WO2010061893A1 - 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 PDFInfo
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- WO2010061893A1 WO2010061893A1 PCT/JP2009/069960 JP2009069960W WO2010061893A1 WO 2010061893 A1 WO2010061893 A1 WO 2010061893A1 JP 2009069960 W JP2009069960 W JP 2009069960W WO 2010061893 A1 WO2010061893 A1 WO 2010061893A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—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 with illuminating arrangements
- A61B1/0655—Control therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
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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
- A61B1/06—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 with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
- A61B5/0031—Implanted circuitry
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7253—Details of waveform analysis characterised by using transforms
- A61B5/7257—Details of waveform analysis characterised by using transforms using Fourier transforms
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 compared with an endoscope such as a fiberscope that allows an operator to freely select an observation site to some extent.
- 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 a resonant magnetic field generated by the following (hereinafter referred to as a drive magnetic field).
- a method for deriving information such as position and orientation from a resonance magnetic field generated by applying a drive magnetic field to the LC resonance circuit from the outside is referred to as a passive method.
- the passive method has an advantage that the power consumption in the capsule endoscope can be suppressed.
- the magnetic field sensor of the extracorporeal unit detects the driving magnetic field used for induction of the LC resonance circuit in addition to the resonance magnetic field emitted from the LC resonance circuit. For this reason, in order to detect the exact position of the capsule endoscope, it is necessary to eliminate the influence of the driving magnetic field.
- the influence of the drive magnetic field is, for example, when the influence of the drive magnetic field generated in the absence of the LC resonance circuit is detected by a magnetic field sensor and the position of the capsule endoscope (LC resonance circuit) is actually detected.
- the drive magnetic field component detected in advance can be removed by subtracting the magnetic field component detected by the magnetic field sensor by vector calculation.
- the drive magnetic field generator that generates the drive magnetic field is composed of a set of signal generator, drive unit, and drive coil, the position detection accuracy can be obtained even if some fluctuation occurs in the drive magnetic field. There is no significant impact on This is because the strength of the resonant magnetic field varies in proportion to the strength of the driving magnetic field.
- an object of the present invention is to provide a position detection system and a position detection method capable of stable and accurate position detection using feedback control.
- 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 has a resonance circuit that emits a resonance magnetic field by being induced by the drive magnetic field input from the outside, and the external device has a predetermined frequency.
- a drive coil driving unit that outputs the drive signal, a drive coil that inputs the output drive signal to form the drive magnetic field in the detection space, and a sense that detects the resonance magnetic field and outputs a detection signal
- a coil a position deriving unit that derives position information of the resonance circuit using the detection signal
- a current detection unit that detects a current amplitude value of the drive signal input to the drive coil
- the amplitude value of the drive signal to be output to the drive coil drive unit is calculated using the value
- the stability of the drive magnetic field is detected based on the calculated amplitude value, and based on the detected stability of the drive magnetic field
- a drive magnetic field generation control unit that controls the position deriving unit.
- the drive magnetic field generation control unit calculates a difference between the previously calculated amplitude value and the currently calculated amplitude value, and compares the difference with a preset reference value.
- the comparison result signal is output as a comparison result signal indicating the stability to the position deriving unit, and the position deriving unit inputs the detection signal from the sense coil based on the input comparison result signal.
- the derived position information is validated or invalidated.
- the detection signal inputted from the sense coil or the derivation It is characterized by validating the positional information.
- the position derivation unit is input with a position calculation unit that derives the position information based on an average value for the first predetermined number of times of the detection signal input from the sense coil. And an averaging number increasing / decreasing unit that increases or decreases the first predetermined number of times based on the comparison result signal.
- the averaging number increasing / decreasing unit continuously inputs the comparison result signal indicating that the difference is equal to or less than the reference value to the position deriving unit for a second predetermined number of times or more. The first predetermined number of times is reduced.
- the external device switches the drive coil to which the plurality of drive coils and the drive coil drive unit are electrically connected to any one of the plurality of drive coils.
- a switching control unit that controls the driving coil switching unit to switch the driving coil to which the driving coil driving unit is electrically connected to any one of the plurality of driving coils, and the switching control.
- the drive coil switching unit is controlled to electrically connect the drive coil drive unit to the drive coils. It is characterized by switching to either.
- the external device switches the drive coil to which the plurality of drive coils and the drive coil drive unit are electrically connected to any one of the plurality of drive coils.
- a switching control unit that controls the driving coil switching unit to switch the driving coil to which the driving coil driving unit is electrically connected to any one of the plurality of driving coils, and the driving magnetic field
- the generation control unit outputs the stability detected by comparing the difference and the reference value to the switching control unit as a comparison result signal, and the switching control unit receives the input comparison result signal.
- the drive coil switching unit is controlled to connect the drive coil to which the drive coil drive unit is electrically connected to the plurality of drive coils. Characterized in that to switch to one of the.
- the in-subject introduction device has a magnetic field generation unit that generates a constant magnetic field, and the external device outputs a guidance signal having a frequency different from the predetermined frequency.
- An output unit, and a guidance coil that inputs the output guidance signal to form a guidance magnetic field in the detection space, and the guidance signal output unit is detected by the drive magnetic field generation control unit When the stability of the driving magnetic field is low, the guidance signal is output to generate the guidance magnetic field in the guidance coil.
- the in-subject introduction device has a magnetic field generation unit that generates a constant magnetic field, and the external device outputs a guidance signal having a frequency different from the predetermined frequency.
- An output unit, and a guidance coil that inputs the output guidance signal to form a guidance magnetic field in the detection space, and the guidance signal output unit is detected by the drive magnetic field generation control unit When the stability of the driving magnetic field is high, the guidance signal is output to generate the guidance magnetic field in the guidance coil.
- 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 emits the resonance magnetic field by being induced by the driving magnetic field input from the outside.
- the method includes: a drive magnetic field forming step for forming the drive magnetic field by inputting a drive signal of a predetermined frequency to the drive coil; a resonance magnetic field detection step for detecting the resonance magnetic field; and a resonance magnetic field detection step.
- a position deriving step for deriving position information of the in-subject introduction device from the resonance magnetic field, a current detecting step for detecting a current amplitude value of the drive signal input to the drive coil, and the current amplitude value.
- the drive magnetic field generation control step calculates a difference between the previously calculated amplitude value and the currently calculated amplitude value, and compares the difference with a preset reference value.
- the position deriving step is derived in the resonance magnetic field detected in the resonance magnetic field detecting step or in the position deriving step based on a comparison result between the difference in the driving magnetic field generation control step and the reference value.
- the position information is valid or invalid.
- the position deriving step derives the position information based on an average value of the resonance magnetic field detected in the resonance magnetic field detection step for a first predetermined number of times. And an averaging number increasing / decreasing step for increasing / decreasing the first predetermined number of times based on a comparison result between the difference and the reference value in the driving magnetic field generation control step.
