WO2010087368A1 - カプセル型医療装置システム - Google Patents
カプセル型医療装置システム Download PDFInfo
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- WO2010087368A1 WO2010087368A1 PCT/JP2010/051042 JP2010051042W WO2010087368A1 WO 2010087368 A1 WO2010087368 A1 WO 2010087368A1 JP 2010051042 W JP2010051042 W JP 2010051042W WO 2010087368 A1 WO2010087368 A1 WO 2010087368A1
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- medical device
- magnetic field
- capsule medical
- rotation
- out operation
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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
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
- A61M31/002—Devices for releasing a drug at a continuous and controlled rate for a prolonged period of time
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
Definitions
- the present invention relates to a capsule medical device system that can rotate a capsule medical device introduced into a living body, puncture a needle on a desired lumen surface, and inject a drug solution into an affected area.
- swallowable capsule endoscopes have been developed in the field of endoscopes.
- This capsule endoscope has an imaging function and a wireless function, and after being swallowed from the patient's mouth for observation inside the body cavity, until it is naturally discharged from the human body, for example, the esophagus, stomach, small intestine, etc. It has a function of moving in accordance with its peristaltic movement and sequentially imaging.
- a capsule endoscope has been proposed in which a needle connected to a drug solution tank and an actuator for projecting the needle are provided, and a drug solution can be injected into a lesion or the like.
- Patent Documents 1 and 2 when a capsule endoscope is rotated by applying a rotating magnetic field to the capsule endoscope and the capsule endoscope is moved, changes in the captured in-vivo image are shown.
- a device that detects a rotational state such as a rotational displacement of a capsule endoscope with respect to the rotation of a rotating magnetic field is described.
- the needle when injecting a drug solution into a lesion or the like, it is necessary to puncture the surface of the lumen such as the intestinal wall, but the needle is simply projected from the capsule endoscope to the intestinal wall of the puncture target. In many cases, the needle does not pierce the intestinal wall successfully due to the bowing of the intestinal wall or the reaction from the intestinal wall.
- the capsule endoscope When the capsule endoscope is rotated by the external rotating magnetic field, the needle is tilted and protruded from the capsule endoscope in the rotation direction, and the capsule endoscope is moved by the external rotating magnetic field with the needle protruding. When rotated, it is possible to easily puncture the intestinal wall with the rotational force of the capsule endoscope.
- the needle puncture using the rotational force of the capsule endoscope by the external rotating magnetic field is performed when the external rotating magnetic field continues to be applied while the needle is punctured on the intestinal wall.
- the capsule endoscope cannot follow the rotation of the external rotating magnetic field and exhibits a step-out state, and when the external rotating magnetic field continues to rotate, the capsule endoscope rotates reversely, The needle may come off.
- FIG. 9A when the capsule medical device 10 rotates by the magnet 18 of the capsule medical device 10 following the rotating external magnetic field Rf in the body cavity, 9 (b), the needle 16 projecting obliquely in the rotational direction is caught by the lumen surface S, and the capsule medical device 10 further rotates in this state, so that the needle 16 is punctured into the lumen surface S.
- the tissue on the lumen surface S expands as shown in FIG. 9C, and a reaction force is generated by the expanded tissue. It will not rotate.
- the capsule medical device 10 rotates in the opposite direction so that the magnetization direction of the magnet 18 and the direction of the external magnetic field Rf coincide with each other, and the punctured needle 16 is removed.
- An operation from when the capsule medical device 10 cannot follow the rotation of the external magnetic field Rf and stops rotating until it finishes rotating in the reverse direction is referred to as a “step-out operation”.
- the capsule endoscope Conversely, if the capsule endoscope is not sufficiently rotated by the external rotating magnetic field, the needle cannot be punctured into the intestinal wall. On the other hand, since the puncture of the needle by the rotation of the capsule endoscope is performed in vivo, it is not easy to know the puncture state of the needle by the rotation of the capsule endoscope, and is appropriate for the capsule endoscope It is difficult to add a special rotation.
- the present invention has been made in view of the above, and provides a capsule medical device system that can rotate a capsule medical device with an external rotating rolling magnetic field and reliably puncture a needle by this rotation. With the goal.
- a capsule medical device system includes a rotating magnetic field generating device that generates a desired rotating magnetic field in a three-dimensional direction,
- a capsule medical device that has a needle and a magnet that can project and retract in the rotation direction of the magnetic field and that punctures the surface of the lumen, and that rotates in the direction of the rotation magnetic field when the rotation magnetic field is applied to the magnet;
- the rotation of the capsule-type medical device in the rotation direction of the rotation magnetic field stops after the rotation of the capsule magnetic device.
- Step-out operation detecting means for detecting the step-out operation in which the capsule medical device rotates in reverse at a rotation speed greater than the rotation speed, and the detection result by the step-out operation detection means, Magnetic field to control Characterized by comprising a control means.
- the reverse rotation occurrence point in the next step-out operation of the capsule medical device is determined.
- the magnetic field control means controls the rotating magnetic field generating device a predetermined time before the reverse rotation occurrence time in the next step-out operation. The generation of the magnetic field is stopped.
- the magnetic field control means controls the rotating magnetic field generating device a predetermined time before the reverse rotation occurrence time in the next step-out operation. The rotation of the magnetic field is stopped.
- the magnetic field control means controls the rotating magnetic field generating device a predetermined time before the reverse rotation occurrence time in the next step-out operation. The rotational speed of the rotating magnetic field is reduced.
- the step-out operation detecting means detects a rotation stop point at which the capsule medical device stops rotating before the reverse rotation occurrence point
- the step-out prediction means predicts a rotation stop time before a reverse rotation occurrence time in the next step-out operation of the capsule medical device based on a detection result by the step-out operation detection means
- the magnetic field control means Is characterized in that the predetermined period of time extends from the reverse rotation occurrence time in the next step-out operation to the next rotation stop time.
- the rotational speed of the rotating magnetic field is constant, and the step-out prediction unit is adjacent to two or more times detected by the step-out operation detection unit.
- the step-out occurrence period between the reverse rotation occurrence times in the step-out operation is calculated, and the reverse rotation occurrence point in the next step-out operation of the capsule medical device is predicted based on the step-out occurrence period. It is characterized by.
- the capsule medical device system further includes a rotation angle detection unit that detects a rotation angle of the capsule medical device in the above-described invention, and the step-out operation detection unit includes the rotation angle detection unit. The step-out operation is detected based on the detected change in the rotation angle of the capsule medical device.
- the capsule medical device includes image acquisition means for sequentially acquiring in-vivo images
- the rotation angle detection means includes the image acquisition means from the image acquisition means. The rotation angle of the capsule medical device is detected based on a difference between in vivo images that are sequentially output and are adjacent in time series.
