown), for example, as in the external device 200.
  • the capsule controller 13 In the active mode, the capsule controller 13 generates, for example, a low-level control signal, inputs the control signal to the first switch SW1, and turns off the first switch SW1, thereby causing the oscillation circuit 113 and the LC resonance circuit 111 to turn off. And electrically disconnect.
  • the capsule controller 13 determines whether or not a mode control signal is input from the external device 200 via the wireless receiver 16 (step S322), and waits until a mode control signal is input (step S322). No).
  • the capsule control unit 13 specifies the current operation mode by referring to a memory unit (not shown), for example (step S322) S323), it is determined whether or not the mode control signal received from the external device 200 is an instruction to switch to the active mode (step S324).
  • step S324 determines whether or not the operation mode identified in step S323 is active mode (step S324). In S325), if it is the active mode (Yes in Step S325), the active mode is continued (Step S326), and the process returns to Step S322.
  • step S325 determines whether the current operation mode is not the active mode (No in step S325). If the result of determination in step S325 is that the current operation mode is not the active mode (No in step S325), the capsule controller 13 shifts to the active mode by resetting the operation mode to the active mode (step S327). ). Thereafter, the capsule controller 13 generates, for example, a high-level control signal for turning on the first switch SW1, and inputs this to the first switch SW1 to turn on the first switch SW1, thereby causing the oscillation circuit 113 and the LC to turn on.
  • the resonance circuit 111 is electrically connected (step S328), and input of a drive voltage for oscillating the oscillation circuit 113 at a frequency substantially equal to the resonance frequency F0 is started (step S329).
  • an induction signal having a frequency substantially equal to the resonance frequency F0 is output from the oscillation circuit 113, whereby the LC resonance circuit 111 emits an induction magnetic field into the detection space K. Also, the capsule controller 13 returns to step S322 after step S329.
  • step S324 determines whether or not the current operation mode identified in step S323 is passive mode. If it is determined (step S330) and the mode is the passive mode (Yes in step S330), the passive mode is continued (step S331) and the process returns to step S302.
  • step S330 when the current operation mode is not the passive mode (No in step S330), the capsule controller 13 shifts to the passive mode by resetting the operation mode to the passive mode (step S332). ). Thereafter, the capsule controller 13 generates, for example, a low-level control signal for turning off the first switch SW1, and inputs this to the first switch SW1 to turn off the first switch SW1, thereby causing the oscillation circuit 113 and the LC to turn off.
  • the resonance circuit 111 is electrically disconnected (step S333), and input of the drive voltage for oscillating the oscillation circuit 113 to the oscillation circuit 113 is stopped (step S334). Thereafter, the capsule controller 13 returns to Step S322.
  • the LC resonance circuit is configured by switching the first switch SW1 in accordance with the mode control signal transmitted from the external device 200 in the capsule medical device 30 which is the intra-subject introduction device.
  • 111 can switch between an active mode that spontaneously emits a resonant magnetic field and a passive mode that emits a resonant magnetic field upon receiving an external magnetic field (driving magnetic field), and is detected by the sense coil 213 in the external device 200.
  • a passive mode in which the drive coils 223a and 223b emit a drive magnetic field by switching the second switch SW2 in accordance with the signal strength of the detected signal (in other words, the strength of the resonance magnetic field) or the operation instruction input from the operation unit 203.
  • the capsule medical device 30A according to the present modification has the same configuration as that of the capsule medical device 30 according to the above-described third embodiment, and the magnetic reed switch SW31 is provided. ing.
  • the magnetic reed switch SW31 is repeatedly turned on / off in response to an alternating magnetic field having a certain intensity or more (hereinafter referred to as a mode control magnetic field) input from the outside.
  • the magnetic reed switch SW31 outputs an alternating signal (hereinafter referred to as a mode control signal) in which the High level and the Low level are alternately switched by repeating ON / OFF.
  • the mode control magnetic field is an alternating magnetic field having a frequency at which the magnetic reed switch SW31 can respond (that is, can be turned on / off according to the alternating magnetic field strength).
  • the mode control signal output from the magnetic reed switch SW31 is input to the capsule controller 13.
  • the capsule controller 13 detects whether or not a mode control signal is input from the magnetic reed switch SW31, and based on the detection result, the operation mode of the capsule medical device 30A is set to either the active mode or the passive mode. Switch.
  • a mode control magnetic field for causing the magnetic reed switch SW31 to output a mode control signal can be generated using, for example, a guidance coil 233.
  • the guidance coil 233 and the guidance coil driving unit 232 that drives the guidance coil 233 according to the first modification also function as a control coil that forms a mode control magnetic field in the detection space K and a control coil driving unit that drives the control coil.
  • the mode control magnetic field may be generated using the drive coils 223a and 223b, or the mode control magnetic field may be generated by providing a dedicated magnetic field emission unit and coil.
  • a magnetic field is used as a mode control signal transmission medium for switching the operation mode of the capsule medical device 30A, and a guidance coil 233 is used as a mode control signal transmission unit (external device 200 side).
  • a magnetic reed switch is used as a control signal receiving means (on the capsule medical device 30A side).
  • the mode control magnetic field may have a predetermined pattern. Specifically, the mode control magnetic field oscillates at a first frequency for a first predetermined period, for example, and at a second frequency different from the first frequency for a second predetermined period continuous with the second predetermined period. It may have a predetermined frequency pattern such as oscillation.
  • the capsule control unit 13 switches the operation mode when this pattern is recognized by the capsule control unit 13, and the capsule control unit 13 malfunctions (incorrect operation). Mode switching) can be prevented. Further, by using this configuration, it is possible to transmit various information such as a movement instruction and an imaging instruction in addition to the mode control signal from the external device 200 to the capsule medical device 30A.
  • the LC resonance circuit 111 is switched by switching the first switch SW1 according to the mode control magnetic field emitted from the external device 200 in the capsule medical device 30A that is the in-subject introduction device. It is possible to switch between an active mode that spontaneously emits a resonant magnetic field and a passive mode that receives an external magnetic field (driving magnetic field) and emits a resonant magnetic field, and detection detected by the sense coil 213 in the external device 200 By switching the first switch SW1 according to the signal strength of the signal (in other words, the strength of the resonance magnetic field) or the operation instruction input from the operation unit 203, a passive mode in which the drive magnetic fields are emitted to the drive coils 223a and 223b and no emission It is possible to switch between active modes. Accordingly, it is possible to realize a position detection magnetic guidance system capable of detecting the position or the like of the capsule medical device 30A by switching between the active mode and the passive mode according to the situation.
  • the operation for generating the mode control magnetic field in the guidance coil 233 is the same as the operation for generating the switching magnetic field in Embodiment 2 of the present invention, and thus detailed description thereof is omitted here.
  • other configurations and operations can be easily equivalent to those of the first or second embodiment (including the respective modifications) of the present invention or the third embodiment described above, and therefore a detailed description will be given here. Omitted.

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PCT/JP2009/069446 2008-11-21 2009-11-16 位置検出システムおよび位置検出方法 WO2010058756A1 (ja)

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WO2015025731A1 (ja) * 2013-08-22 2015-02-26 オリンパスメディカルシステムズ株式会社 位置検出装置及び位置検出システム
JP2020527234A (ja) * 2017-07-17 2020-09-03 シスナヴ 少なくとも３つの磁気発生器のセットによって生成された磁場中を移動する物体を位置特定する方法

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