- the stability of the drive magnetic field formed by the drive coil can be detected, and the amplitude of the drive signal output from the drive coil drive unit can be feedback controlled according to this stability.
- FIG. 1 is a schematic diagram showing a schematic configuration of a position detection magnetic guidance system according to Embodiment 1 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 Embodiment 1 or 2 of the present invention.
- FIG. 4 is a block diagram showing a schematic configuration of the current detection unit according to the first or second embodiment of the present invention.
- FIG. 5 is an equivalent circuit diagram showing a schematic configuration of the CST circuit according to the first embodiment of the present invention.
- FIG. 6 is a functional block diagram showing a schematic configuration of a drive magnetic field generation control unit realized in the control unit according to Embodiment 1 or 2 of the present invention.
- FIG. 7 is a timing chart for explaining an outline of PID control according to the first embodiment of the present invention.
- FIG. 8 is a flowchart showing a schematic operation of the position calculation unit according to the first modification of the first embodiment of the present invention.
- FIG. 9 is a flowchart showing a schematic operation when the position calculation unit increases or decreases the number of data sets in the second modification of the first embodiment of the present invention.
- FIG. 10 is a timing chart showing an outline of PID control and amplitude control according to the third modification of the first embodiment of the present invention.
- FIG. 11 is an equivalent circuit diagram showing a schematic configuration of the sense coil according to the fourth modification of the first embodiment of the present invention.
- FIG. 12 is a diagram illustrating a connection relationship among the drive coil, the drive coil drive unit, and the ammeter according to the fifth modification of the first embodiment of the present invention.
- FIG. 13 is a schematic diagram showing a schematic configuration of a position detection magnetic guidance system according to Embodiment 2 of the present invention.
- FIG. 14 is a timing chart showing an outline of PID control, switching control, and amplitude control according to the second 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
- Embodiment 1 ⁇ Embodiment 1>
- the present embodiment is for avoiding an increase in error included in the derived position detection result when feedback control is performed on a drive magnetic field generator 220A (see FIG. 1) described later. Enables stable and accurate position detection in the position detection magnetic guidance system 1 using feedback control.
- 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 accommodates a subject into which a capsule medical device 10 as an in-subject introduction device is introduced, and a capsule medical device in the detection space K. 10 and an external device 200 for guiding the capsule medical device 10 in the direction and direction desired by the operator.
- Capsule type medical device The capsule type medical device 10 generates a magnetic field for guiding the capsule type medical device 10 using a resonance magnetic field generation unit 11 that generates a resonance magnetic field for position detection and an external magnetic field (a guidance magnetic field described later).
- a resonance magnetic field generation unit 11 that generates a resonance magnetic field for position detection and an external magnetic field (a guidance magnetic field described later).
- an external magnetic field a guidance magnetic field described later.
- a capsule control unit 13 that controls each unit in the capsule medical device 10, and in-subject information that acquires various information in the subject
- the acquisition unit 14 the wireless transmission unit 15 that transmits the in-subject information acquired by the in-subject information acquisition unit 14 to the outside of the capsule medical device 10 as a radio signal, and the transmission antenna 15 a as a radio signal from the external device 200
- a wireless receiving unit 16 and a receiving antenna 16a for receiving various transmitted operation instructions and the capsule for supplying power to each unit in the capsule medical device 10 And an internal power supply 17.
- the in-subject information acquisition unit 14 includes, 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.
- 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.
- the illumination unit 141 includes a plurality of light sources 141A and a light source drive circuit (not shown) that drives each light source 141A, for example, as shown in FIG.
- the plurality of light sources 141A are laid out so that the light distribution of the light output from the capsule medical device 10 substantially matches each color component.
- 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 (Microprocessor Unit), and the like, and a storage unit (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 out from.
- a CPU Central Processing Unit
- MPU Microprocessor Unit
- storage unit not illustrated
- 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 includes an LC resonant circuit 111 including a capacitor (C) and an inductor (L) connected in parallel, and a magnetic field having a frequency substantially equal to the resonant frequency F0 input from the outside (hereinafter referred to as a driving magnetic field). ), A resonant magnetic field having a resonant frequency F0 is emitted.
- the resonance frequency F0 is the resonance frequency of the LC resonance circuit 111 determined by the capacitor (C) and the inductor (L) connected in parallel.
- each of the above-described parts (11, 12, 13, 14, 15, 15a, 16, 16a and 17) is accommodated 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 in a watertight manner 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.
- a plurality of sense coils for detecting the resonance magnetic field generated by the drive coils 224, 224y and 224z that form a substantially uniform drive magnetic field in the detection space K and the LC resonance circuit 111 of the capsule medical device 10 214 and guidance coils 234x, 234y, and 234z for guiding the position and orientation (posture) of the capsule medical device 10 are disposed.
- the detection space K is provided with a drive coil or a guidance coil (not shown) that forms a pair of the drive coils 224x to 224z and the guidance coils 234x to 234z that face each other with the detection space K interposed therebetween.
- the opposing coils are omitted, and the illustrated coil is referred to.
- the drive coil 224x generates a substantially uniform drive magnetic field composed of magnetic field lines extending in the x-axis direction in the detection space K, for example.
- each of the drive coils 224y and 224z generates a substantially uniform drive magnetic field including magnetic force lines extending in the detection space K in the y-axis direction or the z-axis direction, for example.
- Each sense coil 214 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 214 are arranged at a position where the resonance magnetic field generated by the LC resonance circuit 111 is easily detected while being hardly influenced by the drive magnetic field in a two-dimensional array on a plane.
- a plurality of sense coils 214 are arranged on the bottom surface of the detection space K (the xy plane below the detection space K).
- each sense coil 214 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 214 can be constituted by a uniaxial magnetic sensor or the like.
- the guidance coil 234x generates, for example, a substantially uniform guidance magnetic field composed of magnetic field lines extending in the x-axis direction in the detection space K.
- each of the guidance coils 234y and 234z generates a substantially uniform guidance magnetic field including magnetic force lines extending in the detection space K in the y-axis direction or the z-axis direction, for example.
- the external device 200 is obtained by a drive magnetic field generator 220A for inputting a signal (hereinafter referred to as a drive signal) for generating a drive magnetic field used in the passive mode to the drive coils 224 to 224z, and the sense coil 214.
- a position deriving unit 210 for deriving the position and orientation of the capsule medical device 10 from a voltage change (hereinafter referred to as a detection signal), and a guidance magnetic field for controlling the position and orientation of the capsule medical device 10 to the guidance coils 234x to 234z.
- the operation unit 203 for inputting various operation instructions to the device 10, information on the position and orientation of the capsule medical device 10 (hereinafter referred to as position and direction information), and in-subject information acquired from the capsule medical device 10 are displayed as images ( Display unit 204 that displays the image (including video) and audio, wireless reception unit 205 and reception antenna 205 a that receive in-vivo information transmitted as radio signals from the capsule medical device 10, and capsule medical device 10
- a radio transmission unit 206 that transmits various operation instructions such as an imaging instruction as a radio signal, and a transmission antenna 206a.