- the capsule medical device system according to the present invention is characterized in that, in the above-mentioned invention, the rotation angle detecting means is a gyro sensor provided in the capsule medical device.
- the capsule medical device system according to the present invention further comprises a rotational speed detecting means for detecting the rotational speed of the capsule medical device in the above-described invention, and the step-out operation detecting means is the rotational speed detecting means.
- the step-out operation is detected based on the detected change in the rotational speed of the capsule medical device.
- the capsule medical device in the above-described invention, includes image acquisition means for sequentially acquiring in-vivo images, and the rotational speed detection means is connected to the image acquisition means.
- the rotational speed of the capsule medical device is detected based on a difference between in-vivo images that are sequentially output and are adjacent in time series.
- the capsule medical device system according to the present invention is characterized in that, in the above-described invention, the rotational speed detecting means is a gyro sensor provided in the capsule medical device.
- the capsule medical device system further comprises angular acceleration detecting means for detecting angular acceleration of the capsule medical device in the above-described invention, and the step-out motion detecting means is detected by the angular velocity detecting means.
- the step-out operation is detected based on a change in angular acceleration of the capsule medical device.
- the capsule medical device includes image acquisition means for sequentially acquiring in-vivo images, and the angular acceleration detection means is provided by the image acquisition unit.
- the angular acceleration of the capsule medical device is detected based on a difference between three in-vivo images that are sequentially output and are temporally adjacent.
- the capsule medical device system according to the present invention is characterized in that, in the above-described invention, the angular acceleration detecting means is a gyro sensor provided in the capsule medical device.
- the capsule medical device system is the above-described invention, wherein the capsule medical device system is provided in the capsule medical device and emits a magnetic field from the capsule medical device toward the outside, and the capsule A magnetic field detector provided around the outside of the medical device for detecting the magnetic field emitted from the magnetic field emitter, and detecting the rotational state of the capsule medical device based on the magnetic field detected by the magnetic field detector.
- Rotation detecting means wherein the step-out operation detecting means detects the step-out operation based on the rotation state of the capsule medical device detected by the rotation detection means.
- the magnetic field control unit is based on the fact that the step-out operation detecting means detects a rotation stop of the capsule medical device before the reverse rotation.
- the rotating magnetic field generator is controlled.
- the capsule medical device system according to the present invention is characterized in that, in the above-described invention, the capsule medical device discharges a drug solution from the needle in a state where the puncture state of the needle is stabilized.
- the step-out operation detecting means detects the step-out operation of the capsule medical device, Since the magnetic field control means controls the rotating magnetic field generator based on the detection result by the step-out operation detecting means, the needle medical device is reliably punctured by rotating the capsule medical device by the external rotating rolling magnetic field. be able to
- FIG. 1 is a schematic diagram showing an overall configuration of a capsule medical device system according to Embodiment 1 of the present invention.
- FIG. 2 is a schematic diagram showing an internal configuration of the capsule endoscope shown in FIG.
- FIG. 3 is a schematic cross-sectional view taken along the line AA showing the protruding state of the needle of the capsule endoscope shown in FIG.
- FIG. 4 is a cross-sectional view showing a needle puncture state and a drug solution injection state of the capsule endoscope shown in FIG.
- FIG. 5 is a block diagram showing a detailed configuration of the extracorporeal control unit of the capsule medical device system shown in FIG.
- FIG. 6 is a schematic diagram illustrating an example of image comparison performed by the image comparison unit of the capsule medical device system illustrated in FIG. 1.
- FIG. 1 is a schematic diagram showing an overall configuration of a capsule medical device system according to Embodiment 1 of the present invention.
- FIG. 2 is a schematic diagram showing an internal configuration of the capsule endoscope shown in
- FIG. 7 is a diagram illustrating an example of rotation angle detection by the rotation angle detection unit of the capsule medical device system illustrated in FIG. 1.
- FIG. 8 shows a case where the capsule endoscope is out of step in the capsule medical device system shown in FIG. 1 and the rotation of the capsule endoscope and the rotation of the external rotation magnetization are synchronized with each other. It is a figure which shows the time change of this rotation angle.
- FIG. 9A is a diagram illustrating a temporal change in the rotation speed when the capsule endoscope steps out in the capsule medical device system illustrated in FIG. 1.
- FIG. 9B is a diagram showing a state when a rotating magnetic field is applied to the capsule endoscope at time t0 shown in FIG. 9A.
- FIG. 9C is a diagram illustrating a state where the capsule endoscope is rotating in synchronization with the rotating magnetic field applied from the time point t0 illustrated in FIG. 9A.
- FIG. 9D is a diagram illustrating a state when the rotation of the capsule endoscope stops at the time point t1a illustrated in FIG. 9A.
- FIG. 9E is a diagram showing a state in which the needle is removed from the surface of the lumen due to the capsule endoscope starting reverse rotation at time t1 shown in FIG. 9A.
- FIG. 10 is a time chart showing the relationship between the reverse rotation occurrence time detected by the capsule medical device system shown in FIG. 1 and the predicted next reverse rotation occurrence time.
- FIG. 10 is a time chart showing the relationship between the reverse rotation occurrence time detected by the capsule medical device system shown in FIG. 1 and the predicted next reverse rotation occurrence time.
- FIG. 11 is a flowchart showing a rotation puncture control processing procedure by the extracorporeal control unit in the capsule medical device system shown in FIG.
- FIG. 12 is a schematic diagram showing an outline of processing from in-vivo observation to drug solution injection in the capsule medical device system shown in FIG.
- FIG. 13 is a schematic cross-sectional view showing a configuration of a capsule endoscope according to the second embodiment of the present invention.
- FIG. 14 is a schematic diagram showing a schematic configuration of a magnetic field detection device used when the capsule endoscope shown in FIG. 13 is used.
- FIG. 15 is a block diagram showing a configuration of the extracorporeal control unit according to Embodiment 2 of the present invention.
- FIG. 12 is a schematic diagram showing an outline of processing from in-vivo observation to drug solution injection in the capsule medical device system shown in FIG.
- FIG. 13 is a schematic cross-sectional view showing a configuration of a capsule endoscope according to the second embodiment of the present invention.
- FIG. 14 is
- FIG. 16 is a schematic cross-sectional view showing the configuration of the capsule endoscope according to the third embodiment of the present invention.
- FIG. 17 is a block diagram showing a configuration of the extracorporeal control unit according to Embodiment 3 of the present invention.
- FIG. 18 is a time chart showing temporal changes in the rotational speed of the capsule endoscope according to the fourth embodiment of the present invention.
- FIG. 19 is a time chart showing temporal changes in the rotational speed of the capsule endoscope according to the modification of the fourth embodiment of the present invention.