- 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 control unit 201 implements a drive magnetic field generation control unit 201A described later by reading and executing a predetermined program from the memory unit 202, for example. Details of the drive magnetic field generation control unit 201A according to the present embodiment will be described later.
- 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 position and direction information such as the in-subject image received from the capsule medical device 10 and the position and orientation of the capsule medical device 10 derived by the position deriving unit 210.
- 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, and a subject such as position and direction information of the capsule medical device 10 or an in-subject image transmitted from the capsule medical device 10. Display internal 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 drive magnetic field generator 220A drives, for example, the drive signal output unit 220x that generates a drive magnetic field of magnetic lines extending in the x-axis direction in the drive coil 224x and the drive magnetic field of magnetic lines extended in the y-axis direction in FIG.
- a drive signal output unit 220y that generates the coil 224y and a drive signal output unit 220z that generates a drive magnetic field of magnetic lines extending in the z-axis direction in the drive coil 224z are included.
- the drive signal output unit 220x and the drive coil 224x function as a drive magnetic field generation unit that generates a drive magnetic field of magnetic field lines extending in the x-axis direction, and the drive signal output unit 220y and the drive coil 224y operate in the y-axis direction.
- the drive signal generator 220z and the drive coil 224z function as a drive magnetic field generator that generates a drive magnetic field of magnetic lines of force extending in the z-axis direction.
- the present invention is not limited thereto, and a drive magnetic field generation unit that generates a drive magnetic field of magnetic lines of force that are not parallel to the axial direction may be provided.
- an arbitrary drive signal output unit (the drive signal output unit 220x, the drive signal output unit 220y, or the drive signal output unit 220z) is simply referred to as a drive signal output unit 220.
- the drive signal output unit 220x includes a signal generation unit 221x, a drive coil drive unit 222x, and a current detection unit 223x.
- the drive signal output unit 220y and the drive signal output unit 220z include a signal generation unit 221y or 221z, a drive coil drive unit 222y or 222z, and a current detection unit 223y or 223z, respectively.
- the drive magnetic field generator 220A includes signal generation units 221x to 221z, drive coil drive units 222x to 222z, and current detection units 223x to 223z for each of the drive coils 224x to 224z.
- reference numerals of arbitrary drive coils 224x to 224z, signal generation units 221x to 221z, drive coil drive units 222x to 222z, and current detection units 223x to 223z are denoted by 224, 221, 222, respectively. And 223.
- 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 coil 224 via the current detection unit 223.
- the drive coil 224 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 resonance circuit in the detection space K.
- a driving magnetic field that excites 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 214 and the signal processing unit 211 described later, the S / N ratio of the detection signal obtained by the sense coil 214, and the like. Is done.
- the current detection unit 223 includes a current sensing transformer (hereinafter referred to as CST) circuit 223A, an amplifier circuit 223B, a bandpass filter (hereinafter referred to as BPF) 223C, and an A / D. (Analog to Digital: hereinafter referred to as A / D) conversion circuit 223D and fast Fourier transform (Fast Fourier Transform: hereinafter referred to as FFT) circuit 223E.
- FIG. 4 is a block diagram showing a schematic configuration of the current detection unit 223 according to the present embodiment.
- the CST circuit 223A includes a primary coil 223a provided between the drive coil drive unit 222 and the drive coil 224, and a secondary coil 223b arranged to face the primary coil 223a.
- the current flowing in the secondary coil 223b is output from the CST circuit 223A as a signal (hereinafter referred to as a current detection signal) in which the current value of the current input to the drive coil 224 is detected.
- FIG. 5 is an equivalent circuit diagram showing a schematic configuration of the CST circuit 223A according to the present embodiment.
- the current detection signal output from the CST circuit 223A is amplified by the amplification circuit 223B, band-limited by the BPF 223C, and then converted from an analog signal to a digital signal by the A / D conversion circuit 223D.
- the digitized current detection signal is input to the FFT circuit 223E and subjected to fast Fourier transform. Thereby, intensity information (information indicating the magnitude of current: hereinafter referred to as FFT data) of the current detection signal obtained by the CST circuit 223A is acquired.
- the FFT data output from the FFT circuit 223E is input to the control unit 201.
- the control unit 201 inputs the input FFT data to a drive magnetic field generation control unit 201A described later.
- the position deriving unit 210 in the external device 200 performs a predetermined process using information on a magnetic field included in the detection signal detected by the sense coil 214 (hereinafter, this is referred to as magnetic field information), so that the capsule medical device Ten positions and orientations (position and direction information) are derived in substantially real time.
- the position deriving unit 210 includes a signal processing unit 211 and a position calculation unit 212, for example.
- the signal processing unit 211 inputs detection signals detected by the plurality of sense coils 214.
- the signal processing unit 211 appropriately amplifies the input detection signal, band-limits, A / D conversion, and FFT, and outputs a detection signal (FFT data) after each processing.
- the signal processing unit 211 periodically receives a detection signal (FFT data) from the sense coil 214, performs the signal processing described above on the detection signal (FFT data), and then inputs the detection signal to the position calculation unit 212.
- the detection signal output from the sense coil 214 is a signal in which magnetic field information such as magnetic field strength and direction is expressed 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 obtaining the current position and direction information of the capsule medical device 10 from the magnetic field information included in the detection signal. To derive. In addition, the position calculation unit 212 outputs the derived position and direction information to the control unit 201.
- the detection signal input to the position calculation unit 212 has a frequency substantially equal to the resonance frequency F0 in addition to information on the resonance magnetic field emitted from the LC resonance circuit 111 (hereinafter referred to as resonance magnetic field information).
- Information on unnecessary magnetic fields (hereinafter referred to as unnecessary magnetic fields) (hereinafter referred to as unnecessary magnetic field information) is also included.
- the unnecessary magnetic field includes a drive magnetic field for exciting the LC resonance circuit 111 in a passive manner, and coils (such as guidance coils 234x to 234z and drive coils 224x to 224z) arranged in the vicinity of the detection space K. The magnetic field excited and emitted by the resonant magnetic field emitted from 111 exists.
- processing for removing unnecessary magnetic field information is performed on the detection signal output from the signal processing unit 211.
- processing for removing unnecessary magnetic field information is performed on the detection signal output from the signal processing unit 211.
- the process of removing drive magnetic field information from the magnetic field information included in the detection signal output from the signal processing unit 211 is performed in the capsule medical device 10 (ie, LC) in the detection space K.
- the capsule medical device 10 ie, LC
- the drive coils 224x to 224z without forming the resonance circuit 111
- Driving the signal processing unit 211 and the position calculation unit 212 in this state Magnetic field information that does not include resonance magnetic field information (hereinafter referred to as calibration information) is derived and retained, and at the time of position detection, the calibration information retained from the magnetic field information included in the detection signal is stored. It can be a process of subtracting by a vector operation.