- FIG. 20 shows a capsule medical device system according to the present invention, which is rotated by a first-order time differentiation process of a rotation angle based on a temporal change of the rotation angle obtained from a difference between adjacent in-vivo images in time series.
- FIG. 21 is a diagram showing the processing contents for obtaining the angular acceleration by performing the first-order differentiation process of the rotational speed based on the temporal change of the rotational speed in the capsule medical device system of the present invention.
- FIG. 22 is a time chart showing temporal changes in the rotational speed of the rotating magnetic field according to the seventh embodiment of the present invention.
- FIG. 23A is a conceptual diagram showing the rotation speed of the capsule endoscope from time t0 to time t3a shown in FIG.
- FIG. 23B is a conceptual diagram showing the rotation speed of the capsule endoscope from time t3a to time ts shown in FIG.
- FIG. 23C is a conceptual diagram showing the rotation speed of the capsule endoscope at the time of injecting the chemical liquid performed after time t3 shown in FIG.
- FIG. 1 is a schematic diagram showing an overall configuration of a capsule medical device system according to Embodiment 1 of the present invention.
- the capsule medical device system 1 according to the first embodiment is a capsule medical device that is introduced into a body cavity in a subject by communicating with an external device by being swallowed from the mouth of the subject.
- a capsule endoscope 10 and a magnetic field generator 2 as a rotating magnetic field generator that is provided around the subject and can generate a desired rotating magnetic field in a three-dimensional direction.
- a transceiver unit 3 that performs wireless communication with the capsule endoscope 10 and receives a wireless signal including an image captured by the capsule endoscope 10 and transmits an operation signal to the capsule endoscope 10; Also, an external control unit 4 that controls each component of the capsule medical device system 1 is provided.
- the display unit 5 displays and outputs an image captured by the capsule endoscope 10, the input unit 6 inputs instruction information for instructing various operations in the capsule medical device system 1, and the capsule.
- a storage unit 7 that stores image information captured by the mold endoscope 10 is also provided.
- a magnetic field control unit 8 that controls generation of a magnetic field by the magnetic field generation unit 2 and a power supply unit 9 that supplies power to the magnetic field generation unit 2 according to the control of the magnetic field control unit 8 are also provided.
- the transmission / reception unit 3 detects the position and orientation of the capsule endoscope 10 in the subject based on the received electric field strength of the signal transmitted from the capsule endoscope 10.
- the position detection apparatus which detects the position and attitude
- the capsule endoscope 10 is provided with a magnetic field generation unit or a magnetic field reflection unit, and similarly to the magnetic field generation unit 2, a plurality of magnetic field sensors are provided so as to cover the periphery of the capsule endoscope 10, and the detection result of the magnetic field sensor Based on the above, the position and posture of the capsule endoscope 10 may be detected.
- FIG. 2 is a schematic diagram showing an internal configuration of the capsule endoscope 10 shown in FIG.
- FIG. 3 is a schematic cross-sectional view taken along the line AA showing the protruding and retracting state of the needle.
- the capsule endoscope 10 includes, in a housing H, an antenna 11 that transmits and receives radio signals with the transmission / reception unit 3, an illumination unit 12 a that irradiates light to an observation field, and a reflected light.
- an imaging unit 12 including an imaging element that images the inside of the body cavity of the subject and the subject.
- the imaging unit 12 functions as an image acquisition unit that sequentially acquires in-vivo images.
- the capsule endoscope 10 has a chemical tank function for storing a chemical solution injected into an affected area in a subject, and a discharge function that is formed by an elastic film such as an elastic material and generates a discharge pressure of the chemical solution. It also has an on-off valve 14 that opens and closes the opening of the balloon 13 by driving the balloon 13 that is provided and a driving member (not shown). Furthermore, the medical solution stored in the balloon 13 is projected and retracted into and out of the capsule endoscope 10 through the linear actuator 15 having a built-in motor and the opening 16a provided in the housing H, and is stored in the balloon 13 It also has a needle 16 for injecting into a nearby affected area.
- control part 17 which controls each structure part of the capsule endoscope 10 according to the radio signal (operation signal) from the transmission / reception part 3 which the antenna 11 received, and the disk-shaped magnet which generates a magnetic field in radial direction 18 and a battery 19 for supplying power to each component of the capsule endoscope 10.
- the needle 16 can project and be stored with respect to the surface of the housing H of the capsule endoscope 10.
- the magnetization direction of the magnet 18 is a radial direction, and the magnet 18 is arranged in the capsule type so that the major axis center C of the casing H constituting the capsule endoscope 10 and the magnetization direction are perpendicular to each other. It is provided in the endoscope 10.
- casing H by the side of the imaging part 12 of the capsule endoscope 10 is comprised with the transparent member so that the light by the illumination part 12a can irradiate an observation visual field.
- the linear actuator 15 and the rear end of the needle 16 are connected to each other. As shown in FIG. 3, the needle 16 can protrude and retract in the radial direction of the capsule endoscope 10 by the linear actuator 15. Further, the needle 16 in a protruding state is inclined outward with respect to the tangent to the housing H of the capsule endoscope 10, and the tip is directed in the rotation direction around the long axis center C.
- the linear actuator 15 is controlled by the control unit 17.
- an in-vivo image acquired by the imaging unit 12 provided in the capsule endoscope 10 after the capsule endoscope 10 is introduced into a living body (subject) to be examined.
- An operator such as a doctor observes the outside of the body.
- the power supplied from the magnetic field control unit 8 to the magnetic field generation unit 2 is controlled, and the magnetic field generated by the magnetic field generation unit 2 is changed. By doing so, the position and orientation of the capsule endoscope 10 are controlled.
- an operation signal for driving the linear actuator 15 in the capsule endoscope 10 is transmitted by the operation of the input unit 6, and the needle 16 is moved to the capsule endoscope 10. Protruding outside.
- the magnetic field generator 2 is configured to rotate the capsule endoscope 10 around the long axis C and in the tilting direction of the needle 16 (arrow A1 direction).
- the needle 16 is punctured into the affected area 21 of the body tissue 20 by generating a rotating magnetic field from the inside. Then, by opening the on-off valve 14, the drug solution Lq can be injected into the affected area 21.
- the extracorporeal control unit 4 receives the in-vivo images sequentially received by the transmission / reception unit 3 and the image receiving unit 31 that receives the images sequentially, and is adjacent in time series.
- An image comparison unit 32 that compares in-vivo images and extracts a feature portion common to the images, and a rotation for obtaining a rotation angle of the capsule endoscope 10 from the position of the feature portion extracted by the image comparison unit 32 in the image
- An angle detector 33 based on the rotation angle detected by the rotation angle detection unit 33, the step-out operation of the capsule endoscope 10 caused by the rotational deviation between the capsule endoscope 10 and the external rotating magnetic field is detected, and the step-out operation is performed.
- a step-out occurrence detection unit 34 that detects the step-out occurrence period from the time interval at the time of occurrence of reverse rotation of the capsule endoscope 10 during the adjustment operation.
- a step-out occurrence predicting unit 35 for predicting the occurrence of reverse rotation of the capsule endoscope 10 in the next step-out operation based on the detection result of the step-out operation by the step-out occurrence detecting unit 34, It also has a magnetic field control instruction unit 36 that instructs the magnetic field control unit 8 to stop the external rotating magnetic field immediately before the next step-out operation occurrence time predicted by the key generation prediction unit 35.
- the step-out occurrence detection unit 34 functions as a step-out operation detecting unit that detects the step-out operation of the capsule endoscope 10, and the step-out occurrence prediction unit 35 predicts the step-out operation of the capsule endoscope 10.
- the magnetic field control instruction unit 36 generates a rotating magnetic field before the reverse rotation of the capsule endoscope 10 in the step-out operation based on the detection result by the step-out operation detecting unit. It functions as a magnetic field control means for controlling the apparatus.
- the magnetic field control instruction unit 36 instructs the magnetic field control unit 8 to stop the external rotating magnetic field immediately before the reverse rotation of the capsule endoscope 10 occurs in the next step-out operation.
- the image comparison unit 32 compares two in-vivo images adjacent in time series among the in-vivo images sequentially received as described above. For example, when images “A” ⁇ “B” ⁇ “C” ⁇ “D” are input in time series, the images “A” and “B” are compared, as shown in FIG. The image “B” and the image “C” are compared, and then the image “C” and the image “D” are compared. In this case, the images “B”, “C”, “D”, etc. once subjected to the comparison process are stored in a temporary storage unit (not shown) and read out at the time of the next comparison process. As shown in FIG. 7, the image comparison unit 32 extracts a feature portion E in the images “A” and “B”.
- the rotation angle detection unit 33 superimposes the two images “A” and “B” that are compared, and the images A and B of the feature portion E extracted by the image comparison unit 32.
- the rotation angle ⁇ of the image B that is, the rotation angle ⁇ of the capsule endoscope 10 is detected from the difference in position.
- the rotation angle detector 33 functions as a rotation angle detector that detects the rotation angle of the capsule endoscope 10.
- the captured in-vivo image also continues to rotate. If the capsule endoscope 10 is rotated at a constant rotation speed and the in-vivo image is also captured at a constant frame rate, the rotation angle detected by the rotation angle detection unit 33 is constant, as shown in FIG. As shown, the rotation angle varies in proportion to time.
- the temporal change in the rotation angle of the capsule endoscope 10 does not reach 360 ° as shown in FIG. 9A, that is, the capsule endoscope 10 does not rotate once, Reverse rotation at some point.
- the capsule endoscope 10 is applied with an external magnetic field (rotating magnetic field) Rf that rotates from the time point t0 shown in FIG. 9A with the needle 16 protruding. And from time t0, it rotates synchronizing with rotation of the rotating magnetic field Rf (FIG. 9C).
- Rf rotating magnetic field
- the out-of-step occurrence detection unit 34 particularly detects reverse rotation occurrence times t1 and t2 from the change in the rotation angle of the capsule endoscope 10 shown in FIG.
- rotation stop times t1a and t2a at which the rotation of the capsule endoscope 10 stops are also detected.
- the step-out occurrence prediction unit 35 determines the time interval between the reverse rotation occurrence times t1 and t2.
- the out-of-step occurrence period T is obtained, and based on the out-of-step occurrence period T, the reverse rotation occurrence time t3 in the next out-of-step operation that occurs when the rotating magnetic field Rf continues to rotate at a constant rotational speed. Predict.
- the magnetic field control instruction unit 36 gives an instruction to stop the generation of the rotating magnetic field Rf immediately before the reverse rotation occurrence time t3. Output to.
- the magnetic field control unit 8 controls the power supply unit 9 so that the magnetic field generation operation of the magnetic field generation unit 2 stops.
- the capsule endoscope 10 maintains a state where the needle 16 is reliably and stably punctured on the lumen surface S without rotating backward. Accordingly, by discharging the liquid medicine Lq from the needle 16 in this puncture state, the liquid medicine Lq is surely injected into the affected area 21.
- the time immediately before the reverse rotation occurrence time t3 in the next step-out operation is the time ts before the reverse rotation occurrence time t3 by a predetermined time ⁇ t.
- This time ts is the capsule in the rotation direction of the rotating magnetic field Rf.
- the period is set from the rotation stop time t3a at which the rotation of the mold endoscope 10 is stopped to the time before the reverse rotation occurrence time t3 is reached. During this period, the capsule endoscope 10 is in a state of stopping rotation.
- the capsule endoscope 10 introduced into the living body acquires an in-vivo image (FIG. 12A), the acquired in-vivo image is received by the transmission / reception unit 3, and the display unit 5 so that the inside of the body cavity can be observed (step S101).
- the capsule endoscope 10 continues to acquire and transmit in-vivo images at a constant frame rate.
- the operator inputs operation information for aligning the needle 16 or the opening 16a with respect to the affected part 21 from the input unit 6.
- the extracorporeal control unit 4 performs a process for aligning the needle 16 or the opening 16a with the affected part 21 (FIG. 12B) (step S102).
- the extracorporeal control unit 4 sends an instruction to project the needle 16 to the outside, and the capsule endoscope 10 receives the instruction and drives the linear actuator 15 to move the needle 16.
- Project step S103, FIG. 12C.
- the extracorporeal control unit 4 controls the magnetic field generation unit 2 via the magnetic field control unit 8 to cause the magnetic field generation unit 2 to generate a rotating magnetic field Rf for rotating the capsule endoscope 10 at a constant speed.
- the rotating magnetic field Rf is applied to the capsule endoscope 10 (step S104, FIG. 12 (d)). By applying the rotating magnetic field Rf, the capsule endoscope 10 starts rotating.
- the extracorporeal control unit 4 detects the rotation angle of the capsule endoscope 10 based on the sequentially received in-vivo images (step S105). Further, the in-vivo control unit 4 continues to apply the rotating magnetic field Rf even if it detects the occurrence of the step-out operation, and generates step-out at least twice (step S106). Furthermore, the extracorporeal control unit 4 calculates the step-out occurrence period T based on the occurrence of the reverse rotation of the capsule endoscope 10 in the detected plurality of step-out operations, and the next step-out occurs. A point of occurrence of reverse rotation of the capsule endoscope 10 in operation is predicted (step S107).