- the magnetic field information (unnecessary magnetic field information) generated by the drive coils 224x to 224z and / or the guidance coils 234x to 234z being induced by the resonance magnetic field is removed from the magnetic field information included in the detection signal output from the signal processing unit 211.
- the processing to be performed includes, for example, a current detection unit that detects a current flowing through each of the driving coils 224x to 224z and / or the guidance coils 234x to 234z.
- the unnecessary magnetic field information of the unnecessary magnetic field generated by the coil can be calculated, and this can be processed by subtracting the magnetic field information included in the detection signal by vector calculation.
- the position and direction information output from the position calculation unit 212 is input to the control unit 201.
- 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 and direction information. As a result, the operator can confirm the current position and orientation of the capsule medical device 10 from the display unit 204.
- 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 (hereinafter referred to as guidance information) is calculated and input to the guidance signal output unit 230.
- the guidance signal output unit 230 includes a signal generation 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 guidance signal output 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 234x to 234z as appropriate.
- magnetic fields are emitted from the appropriately selected guidance coils 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. That is, the guidance signal output unit 230 and the guidance coil 224 function as a capsule guiding unit that guides the capsule medical device 10 to a target position and orientation.
- FIG. 6 is a functional block diagram showing a schematic configuration of a drive magnetic field generation control unit 201A realized in the control unit 201 according to the present embodiment.
- the drive magnetic field generation control unit 201A includes a PID control unit 201a, a difference calculation unit 201b, and a comparison unit 201c, and the latest FFT calculated in the current detection unit 223 of each drive signal output unit 220. Data (hereinafter referred to as FFT data for this time) is sequentially input.
- the memory unit 202 holds a current target value 202a, a PID parameter 202b, a previous amplitude value 202c, and a difference reference value 202d.
- the drive magnetic field generation control unit 201A (that is, the control unit 201) appropriately stores the current target value 202a, the PID parameter 202b, Reference is made via the bus 201e or the like.
- the memory unit 202 functions as a previous amplitude value storage unit that stores the amplitude value (previous amplitude value) of the drive signal that the drive magnetic field generation control unit 201A previously output to the signal generation unit 221. Further, a difference for storing a reference value (difference reference value) for a difference between the previous amplitude value stored in the previous amplitude value storage unit and the amplitude value (new amplitude value) newly calculated by the drive magnetic field generation control unit 201A. It functions as a reference value storage unit.
- the PID control unit 201a inputs the current FFT data output from the current detection unit 223, reads the current target value 202a held in the memory unit 202, and inputs the current current value for the read current target value 202a.
- An error of FFT data, an accumulated error, and an error change rate are calculated.
- the current target value is a target value of the current amplitude of the drive signal input to the drive coil 224, and is a value scaled according to the processing system obtained by fast Fourier transform (FFT). Therefore, the drive magnetic field generation control unit 201A including the PID control unit 201a feedback-controls each drive signal output unit 220 so that the current value detected by the current detection unit 223 approaches the current target value 202a.
- the PID control unit 201a reads the PID parameter 202b from the memory unit 202, and uses the error, cumulative error, and error change rate calculated above and the read PID parameter 202b, and the signal generation unit of each drive signal output unit 220.
- An amplitude value (hereinafter referred to as a new amplitude value) of the drive signal generated by 221 is calculated and output.
- the PID parameter is a parameter for calculating a new amplitude value of the drive signal from the error, the accumulated error, and the error change rate based on PID control.
- the new amplitude value output from the PID control unit 201a is input to the difference calculation unit 201b and the selection unit 201d.
- the difference calculation unit 201b reads the previous amplitude value (hereinafter referred to as the previous amplitude value) 202c from the memory unit 202, and calculates the difference between this and the new amplitude value.
- the difference calculation unit 201b outputs the calculated difference to the comparison unit 201c.
- a difference reference value 202d is read from the memory unit 202 and input to the comparison unit 201c.
- the difference reference value is a value set in advance for the difference output from the difference calculation unit 201b, and is a value serving as a reference for determining whether or not the amplitude value changes significantly from the previous time. is there.
- the comparison unit 201c outputs a result of comparing the input difference and the read difference reference value 202d as a comparison result signal indicating the stability of the driving magnetic field.
- the comparison unit 201c when the absolute value of the difference input from the difference calculation unit 201b is larger than the difference reference value 202d, the comparison unit 201c outputs, for example, a High level comparison result signal, and the absolute value of the difference is the difference reference value. If it is less than or equal to 202d, for example, a Low level comparison result signal is output.
- the comparison result signal output from the comparison unit 201 c is input to the position deriving unit 210 via the control unit 201.
- the comparison result signal indicates that the absolute value of the difference between the previous amplitude value and the new amplitude value is greater than the difference reference value 202d (for example, when the comparison result signal is at a high level)
- the position deriving unit 210 for example, The position derivation process is not executed, or the detection signal (FFT data) output from the signal processing unit 211 or the position and direction information derived by the position calculation unit 212 is invalidated.
- the position detection magnetic guidance system 1 capable of position detection with improved accuracy is realized. It becomes possible.
- the comparison result signal indicates that the absolute value of the difference between the previous amplitude value and the new amplitude value is equal to or less than the difference reference value 202d (for example, when the comparison result signal is at the low level)
- the position deriving unit 210 Then, the detection signal (FFT data) output from the signal processing unit 211 is validated to execute position derivation processing, and the position and direction information obtained thereby is processed as valid information.
- this timing (section) at which the position and direction information is not derived or the derived position and direction information is invalidated.
- This timing section
- the position and direction information calculated at the previous timing may be inserted into the position and direction information.
- This fitting process may be executed by, for example, the control unit 201 or, for example, by the position calculation unit 212 of the position derivation unit 210.
- FIG. 7 is a timing chart for explaining an outline of PID control according to the present embodiment.
- the drive magnetic field generation control unit 201A performs PID processing using the FFT data D1 at the timing t2, which is the next timing.
- the calculation of the amplitude value and the identification of the amplitude value used as the current amplitude value are executed. The same applies to the timings t2 to t11,.
- the drive magnetic field generation control unit 201A is, for example, the previous timing as described above.
- the amplitude value used at timing t6 (previous amplitude value 202c) is used.
- the current value of the drive signal output from the signal generation unit 221 and amplified in amplitude by the drive coil drive unit 222 is detected by the current detection unit 223, and the drive magnetic field generation control unit 201A detects this current.
- the signal generator 221 is feedback-controlled so that the drive signal generated by the signal generator 221 approaches the current target value according to the value, and if the amplitude value changes greatly from the previous time, the current amplitude value is invalidated Since the previous amplitude value is used, the signal generator 221 can generate a drive signal having a stable amplitude near the current target value.
- the position detection magnetic guidance system 1 uses an average value of detection signals (FFT data) output from the signal processing unit 211 of the position deriving unit 210 in order to derive more accurate position and direction information.