- the extracorporeal control unit 4 controls the magnetic field generating unit 2 to stop the application of the rotating magnetic field Rf immediately before the reverse rotation of the capsule endoscope 10 in the next step-out operation (Step S108).
- the capsule endoscope 10 is made to inject the drug solution into the affected area 21 (step S109).
- the extracorporeal control unit 4 causes the capsule endoscope 10 to close the on-off valve 14 (step S110), controls the magnetic field generating unit 2 to apply a reverse rotating magnetic field to the capsule endoscope 10, and the needle 16 (Step S111), the capsule endoscope 10 is further processed to house the needle 16 (step S112), and the process is terminated.
- the removal process of the needle 16 may be performed by applying a forward rotating magnetic field without applying a reverse rotating magnetic field and causing the capsule endoscope 10 to perform a step-out operation.
- step S108 has been autonomously performed by the extracorporeal control unit 4.
- the present invention is not limited to this, and the display unit 5 displays that the puncture state is stable.
- the application of the rotating magnetic field may be stopped based on an operation signal input via the input unit 6.
- the capsule endoscope 10 when the capsule endoscope 10 is rotated in the living body and the needle 16 is punctured, this reverse rotational motion operation is generated based on the reverse rotational operation of the capsule endoscope 10. Therefore, even if the rotation of the capsule endoscope 10 cannot be directly observed, the needle 16 can be reliably and stably punctured. As a result, the drug solution can be reliably injected into the affected area 21.
- the rotation angle detection unit 33 detects the rotation of the capsule endoscope 10 based on the in-vivo image acquired by the capsule endoscope 10.
- the rotation of the capsule endoscope 10 can be directly detected from the outside.
- FIG. 13 is a schematic cross-sectional view showing a configuration of a capsule endoscope 10a used in the capsule medical apparatus system according to the second embodiment of the present invention.
- the capsule endoscope 10a is a magnetic field emitting unit that emits a magnetic field in the external direction, specifically, a magnetic field generating unit that generates a magnetic field in the radial direction of the capsule endoscope 10a.
- a coil 40 is provided.
- Other configurations are the same as those of the capsule endoscope 10, and the same components are denoted by the same reference numerals.
- a plurality of magnetic fields are detected so as to cover the capsule endoscope 10a outside the capsule endoscope 10a.
- It has a magnetic field detector 42 provided with a sense coil group 41.
- the sense coil group 41 functions as a magnetic field detector that detects a magnetic field emitted from the magnetic field emitter of the capsule endoscope 10a, that is, a magnetic field emitted from the magnetic field generating coil 40.
- the magnetic field intensity detected by the coil group 41 is sent to the extracorporeal control unit 4.
- the magnetic field generating coil 40 generates a magnetic field by applying a current under the control of the control unit 17 when the magnetic field generating unit 2 generates a rotating magnetic field and rotates the capsule endoscope 10a.
- the generated magnetic field rotates with the rotation of the capsule endoscope 10a and has directivity. Therefore, based on the magnetic field intensity detected by the sense coil group 41, the extracorporeal control unit 4 performs the capsule endoscope.
- the rotation angle of the mirror 10a can be detected.
- the extracorporeal control unit 4a corresponding to the extracorporeal control unit 4 does not need to perform image processing for detecting the rotation angle, and thus the configuration of the image comparison unit 32 can be deleted.
- the rotation angle detection unit 33 of the first embodiment instead of the rotation angle detection unit 33 of the first embodiment, the rotation state of the capsule endoscope 10a based on the magnetic field intensity detected by the sense coil group 41, specifically, the rotation angle for detecting the rotation angle.
- the detection unit 33a is provided as rotation detection means. The position, orientation, and rotation angle of the capsule endoscope 10a and the position of the affected part 21 so that the needle 16 of the capsule endoscope 10a and the affected part 21 can be aligned without observing the body cavity image.
- the image receiving unit 31 can be deleted from the extracorporeal control unit 4a.
- the position and posture of the capsule endoscope 10a can be detected with high accuracy, and the capsule endoscope 10a can be guided with high accuracy.
- the rotation angle detection unit 33 detects the rotation of the capsule endoscope 10 based on the in-vivo image acquired by the capsule endoscope 10.
- the rotation of the capsule endoscope 10 is directly detected by the capsule endoscope 10 itself and the rotation information is transmitted.
- FIG. 16 is a schematic cross-sectional view showing the configuration of a capsule endoscope 10b used in the capsule medical apparatus system according to the third embodiment of the present invention.
- the capsule endoscope 10b includes a gyro sensor 50 that detects the rotation angle of the capsule endoscope 10b itself.
- the gyro sensor 50 functions as a rotation angle detection unit.
- the control unit 51 corresponding to the control unit 17 performs control to externally transmit the rotation angle acquired by the gyro sensor 50.
- Other configurations are the same as those of the capsule endoscope 10, and the same components are denoted by the same reference numerals.
- the extracorporeal control unit 4b corresponding to the extracorporeal control unit 4 does not need to perform image processing and rotational angle detection processing for rotational angle detection.
- the configuration of the detection unit 33 can be deleted. Further, the position, orientation, rotation angle, and affected part 21 of the capsule endoscope 10b can be adjusted so that the needle 16 of the capsule endoscope 10b and the affected part 21 can be aligned without observing the in-vivo image.
- the image receiving unit 31 can be deleted from the extracorporeal control unit 4b.
- the gyro sensor 50 directly detects the rotation angle of the capsule endoscope 10b, there is no time lag associated with the rotation angle detection process, so the capsule endoscope 10b is almost real time. The rotation angle can be grasped.
- the out-of-step occurrence detecting unit 34 detects the occurrence of the out-of-step operation based on the rotation angle of the capsule endoscope 10, 10a, 10b.
- the step-out occurrence detection unit detects the occurrence of the step-out operation based on the rotational speed of the capsule endoscope.
- the gyro sensor 50 of the capsule endoscope 10b shown in FIG. 16 directly detects the rotational speed, not the rotational angle of the capsule endoscope 10b, and the change source of the rotational speed is detected.
- the out-of-step occurrence detecting unit detects the occurrence of the out-of-step operation.
- the gyro sensor 50 functions as a rotational speed detection unit that detects the rotational speed of the capsule endoscope 10b.
- the capsule endoscope 10b does not step out and rotates in synchronization with the rotating magnetic field, the rotational speed of the capsule endoscope 10b is constant.
- a temporal change in rotational speed as shown in FIG. 18 occurs periodically.
- the temporal change in the rotational speed corresponds to the temporal change in the rotational angle shown in FIG. 9, and a value obtained by differentiating the rotational angle with respect to time is the rotational speed.
- the rotation of the capsule endoscope 10b is synchronized with the rotation of the rotating magnetic field from the time t0, and the rotation speed is constant.
- the rotation speed decreases, the rotation speed becomes zero at time t1a, and the capsule endoscope 10b stops rotating.
- the rotating magnetic field continues to be applied, and reversely rotates suddenly at time t1 and exhibits a large negative rotational speed.
- the capsule endoscope 10b again returns to the rotational speed synchronized with the rotating magnetic field, and repeats the above-described time change.
- the gyro sensor 50 may detect the angular acceleration instead of the rotation angle, and the out-of-step occurrence detecting unit may detect the occurrence of the out-of-step operation based on the change in the angular acceleration.
- the gyro sensor 50 functions as angular acceleration detection means for detecting the angular acceleration of the capsule endoscope 10b.
- the angular acceleration of the capsule endoscope 10b shows a temporal change as shown in FIG.
- the out-of-step occurrence detection unit can easily detect the reverse rotation occurrence time.
- the angular acceleration since it is a second-order differential of the angle, the angular acceleration is zero-crossed when the reverse rotation occurs. For this reason, the detection of the reverse rotation occurrence time is easier and more accurate.
- the gyro sensor 50 is used to detect the rotation speed or angular acceleration.
- the present invention is not limited to this, and the rotation angle based on the difference between images according to the first embodiment is not limited.
- the rotation speed detector Based on the detection result or the detection result of the rotation angle by the external detection of the magnetic field according to the second embodiment, the rotation speed detector obtains the rotation speed by the primary time differentiation process, or the secondary time differentiation process of the rotation angle or
- the angular acceleration detection unit may obtain the angular acceleration by a first time differential process of the rotational speed.
- the rotation speed detection unit functions as a rotation speed detection unit
- the angular acceleration detection unit functions as an angular acceleration detection unit.
- FIG. 20 shows the processing contents in which the rotation speed detection unit obtains the rotation speed by the first time differential process of the rotation angle based on the temporal change of the rotation angle obtained from the difference between the in-vivo images adjacent in time series. Is shown.
- the acquired in-vivo image is captured at a constant frame rate, and the in-vivo image is output at a constant image acquisition period FR interval.
- the rotation speed detection unit calculates and outputs the rotation speed Sa by dividing the rotation angle difference between the obtained in-vivo images by a certain image acquisition period FR.
- FIG. 21 is a diagram showing the processing contents for obtaining the angular acceleration by performing the first time differentiation process of the rotational speed based on the time change of the rotational speed.
- the angular acceleration detection unit calculates and outputs the angular acceleration Sb by further differentiating the rotational speed obtained in FIG. 20 with respect to time.
- the rotation angles of at least three or more adjacent images in time series are required.
- the out-of-step occurrence detection unit 34 detects two or more consecutive reverse rotation occurrence times t1 and t2, and the next reverse rotation occurrence time t3 is detected as a step-out occurrence prediction unit 35.
- the extracorporeal control device 4 stops the application of the rotating magnetic field to the capsule endoscope by the magnetic field generator 2 immediately before the reverse rotation occurrence time t3. The application of the rotating magnetic field is stopped by the step-out operation.
- the capsule endoscope in the period before the reverse rotation occurrence time t1, t2, the capsule endoscope is in a state where the rotation is stopped, that is, the period from the rotation stop time t1a to the reverse rotation occurrence time t1.
- the rotation angle is constant, the rotation speed is constant at 0, and the angular acceleration is also constant at 0. Therefore, it is possible to detect the rotation stop time t1a at which the rotation of the capsule endoscope stops.
- the extracorporeal control unit 4 detects the reverse rotation occurrence time at the rotation stop time t1a.
- An instruction to stop the application of the rotating magnetic field is output to the magnetic field control unit 8 as in the previous time point.
- the puncture state of the needle can be further stabilized.
- the extracorporeal control unit specifically, the magnetic field control instruction unit controls the magnetic field generation unit immediately before the reverse rotation generation time t3 in the next step-out operation or from the rotation stop time t1a, and By making the rotational speed extremely low, the needle puncture state of the capsule endoscope is substantially maintained.
- FIG. 22 shows a temporal change in the rotational speed of the rotating magnetic field according to the seventh embodiment.
- the magnetic field control unit 8 is controlled from the time ts immediately before the reverse rotation occurrence time t3 in the step-out operation, and the magnetic field control unit 8 controls the magnetic field generation unit 2 in response to this, and the external magnetic field (rotating magnetic field) Rf is controlled.
- the rotational speed (rotational magnetic field speed) is decreased from the conventional rotational magnetic field speed (normal speed) SPa to the extremely low rotational magnetic field speed SPb.
- the rotational speed of the rotating magnetic field Rf is set to the rotating magnetic field speed SPa, so that the rotational speed of the capsule endoscope is also set to SPa (FIGS. 23A and 23B). Also, from the time ts shown in FIG. 22, the rotational speed of the rotating magnetic field Rf is decreased to the rotational magnetic field speed SPb before the time t3, so that the rotational speed of the capsule endoscope is also capsuled as SPb (FIG. 23C). Rotate the mold endoscope very slowly. That is, it takes time to reach the next reverse rotation occurrence time t3, and before the reverse rotation occurrence time t3 is reached, the drug solution is to be injected from the capsule endoscope into the affected area. .
- the stopped state of the capsule endoscope can be stably held, and the puncture state of the needle can be stabilized.
- the rotation of the capsule endoscope is abruptly stopped as the extremely low rotational magnetic field speed SPb.
- the puncture state may be stabilized.