- the position calculation unit 212 is configured to calculate position and direction information using this averaged detection signal (FFT data), or the position output from the position deriving unit 210 in the control unit 201 Various modifications are possible, such as a configuration in which the direction information is averaged.
- the detection signals (FFT data) are averaged will be described as a first modification of the present embodiment.
- the detection signal (FFT data) is simply referred to as FFT data.
- FIG. 8 is a flowchart showing a schematic operation of the position calculation unit 212 according to the first modification.
- the position calculation unit 212 manages the number of FFT data stored in the memory unit 202 (hereinafter referred to as a stored number counter) and the number of FFT data to be averaged. Down counter (hereinafter referred to as an averaged number counter).
- the position calculation unit 212 inputs the FFT data from the signal processing unit 211 and the comparison result signal output from the control unit 201 (step S103). Subsequently, the position calculation unit 212 determines whether or not the input comparison result signal indicates that “the absolute value of the difference between the previous amplitude value and the new amplitude value is less than or equal to the difference reference value 202d” (step S202). S104).
- step S104 determines whether the comparison result signal is greater than the difference reference value 202d (No in step S104). If the result of determination in step S104 indicates that the comparison result signal is greater than the difference reference value 202d (No in step S104), the position calculation unit 212 discards the FFT data input in step S103 (step S107). Then, after decrementing the averaging number counter by one (step S108), the process proceeds to step S109. In this way, the position calculation unit 212 decrements the counter value CA of the averaging number counter by one based on the input comparison result signal, and substantially reduces the data set number n (first predetermined number). By functioning also as a number increase / decrease unit, it is possible to maintain a constant period for deriving position and direction information.
- the position calculation unit 212 outputs the derived position and direction information to the control unit 201 (step S112), and clears the FFT data stored in the memory unit 202 (step S113). Thereafter, the position calculation unit 212 determines whether or not an end command is input from the control unit 201, for example (step S114), and if an end command is input (Yes in step S114), the process ends. On the other hand, when the end command has not been input (No in step S114), the position calculation unit 212 returns to step S101, and thereafter performs the same operation.
- Modification 2 the number n of data sets in the first modification of the present embodiment can be reduced, for example, when position detection is being performed stably. This means that if individual FFT data (or position and direction information) is accurate, accurate position and direction information can be obtained without averaging a larger number of FFT data (or position and direction information). It depends on what you can do.
- the number n of data sets can be increased, for example, when position detection is not stable. This is because the accuracy of the derived position and direction information is improved by taking an average value of more FFT data (or position and direction information).
- the state where the position detection is being performed stably is a state in which the absolute value of the difference between the previous amplitude value and the new amplitude value has continued for a relatively long period of time, being the difference reference value 202d or less.
- the state where position detection is unstable means a state where the absolute value of the difference between the previous amplitude value and the new amplitude value continues for a relatively short period of time, which is equal to or less than the difference reference value 202d.
- the position calculation unit 212 reduces the number of data sets n, and if the number of data sets continues less than the predetermined number of times q, the position calculation unit 212 It operates to increase the number n.
- FIG. 9 is a flowchart showing a schematic operation when the position calculation unit 212 increases or decreases the number of data sets n in the second modification.
- the position calculation unit 212 counts the number of times that “the absolute value of the difference between the previous amplitude value and the new amplitude value is equal to or less than the difference reference value 202d” is continuously indicated.
- a counter hereinafter referred to as a continuous effective number counter
- position detection is stable. It is a value indicating a criterion for determining that the
- step S125 If it is determined in step S125 that the counter value ANC is not equal to or greater than the predetermined value p (No in step S125), the process returns to step S122. On the other hand, as a result of the determination in step S125, if the counter value ANC is equal to or greater than the predetermined value p (second predetermined number) (Yes in step S125), the position calculation unit 212 displays the current value managed by the memory unit 202 or the like. It is determined whether or not the number of data sets n is greater than a preset lower limit i (i is a positive integer) (step S126). If n is greater than i (Yes in step S126), the number of data sets After n is decremented by 1 (step S127), the process proceeds to step S131. As described above, the position calculation unit 212 also functions as an averaging number increase / decrease unit that decreases the number n of data sets (first predetermined number) based on the input comparison result signal.
- step S126 determines that the number of data sets n cannot be further decremented, and proceeds to step S131.
- the lower limit value i is the lower limit value of the number of data sets n.
- the position calculation unit 212 has a predetermined value that the counter value of the continuous effective number counter is set in advance. It is determined whether or not it is smaller than a value q (q is an integer of 2 or more) (ANC ⁇ q) (step S128).
- the predetermined value q is detected when the number of consecutive comparison result signals indicating that the absolute value of the difference between the previous amplitude value and the new amplitude value is less than or equal to the difference reference value 202d is less than q times. Is a value indicating a criterion for determining that the value is not stable.
- step S128 determines whether or not the number of sets n is smaller than the upper limit value j (j is a positive integer and larger than the above-mentioned i) (step S129).
- step S130 the position calculation unit 212 also functions as an averaging number increasing / decreasing unit that increases the number n of data sets (first predetermined number) based on the input comparison result signal.
- step S129 determines that the number of data sets n cannot be increased any more, and proceeds to step S131.
- the upper limit value j is the upper limit value of the number of data sets n.
- step S131 the position calculation unit 212 determines, for example, whether or not an end command is input from the control unit 201. If the end command is input (Yes in step S131), the process ends. On the other hand, when the end command has not been input (No in step S131), the position calculation unit 212 returns to step S121, and thereafter performs the same operation.
- the capsule medical device 10 when the capsule medical device 10 is guided, for example, since a strong magnetic field guidance field is formed using a larger current compared to the driving magnetic field, a noise component included in the guidance magnetic field tends to be large. For this reason, if the noise includes many frequency components substantially the same as the resonance frequency F0 of the LC resonance circuit 111, the accuracy of the derived position and direction information may deteriorate.
- the position detection accuracy when the position detection accuracy is lowered, in other words, when the position detection is not stable (that is, “the absolute value of the difference between the previous amplitude value and the new amplitude value).
- the stability of position detection is determined using the previous amplitude value and the new amplitude value.
- the present invention is not limited to this, and for example, the interval and timing from timing t12 to t13 shown in FIG.
- a section in which the amplitude is not updated such as a section from t14 to t15, may be regarded as a "section where position detection is stable", and this section may be configured to generate a guidance magnetic field.
- FIG. 10 is a timing chart showing an outline of PID control and amplitude control according to the third modification.
- FIG. 11 is an equivalent circuit diagram showing a schematic configuration of the sense coil 223F according to the fourth modification.
- the sense coil 223F includes, for example, a coil 223d disposed in the vicinity of the drive coil 224, and a load resistor 223e connected in parallel with the coil 223d.
- the sense coil 223F functions as a secondary coil having the drive coil 224 as a primary coil, and thus, for example, similar to the current detection unit 223 as illustrated in FIG. This configuration can be used.