- SYMBOLS 1 Capsule type medical device system 2 Magnetic field generation part 3 Transmission / reception part 4,4a, 4b Extracorporeal control part 5 Display part 6 Input part 7 Storage part 8 Magnetic field control part 9 Electric power supply part 10, 10a, 10b Capsule type endoscope 11 Antenna DESCRIPTION OF SYMBOLS 12 Image pick-up part 12a Illumination part 13 Balloon 14 On-off valve 15 Linear actuator 16 Needle 17,51 Control part 18 Magnet 19 Battery 20 Body tissue 21 Affected part 31 Image receiving part 32 Image comparison part 33, 33a Rotation angle detection part 34 Out-of-step detection detection Unit 35 step-out occurrence prediction unit 36 magnetic field control instruction unit 40 coil for generating magnetic field 41 sense coil group 42 magnetic field detection device 50 gyro sensor
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Abstract
Description
まず、この発明の実施の形態1について説明する。図1は、この発明の実施の形態1にかかるカプセル型医療装置システムの全体構成を示す模式図である。図1に示すように、この実施の形態1におけるカプセル型医療装置システム1は、被検体の口から飲み込まれることによって被検体内の体腔内に導入され外部装置と通信するカプセル型医療装置であるカプセル型内視鏡10と、被検体周囲に設けられ3次元方向に所望の回転磁界を発生できる回転磁界発生装置としての磁界発生部2とを備える。また、カプセル型内視鏡10との間で無線通信を行いカプセル型内視鏡10が撮像した画像を含む無線信号を受信するとともにカプセル型内視鏡10に対する操作信号を送信する送受信部3と、カプセル型医療装置システム1の各構成部位を制御する体外制御部4も備える。また、カプセル型内視鏡10によって撮像された画像を表示出力する表示部5と、カプセル型医療装置システム1における各種操作を指示する指示情報を体外制御部4に入力する入力部6と、カプセル型内視鏡10によって撮像された画像情報などを記憶する記憶部7も備える。さらには、磁界発生部2による磁界の発生を制御する磁界制御部8と、磁界制御部8の制御にしたがった電力を磁界発生部2に供給する電力供給部9も備える。
つぎに、この発明の実施の形態2について説明する。上述した実施の形態1では、カプセル型内視鏡10が取得した生体内画像をもとに回転角度検出部33がカプセル型内視鏡10の回転を検出するようにしていたが、この実施の形態2では、カプセル型内視鏡10の回転を外部から直接検出できるようにしている。
つぎに、この発明の実施の形態3について説明する。上述した実施の形態1では、カプセル型内視鏡10が取得した生体内画像をもとに回転角度検出部33がカプセル型内視鏡10の回転を検出するようにしていたが、この実施の形態3では、カプセル型内視鏡10の回転をカプセル型内視鏡10自体が直接検出して回転情報を送信するようにしている。
つぎに、この発明の実施の形態4について説明する。上述した実施の形態1~3では、いずれもカプセル型内視鏡10,10a,10bの回転角度をもとに脱調発生検出部34が脱調動作の発生を検知していたが、この実施の形態4では、カプセル型内視鏡の回転速度をもとに、脱調発生検出部が脱調動作の発生を検知するようにしている。
つぎに、この発明の実施の形態5について説明する。上述した実施の形態1~4では、いずれも2回以上の連続する逆回転発生時点t1,t2を脱調発生検知部34が検知して次の逆回転発生時点t3を脱調発生予測部35が予測し、逆回転発生時点t3の直前に体外制御装置4が磁界発生部2によるカプセル型内視鏡への回転磁界の印加を停止させていたが、この実施の形態5では、1回の脱調動作によって回転磁界の印加を停止するようにしている。
つぎに、この発明の実施の形態6について説明する。上述した実施の形態1~5では、次の脱調動作での逆回転発生時点t3の直前あるいは回転停止時点t1aでカプセル型内視鏡への回転磁界の印加を停止するようにしていたが、この実施の形態6では、次の脱調動作での逆回転発生時点t3の直前あるいは回転停止時点t1aで回転磁界の回転を停止させるように体外制御部4が磁界制御部8を制御するのみで、カプセル型内視鏡への磁界の印加は停止させずに磁界の印加を維持するようにしている。
つぎに、この発明の実施の形態7について説明する。上述した実施の形態1~5では、次の脱調動作での逆回転発生時点t3の直前あるいは回転停止時点t1aでカプセル型内視鏡への回転磁界の印加を停止するようにしていたが、この実施の形態7では、次の脱調動作での逆回転発生時点t3の直前あるいは回転停止時点t1aから体外制御部、具体的には磁界制御指示部が磁界発生部を制御し、回転磁界の回転速度を極めて低い速度にすることによって実質的にカプセル型内視鏡の針の穿刺状態を保持するようにしている。
2 磁界発生部
3 送受信部
4,4a,4b 体外制御部
5 表示部
6 入力部
7 記憶部
8 磁界制御部
9 電力供給部
10,10a,10b カプセル型内視鏡
11 アンテナ
12 撮像部
12a 照明部
13 バルーン
14 開閉弁
15 リニアアクチュエータ
16 針
17,51 制御部
18 磁石
19 電池
20 体内組織
21 患部
31 画像受信部
32 画像比較部
33,33a 回転角度検出部
34 脱調発生検知部
35 脱調発生予測部
36 磁界制御指示部
40 磁界発生用コイル
41 センスコイル群
42 磁界検出装置
50 ジャイロセンサ
Claims (19)
- 3次元方向に所望の回転磁界を発生する回転磁界発生装置と、
生体内に導入され、前記回転磁界の回転方向に突没可能で内腔表面に穿刺する針と磁石とを有し、前記磁石に前記回転磁界が印加されたときに該回転磁界の方向に回転するカプセル型医療装置と、
前記針を前記内腔表面に対して斜めに突出させて該針を前記内腔表面に穿刺する場合に、前記回転磁界の回転方向への前記カプセル型医療装置の回転が停止した後に前記回転磁界の回転速度よりも大きい回転速度で前記カプセル型医療装置が逆回転する脱調動作を検知する脱調動作検知手段と、
前記脱調動作検知手段による検知結果をもとに、前記回転磁界発生装置を制御する磁界制御手段と、
を備えたことを特徴とするカプセル型医療装置システム。 - 前記脱調動作検知手段による検知結果をもとに、前記カプセル型医療装置の次の脱調動作での逆回転発生時点を予測する脱調予測手段を備え、
前記磁界制御手段は、前記脱調予測手段によって予測された前記次の脱調動作での逆回転発生時点をもとに、前記逆回転発生時点の所定時間前に前記回転磁界発生装置を制御することを特徴とする請求項1に記載のカプセル型医療装置システム。 - 前記磁界制御手段は、前記次の脱調動作での逆回転発生時点の所定時間前に前記回転磁界発生装置を制御して磁界の発生を停止させることを特徴とする請求項2に記載のカプセル型医療装置システム。
- 前記磁界制御手段は、前記次の脱調動作での逆回転発生時点の所定時間前に前記回転磁界発生装置を制御して磁界の回転を停止させることを特徴とする請求項2に記載のカプセル型医療装置システム。
- 前記磁界制御手段は、前記次の脱調動作での逆回転発生時点の所定時間前に前記回転磁界発生装置を制御して、前記回転磁界の回転速度を低下させることを特徴とする請求項2に記載のカプセル型医療装置システム。
- 前記脱調動作検知手段は、前記逆回転発生時点前に前記カプセル型医療装置が回転を停止する回転停止時点を検知し、
前記脱調予測手段は、前記脱調動作検知手段による検知結果をもとに前記カプセル型医療装置の次の脱調動作での逆回転発生時点前の回転停止時点を予測し、