- FIG. 12 An ammeter 223G for measuring the current flowing through the FIG. 12 is a diagram illustrating a connection relationship among the drive coil 224, the drive coil drive unit 222, and the ammeter 223G according to the fifth modification.
- the ammeter 223G outputs the current value of the drive signal input to the drive coil 224 as, for example, a voltage change signal (current detection signal) in the same manner as the CST circuit 223A and the sense coil 223F. It is possible to use a configuration similar to that of the current detection unit 223 as shown in FIG.
- FIG. 13 is a schematic diagram showing a schematic configuration of the position detection magnetic guidance system 2 according to the present embodiment. As apparent from a comparison between FIG. 13 and FIG. 1, the position detection magnetic guidance system 2 has the same configuration as the position detection magnetic guidance system 1, and the drive magnetic field generator 220 ⁇ / b> A is replaced with the drive magnetic field generator 420. .
- the drive magnetic field generator 420 includes a signal generation unit 421, a drive coil drive unit 422, a current detection unit 423, and a drive coil switching unit 424.
- the signal generation unit 421, the drive coil drive unit 422, and the current detection unit 423 are configured in the same manner as the signal generation unit 221, the drive coil drive unit 222, and the current detection unit 223 in the position detection magnetic induction system 1; Then, detailed description is abbreviate
- the drive coil switching unit 424 functions as a switch that switches the drive coil 224 connected to the drive coil drive unit 422 via the current detection unit 423 from among the drive coils 224x, 224y, and 224z. That is, the drive magnetic field generation apparatus 420 according to the present embodiment has a common signal generation unit 421, drive coil drive unit 422, and current detection unit 423 for a plurality of drive coils 224, and drives these connection destinations.
- the coil switching unit 424 is configured to switch appropriately.
- Switching control of the drive coil switching unit 424 is performed by a control signal output from the control unit 201, for example.
- the control unit 201 identifies the drive coil 224 that generates the optimum drive magnetic field based on the latest position and direction information of the capsule medical device 10, and the identified drive coil 424 and the drive coil drive unit 422 are connected. Thus, the drive coil switching unit 424 is controlled.
- FIG. 14 is a timing chart showing an outline of PID control, switching control, and amplitude control according to this embodiment.
- the amplitude of the drive signal input to the selected drive coil 224 is switched in a section from timing t24 to timing t25 following the section from timing t23 to timing t24 in which the amplitude is updated.
- the position detection accuracy may deteriorate. Therefore, the drive coil switching unit 424 is controlled during this section (t24 to t25) to switch the drive coil 224 to be selected. Thereby, it is possible to switch the drive coil 224 to be used while suppressing the influence on the position detection accuracy.
- control unit 201 controls the drive coil switching unit 424 to switch the drive coil 224 to which the drive coil drive unit 422 is electrically connected to one of a plurality of drive coils (224x to 224z).
- the control unit 201 controls the drive coil switching unit 424 to switch the drive coil 224 to which the drive coil drive unit 422 is electrically connected to one of a plurality of drive coils (224x to 224z).
- the drive coil switching unit 424 is controlled to connect the drive coil drive unit 422 to one of the plurality of drive coils (224x to 224z). By switching to, it is possible to suppress the influence of the switching control on the position detection accuracy.
- the drive coil 224 that is not driven by the drive coil switching unit 424 may be configured to be electrically disconnected from the drive coil drive unit 422.
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Abstract
Description
以下、本発明の実施の形態1による位置検出磁気誘導システム1の構成および動作を、図面を用いて詳細に説明する。なお、本実施の形態は、後述する駆動磁界発生装置220A(図1参照)をフィードバック制御するに際し、導出された位置検出結果に含まれる誤差が大きくなることを回避するためのものであり、これによってフィードバック制御を用いた位置検出磁気誘導システム1において安定して正確な位置検出を可能にする。
図1は、本実施の形態による位置検出磁気誘導システム1の概略構成を示す模式図である。図1に示すように、位置検出磁気誘導システム1は、被検体内導入装置としてのカプセル型医療装置10が導入された被検体を収容する検出空間Kと、検出空間K内のカプセル型医療装置10の位置および向き(姿勢)を検出すると共に、カプセル型医療装置10を操作者が所望する方向および向きに誘導する外部装置200と、を備える。
カプセル型医療装置10は、位置検出用の共振磁界を発生する共振磁界発生部11および外部磁界(後述するガイダンス磁界)を用いてカプセル型医療装置10を誘導するための磁界発生部12(図1参照)の他に、図2に示すように、例えば、カプセル型医療装置10内の各部を制御するカプセル制御部13と、被検体内における各種情報を取得する被検体内情報取得部14と、被検体内情報取得部14が取得した被検体内情報を無線信号としてカプセル型医療装置10外部へ送信する無線送信部15および送信用アンテナ15aと、外部装置200から無線信号として送信された各種操作指示等を受信する無線受信部16および受信用アンテナ16aと、カプセル型医療装置10内の各部に電力を供給するカプセル内部電源17と、を含む。
図1に戻り説明する。検出空間Kには、検出空間K内に略均一な駆動磁界を形成する駆動コイル224、224yおよび224zと、カプセル型医療装置10のLC共振回路111が発生した共振磁界を検出する複数のセンスコイル214と、カプセル型医療装置10の位置および向き(姿勢)を誘導するガイダンスコイル234x、234yおよび234zと、が配設される。なお、検出空間Kには、駆動コイル224x~224zおよびガイダンスコイル234x~234zそれぞれについて、検出空間Kを挟むように対向して配置された対をなす不図示の駆動コイルまたはガイダンスコイルが設けられるが、図1および以下の説明では簡略化のため、対向する各コイルを省略し、それぞれ図示された方のコイルについて言及する。
また、外部装置200は、駆動コイル224~224zにパッシブモードで用いる駆動磁界を発生させる信号(以下、駆動信号という)を入力する駆動磁界発生装置220Aと、センスコイル214で得られた電圧変化(以下、これを検出信号という)からカプセル型医療装置10の位置および向きを導出する位置導出部210と、ガイダンスコイル234x~234zにカプセル型医療装置10の位置および向きを制御するガイダンス磁界を適宜発生させる信号(以下、ガイダンス信号という)を入力するガイダンス信号出力部230と、外部装置200内の各部を制御する制御部201と、制御部201が各部を制御する際に実行する各種プログラムおよびパラメータ等を記憶するメモリ部202と、操作者がカプセル型医療装置10に対する各種操作指示を入力する操作部203と、カプセル型医療装置10の位置や向きの情報(以下、位置および方向情報という)およびカプセル型医療装置10から取得した被検体内情報を画像(映像を含む)や音声で表示する表示部204と、カプセル型医療装置10から無線信号として送信された被検体内情報等を受信する無線受信部205および受信用アンテナ205aと、カプセル型医療装置10へ撮像指示などの各種操作指示を無線信号として送信する無線送信部206および送信用アンテナ206aと、を備える。
次に、駆動磁界発生装置220Aにおける各駆動信号出力部220をフィードバック制御することで安定した駆動磁界を発生させる駆動磁界発生制御部201Aについて、図面を用いて詳細に説明する。図6は、本実施の形態による制御部201において実現される駆動磁界発生制御部201Aの概略構成を示す機能ブロック図である。
また、本実施の形態による位置検出磁気誘導システム1は、より正確な位置および方向情報を導出するために、位置導出部210の信号処理部211から出力された検出信号(FFTデータ)の平均値を取り、この平均化された検出信号(FFTデータ)を用いて位置計算部212が位置および方向情報を算出するように構成するか、若しくは、制御部201において位置導出部210から出力された位置および方向情報を平均化するように構成するなど、種々の変形が可能である。以下、検出信号(FFTデータ)を平均化するケースを本実施の形態の変形例1として説明する。なお、以下の説明において、検出信号(FFTデータ)を、単にFFTデータという。
また、本実施の形態の変形例1におけるデータセット数nは、例えば安定して位置検出が実行されている場合、小さくすることも可能である。これは、個々のFFTデータ(または位置および方向情報)が正確であれば、より多くの数のFFTデータ(または位置および方向情報)を平均化しなくとも正確な位置および方向情報を取得することができることによる。
また、上記した本実施の形態(変形例を含む)では、例えば位置検出の精度が高いとき、言い換えれば、位置検出が安定しているとき(すなわち、“前回分振幅値と新規振幅値との差分の絶対値が差分基準値202d以下であること”を示す比較結果信号が連続しているとき)にガイダンス信号出力部230を制御してカプセル型医療装置10を誘導するガイダンス磁界を発生する。
また、上記した本実施の形態(変形例を含む)では、CST回路223Aを用いて駆動コイル224に流れる電流を検出したが、本発明はこれに限定されず、例えば図11に示すように、CST回路223Aの代りに駆動コイル224の近傍に配置されたセンスコイル223Fを用いて駆動コイル224から放出された駆動磁界を直接的に検出してもよい。なお、図11は、本変形例4によるセンスコイル223Fの概略構成を示す等価回路図である。図11に示すように、センスコイル223Fは、例えば駆動コイル224に近接して配置されたコイル223dと、コイル223dと並列接続された負荷抵抗223eと、よりなる。
さらに、本実施の形態によるCST回路223Aまたは上記した変形例4によるセンスコイル223Fの代りに、例えば図12に示すように、駆動コイル224と駆動コイル駆動部222とを接続する配線上にこの配線を流れる電流を計測する電流計223Gを設けてもよい。なお、図12は、本変形例5による駆動コイル224と駆動コイル駆動部222と電流計223Gとの接続関係を示す図である。
次に、本発明の実施の形態2による位置検出磁気誘導システム2の構成および動作を、図面を用いて詳細に説明する。なお、本発明の実施の形態1による位置検出磁気誘導システム1と同様の構成については、同一の符号を付し、その詳細な説明を省略する。
10 カプセル型医療装置
11 共振磁界発生部
12 磁界発生部
200 外部装置
201 制御部
201A、201B 駆動磁界発生制御部
201a PID制御部
201b 差分算出部
201c 比較部
202 メモリ部
202a 電流目標値
202b PIDパラメータ
202c 前回分振幅値
202d 差分基準値
203 操作部
204 表示部
205 無線受信部
205a 受信用アンテナ
206 無線送信部
206a 送信用アンテナ
210 位置導出部
211 信号処理部
212 位置計算部
214 センスコイル
220A、420 駆動磁界発生装置
220x、220y、220z 駆動信号出力部
221x、221y、221z、421 信号生成部
222x、222y、222z、422 駆動コイル駆動部
223x、223y、223z、423 電流検出部
223A CST回路
223B 増幅回路
223C BPF
223D A/D変換回路
223E FFT回路
223F センスコイル
223G 電流計
223a 1次コイル
223b 2次コイル
223c、223e 負荷抵抗
223d コイル
223t トランス回路
224x、224y、224z 駆動コイル
230 ガイダンス信号出力部
231 信号生成部
232 ガイダンスコイル駆動部
234x、234y、234z ガイダンスコイル
424 駆動コイル切替部
K 検出空間
Claims (15)
- 検出空間内に被検体に導入された状態で配置される被検体内導入装置と、前記被検体外に配置される外部装置と、を備えた位置検出システムであって、
前記被検体内導入装置は、
外部から入力された前記駆動磁界によって誘導されることで共振磁界を放出する共振回路を有し、
前記外部装置は、
所定周波数の駆動信号を出力する駆動コイル駆動部と、
前記出力された駆動信号を入力して前記検出空間内に前記駆動磁界を形成する駆動コイルと、
前記共振磁界を検出して検出信号を出力するセンスコイルと、
前記検出信号を用いて前記共振回路の位置情報を導出する位置導出部と、
前記駆動コイルに入力された前記駆動信号の電流振幅値を検出する電流検出部と、
前記電流振幅値を用いて前記駆動コイル駆動部に出力させる駆動信号の振幅値を算出し、該算出した振幅値に基づいて前記駆動磁界の安定度を検出し、該検出した駆動磁界の安定度に基づいて前記位置導出部を制御する駆動磁界発生制御部と、
を有することを特徴とする位置検出システム。 - 前記駆動磁界発生制御部は、前回算出した振幅値と今回算出した振幅値との差分を算出し、該差分とあらかじめ設定しておいた基準値とを比較し、該比較の結果を前記安定度を示す比較結果信号として前記位置導出部へ出力し、