前記磁界制御手段は、前記所定時間を、前記次の脱調動作での逆回転発生時点から遡って前記次の回転停止時点までの間とすることを特徴とする請求項2に記載のカプセル型医療装置システム。 - 前記回転磁界の回転速度は一定であり、
前記脱調予測手段は、前記脱調動作検知手段が検知した2回以上の隣接する脱調動作での前記逆回転発生時点間の脱調発生周期を求め、該脱調発生周期をもとに前記カプセル型医療装置の次の脱調動作での逆回転発生時点を予測することを特徴とする請求項2に記載のカプセル型医療装置システム。 - 前記カプセル型医療装置の回転角度を検出する回転角度検出手段を備え、
前記脱調動作検知手段は、前記回転角度検出手段が検出した前記カプセル型医療装置の回転角度の変化をもとに前記脱調動作を検知することを特徴とする請求項2に記載のカプセル型医療装置システム。 - 前記カプセル型医療装置は、生体内画像を順次取得する画像取得手段を備え、
前記回転角度検出手段は、前記画像取得手段から順次出力され時系列的に隣接する生体内画像間の相違をもとに前記カプセル型医療装置の回転角度を検出することを特徴とする請求項8に記載のカプセル型医療装置システム。 - 前記回転角度検出手段は、前記カプセル型医療装置内に設けられたジャイロセンサであることを特徴とする請求項8に記載のカプセル型医療装置システム。
- 前記カプセル型医療装置の回転速度を検出する回転速度検出手段を備え、
前記脱調動作検知手段は、前記回転速度検出手段が検出した前記カプセル型医療装置の回転速度の変化をもとに前記脱調動作を検知することを特徴とする請求項2に記載のカプセル型医療装置システム。 - 前記カプセル型医療装置は、生体内画像を順次取得する画像取得手段を備え、
前記回転速度検出手段は、前記画像取得手段から順次出力され時系列的に隣接する生体内画像間の相違をもとに前記カプセル型医療装置の回転速度を検出することを特徴とする請求項11に記載のカプセル型医療装置システム。 - 前記回転速度検出手段は、前記カプセル型医療装置内に設けられたジャイロセンサであることを特徴とする請求項11に記載のカプセル型医療装置システム。
- 前記カプセル型医療装置の角加速度を検出する角加速度検出手段を備え、
前記脱調動作検知手段は、前記角速度検出手段が検出した前記カプセル型医療装置の角加速度の変化をもとに前記脱調動作を検知することを特徴とする請求項2に記載のカプセル型医療装置システム。 - 前記カプセル型医療装置は、生体内画像を順次取得する画像取得手段を備え、
前記角加速度検出手段は、前記画像取得部から順次出力され時系列的に隣接する3つの生体内画像間の相違をもとに前記カプセル型医療装置の角加速度を検出することを特徴とする請求項14に記載のカプセル型医療装置システム。 - 前記角加速度検出手段は、前記カプセル型医療装置内に設けられたジャイロセンサであることを特徴とする請求項14に記載のカプセル型医療装置システム。
- 前記カプセル型医療装置内に設けられ、該カプセル型医療装置から外部方向に向けて磁界を放出する磁界放出部と、
前記カプセル型医療装置外の周囲に設けられ、前記磁界放出部から放出された磁界を検出する磁界検出部と、
前記磁界検出部が検出した磁界をもとに前記カプセル型医療装置の回転状態を検出する回転検出手段と、
を備え、
前記脱調動作検知手段は、前記回転検出手段によって検出された前記カプセル型医療装置の回転状態をもとに前記脱調動作を検知することを特徴とする請求項2に記載のカプセル型医療装置システム。 - 前記磁界制御部は、前記脱調動作検出手段が前記カプセル型医療装置の逆回転前の回転停止を検知したことをもとに、前記回転磁界発生装置を制御することを特徴とする請求項1に記載のカプセル型医療装置システム。
- 前記カプセル型医療装置は、前記針の穿刺状態が安定化している状態で前記針から薬液を吐出することを特徴とする請求項1に記載のカプセル型医療装置システム。
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JP2010524686A JP4584358B2 (ja) | 2009-01-28 | 2010-01-27 | カプセル型医療装置システム |
EP10735834A EP2340757A4 (en) | 2009-01-28 | 2010-01-27 | SYSTEM FOR CAPSUED MEDICAL EQUIPMENT |
CN2010800029917A CN102196763B (zh) | 2009-01-28 | 2010-01-27 | 胶囊型医疗装置系统 |
US12/838,745 US8602969B2 (en) | 2009-01-28 | 2010-07-19 | Capsule medical apparatus system |
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EP (1) | EP2340757A4 (ja) |
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KR101256408B1 (ko) * | 2011-08-25 | 2013-04-25 | 전남대학교산학협력단 | 마이크로로봇시스템 및 관형소화기관 검사용 캡슐형내시경시스템 |
US9743942B2 (en) * | 2013-03-15 | 2017-08-29 | Christopher V. Beckman | Nanotechnology and other small scale injectable machines with multistage external magnetic and electrostatic actuation |
CN102579048B (zh) * | 2012-02-21 | 2013-06-05 | 大连理工大学 | 空间万向叠加旋转磁场旋转轴线方位与旋向的控制方法 |
US11541015B2 (en) | 2017-05-17 | 2023-01-03 | Massachusetts Institute Of Technology | Self-righting systems, methods, and related components |
AU2018269704B2 (en) | 2017-05-17 | 2024-02-08 | Massachusetts Institute Of Technology | Self-righting systems, methods, and related components |
WO2019222570A1 (en) | 2018-05-17 | 2019-11-21 | Massachusetts Institute Of Technology | Systems for electrical stimulation |
CN113993560B (zh) | 2019-02-01 | 2024-05-07 | 麻省理工学院 | 用于液体注射的系统和方法 |
KR102295728B1 (ko) * | 2019-08-28 | 2021-08-31 | 한양대학교 산학협력단 | 마이크로 로봇 및 이를 포함하는 마이크로 로봇 시스템 |
US11541216B2 (en) | 2019-11-21 | 2023-01-03 | Massachusetts Institute Of Technology | Methods for manufacturing tissue interfacing components |
CN110996009B (zh) * | 2019-12-20 | 2021-07-23 | 安翰科技(武汉)股份有限公司 | 胶囊内窥镜系统及其自动帧率调整方法及计算机可读存储介质 |
CN113081075B (zh) * | 2021-03-09 | 2022-03-04 | 武汉大学 | 一种具有主动式活检与施药功能的磁控胶囊 |
CN118141306B (zh) * | 2024-05-10 | 2024-08-02 | 湖北大学 | 施药胶囊机器人及其控制方法 |
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JP4584358B2 (ja) | 2010-11-17 |
JPWO2010087368A1 (ja) | 2012-08-02 |
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US20110034766A1 (en) | 2011-02-10 |
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