前記位置導出部は、入力された前記比較結果信号に基づいて、前記センスコイルから入力した前記検出信号または前記導出した位置情報を有効または無効とすることを特徴とする請求項1に記載の位置検出システム。 - 前記位置導出部は、入力された前記比較結果信号が前記基準値よりも前記差分が大きいことを示す場合、前記センスコイルから入力した前記検出信号または前記導出した位置情報を無効とすることを特徴とする請求項2に記載の位置検出システム。
- 前記位置導出部は、入力された前記比較結果信号が前記基準値よりも前記差分が大きいことを示す場合、前記センスコイルから入力した前記検出信号または前記導出した位置情報を有効とすることを特徴とする請求項2に記載の位置検出システム。
- 前記位置導出部は、
前記センスコイルから入力した前記検出信号の第1所定回数分の平均値に基づいて前記位置情報を導出する位置計算部と、
入力された前記比較結果信号に基づいて前記第1所定回数を増減する平均化数増減部と、
を有することを特徴とする請求項2に記載の位置検出システム。 - 前記平均化数増減部は、前記差分が前記基準値以下であることを示す前記比較結果信号が第2所定回数以上連続して前記位置導出部に入力された場合、前記第1所定回数を減少させることを特徴とする請求項5に記載の位置検出システム。
- 前記平均化数増減部は、前記差分が前記基準値よりも大きいことを示す前記比較結果信号が第3所定回数以上連続して入力されなかった場合、前記第1所定回数を増加させることを特徴とする請求項5に記載の位置検出システム。
- 前記平均化数増減部は、前記差分が前記基準値よりも大きいことを示す前記比較結果信号が第3所定回数以上連続して入力されなかった場合、前記第1所定回数を増加させることを特徴とする請求項6に記載の位置検出システム。
- 前記外部装置は、
複数の前記駆動コイルと、
前記駆動コイル駆動部が電気的に接続される駆動コイルを前記複数の駆動コイルのいずれかに切り替える駆動コイル切替部と、
前記駆動コイル切替部を制御して前記駆動コイル駆動部が電気的に接続される駆動コイルを前記複数の駆動コイルのいずれかに切り替えさせる切替制御部と、
を有し、
前記切替制御部は、前記駆動磁界発生制御部によって検出された前記安定度が低いときに前記駆動コイル切替部を制御して前記駆動コイル駆動部が電気的に接続される駆動コイルを前記複数の駆動コイルのいずれかに切り替えさせることを特徴とする請求項1に記載の位置検出システム。 - 前記外部装置は、
複数の前記駆動コイルと、
前記駆動コイル駆動部が電気的に接続される駆動コイルを前記複数の駆動コイルのいずれかに切り替える駆動コイル切替部と、
前記駆動コイル切替部を制御して前記駆動コイル駆動部が電気的に接続される駆動コイルを前記複数の駆動コイルのいずれかに切り替えさせる切替制御部と、
を有し、
前記駆動磁界発生制御部は、前記差分と前記基準値とを比較することで検出した前記安定度を比較結果信号として前記切替制御部へ出力し、
前記切替制御部は、入力された前記比較結果信号が前記基準値よりも前記差分が大きいことを示す場合、前記駆動コイル切替部を制御して前記駆動コイル駆動部が電気的に接続される駆動コイルを前記複数の駆動コイルのいずれかに切り替えさせることを特徴とする請求項1に記載の位置検出システム。 - 前記被検体内導入装置は、
一定の磁界を発生する磁界発生部を有し、
前記外部装置は、
前記所定周波数と異なる周波数のガイダンス信号を出力するガイダンス信号出力部と、
前記出力されたガイダンス信号を入力して前記検出空間内にガイダンス磁界を形成するガイダンスコイルと、
を有し、
前記ガイダンス信号出力部は、前記駆動磁界発生制御部によって検出された前記駆動磁界の安定度が低い場合、前記ガイダンス信号を出力して前記ガイダンスコイルに前記ガイダンス磁界を発生させることを特徴とする請求項1に記載の位置検出システム。 - 前記被検体内導入装置は、
一定の磁界を発生する磁界発生部を有し、
前記外部装置は、
前記所定周波数と異なる周波数のガイダンス信号を出力するガイダンス信号出力部と、
前記出力されたガイダンス信号を入力して前記検出空間内にガイダンス磁界を形成するガイダンスコイルと、
を有し、
前記ガイダンス信号出力部は、前記駆動磁界発生制御部によって検出された前記駆動磁界の安定度が高い場合、前記ガイダンス信号を出力して前記ガイダンスコイルに前記ガイダンス磁界を発生させることを特徴とする請求項1に記載の位置検出システム。 - 外部から入力された駆動磁界によって誘導されることで共振磁界を放出する共振回路を備えた被検体内導入装置の被検体内での位置を検出する位置検出方法であって、
駆動コイルに所定周波数の駆動信号を入力することで前記駆動磁界を形成する駆動磁界形成ステップと、
前記共振磁界を検出する共振磁界検出ステップと、
前記共振磁界検出ステップで検出された前記共振磁界から前記被検体内導入装置の位置情報を導出する位置導出ステップと、
前記駆動コイルに入力された前記駆動信号の電流振幅値を検出する電流検出ステップと、
前記電流振幅値を用いて前記駆動コイルに入力する駆動信号の振幅値を算出し、該算出した振幅値に基づいて前記駆動磁界の安定度を検出し、該検出した駆動磁界の安定度に基づいて前記位置導出部を制御する駆動磁界発生制御ステップと、
を含むことを特徴とする位置検出方法。 - 前記駆動磁界発生制御ステップは、前回算出した振幅値と今回算出した振幅値との差分を算出し、該差分とあらかじめ設定しておいた基準値とを比較し、
前記位置導出ステップは、前記駆動磁界発生制御ステップにおける前記差分と前記基準値との比較結果に基づいて、前記共振磁界検出ステップで検出された前記共振磁界または前記位置導出ステップで導出された前記位置情報を有効または無効とすることを特徴とする請求項13に記載の位置検出方法。 - 前記位置導出ステップは、
前記共振磁界検出ステップで検出された前記共振磁界の第1所定回数分の平均値に基づいて前記位置情報を導出する位置計算ステップと、
前記駆動磁界発生制御ステップにおける前記差分と前記基準値との比較結果に基づいて、前記第1所定回数を増減する平均化数増減ステップと、
を含むことを特徴とする請求項14に記載の位置検出方法。
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WO2016147472A1 (ja) * | 2015-03-16 | 2016-09-22 | オリンパス株式会社 | 位置検出システム及び位置検出方法 |
CN110638416A (zh) * | 2019-09-29 | 2020-01-03 | 北京华亘安邦科技有限公司 | 一种胶囊内镜的悬浮控制方法及装置 |
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CN102421349B (zh) * | 2009-03-10 | 2015-08-12 | 奥林巴斯医疗株式会社 | 位置检测系统以及位置检测方法 |
US9179827B2 (en) * | 2009-12-15 | 2015-11-10 | Boston Scientific Scimed, Inc. | Systems and methods for determining the position and orientation of medical devices inserted into a patient |
US8808170B2 (en) * | 2010-03-10 | 2014-08-19 | Mark A. Stern | Multiple-channel endoscopic biopsy sheath |
WO2012114811A1 (ja) * | 2011-02-23 | 2012-08-30 | オリンパスメディカルシステムズ株式会社 | 位置情報推定システム |
JP5718102B2 (ja) * | 2011-03-04 | 2015-05-13 | 三星テクウィン株式会社Samsung Techwin Co., Ltd | 位置検出装置及び撮像装置 |
EP3150102A4 (en) * | 2014-05-27 | 2018-01-24 | Olympus Corporation | Capsule endoscope apparatus |
CN109917935B (zh) * | 2017-12-13 | 2022-12-13 | 华硕电脑股份有限公司 | 鼠标垫 |
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Also Published As
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US20100305426A1 (en) | 2010-12-02 |
JPWO2010061893A1 (ja) | 2012-04-26 |
US8447382B2 (en) | 2013-05-21 |
CN102186397B (zh) | 2013-09-11 |
EP2351512A1 (en) | 2011-08-03 |
CN102186397A (zh) | 2011-09-14 |
JP4608602B2 (ja) | 2011-01-12 |
EP2351512A4 (en) | 2017-03-15 |
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