WO2011061967A1 - 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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- WO2011061967A1 WO2011061967A1 PCT/JP2010/062549 JP2010062549W WO2011061967A1 WO 2011061967 A1 WO2011061967 A1 WO 2011061967A1 JP 2010062549 W JP2010062549 W JP 2010062549W WO 2011061967 A1 WO2011061967 A1 WO 2011061967A1
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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
- A61B1/04—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
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
Definitions
- the present invention relates to a capsule medical device system that acquires in-subject information by introducing a capsule medical device into a subject.
- a capsule medical device has been introduced into a subject to capture an in-subject image, the received in-subject image is sequentially received by a receiving device, and the in-subject image group received by the receiving device is imaged
- a capsule endoscope system for displaying on a display device has been proposed (see Patent Document 1).
- a doctor diagnoses the inside of the subject by observing the in-subject image displayed on the image display device.
- the medical staff changes the posture of the subject according to the contents of diagnosis and takes an in-subject image.
- a receiving device for receiving image data wirelessly transmitted from the capsule endoscope is attached to the body side surface of the subject, the posture is changed.
- the receiving device touches the bed, the subject sometimes becomes an obstacle when changing the posture.
- the present invention has been made in view of the above problems, and an object thereof is to provide a capsule medical device system that facilitates posture change of a subject.
- a capsule medical device system includes a mounting table for mounting a subject along the long axis direction, and a body surface of the subject An antenna for receiving in-subject information transmitted from a capsule medical device disposed on the subject and introduced into the subject, and in-subject information received by the antenna wired along the body axis of the subject And a processing device that processes the in-vivo information transmitted by the cable, and is fixed to the longitudinal end of the mounting table.
- a capsule medical device system includes a mounting table for mounting a subject along the long axis direction, and a body surface of the subject An antenna that receives the in-subject information transmitted from the capsule medical device that is disposed on the subject and is introduced into the subject, a cable that transmits the in-subject information received by the antenna, and a mounting table. And a processing device for processing the in-subject information transmitted by the cable, and a fixture for fixing the cable to the subject.
- a capsule medical device system includes a mounting table for mounting a subject along the long axis direction, and a body surface of the subject
- An antenna for receiving in-subject information transmitted from a capsule medical device installed on the subject, a cable for transmitting in-subject information received by the antenna, and a long axis of the mounting table
- the processing device that is fixed to the direction end and processes the in-subject information transmitted by the cable, and the connection portion between the cable and the processing device is arranged in the major axis direction of the mounting table in accordance with the posture change of the subject.
- a rotation mechanism that rotates about the rotation axis.
- a capsule medical device system includes a mounting table for mounting a subject along the long axis direction, and a body surface of the subject
- An antenna for receiving in-subject information transmitted from a capsule medical device installed on the subject, a cable for transmitting the in-subject information received by the antenna, and a long axis of the mounting table
- the processing apparatus that is fixed to the direction end and processes the in-subject information transmitted by the cable, and rotates the processing apparatus with the major axis direction of the mounting table as the rotation axis according to the posture change of the subject.
- a rotation mechanism is fixed to the direction end and processes the in-subject information transmitted by the cable, and rotates the processing apparatus with the major axis direction of the mounting table as the rotation axis according to the posture change of the subject.
- the cable for transmitting the in-subject information received by the antenna is wired along the body axis of the subject, and the processing device is fixed to the longitudinal end of the mounting table. Therefore, the posture change of the subject can be facilitated.
- the cable that transmits the in-subject information received by the antenna is fixed to the subject by the fixture, and the processing device is fixed to the mounting table. Posture change can be facilitated.
- the processing device is fixed to the end in the long axis direction of the mounting table, and the connection portion between the cable that transmits the in-subject information received by the antenna and the processing device is the subject.
- the posture of the subject can be easily changed because it is configured to be rotatable with the major axis direction of the mounting table as the rotation axis in accordance with the posture change.
- the processing device is fixed to the end portion in the long axis direction of the mounting table, and the processing device rotates about the long axis direction of the mounting table as the rotation axis according to the posture change of the subject. Since it is configured to be possible, the posture change of the subject can be facilitated.
- FIG. 1 is a schematic diagram illustrating a configuration of a capsule endoscope system according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing an internal configuration of the control device shown in FIG.
- FIG. 3 is a schematic diagram illustrating a configuration of a modified example of the capsule endoscope system illustrated in FIG. 1.
- FIG. 4 is a schematic diagram showing the configuration of the antenna cable and the receiving apparatus according to the first embodiment of the present invention.
- FIG. 5 is a schematic diagram showing a configuration of an antenna cable and a receiving apparatus according to the second embodiment of the present invention.
- FIG. 6 is a schematic diagram showing a configuration of an antenna cable and a receiving apparatus according to the third embodiment of the present invention.
- FIG. 7 is a diagram illustrating an optimal arrangement position of the antenna when observing the esophagus and stomach of a subject.
- FIG. 1 is a schematic diagram illustrating a configuration of a capsule endoscope system according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing an internal configuration of the control device shown in FIG.
- a capsule endoscope system 1 includes a bed 2 as a mounting table, and water or physiological saline inside a subject 3 mounted on the bed 2. Or the like, and controls at least one of the position and posture of the capsule endoscope 4 as a capsule medical device that is introduced together with a liquid such as a capsule to capture an in-vivo image of the subject 3 and the capsule endoscope 4 floating in the liquid. And a magnetic field generator 5 for the purpose.
- the capsule endoscope system 1 is disposed on the body surface of the subject 3 and receives an image data in the subject 3 transmitted from the capsule endoscope 4 and an antenna 6. Includes an antenna cable 7 for transmitting image data received by the receiver, a receiving device 8 for receiving image data transmitted from the antenna cable 7, and a trolley 10 configured to be movable by wheels 9.
- the capsule endoscope 4 has an imaging function for capturing an image in the subject 3 and a wireless communication function for wirelessly transmitting various information such as a captured image.
- the capsule endoscope 4 is formed in a size that can be easily introduced into the subject 3 and has a specific gravity that is equal to or less than the specific gravity of a liquid such as water or physiological saline.
- the capsule endoscope 4 moves in the subject 3 by a spiral motion or the like, and sequentially captures images in the subject 3 at predetermined time intervals such as 0.5 second intervals.
- the capsule endoscope 4 wirelessly transmits a captured image.
- the magnetic field generator 5 controls at least one of the position and posture of the capsule endoscope 4 in the subject 3. Specifically, the magnetic field generator 5 generates a magnetic field with respect to the capsule endoscope 4 introduced into the subject 3 and controls the operation of the capsule endoscope 4 in the liquid by the magnetic force of the magnetic field. . The magnetic field generator 5 controls at least one of the position and posture of the capsule endoscope 4 in the subject 3 by controlling the operation of the capsule endoscope 4.
- the capsule endoscope 4 includes a magnet that operates the housing in response to the magnetic field generated by the magnetic field generator 5. The operation of the magnetic field generator 5 is controlled by the signal generator 11 that operates according to a control signal from the controller 14.
- the antenna 6 is realized by using a loop antenna, and is arranged at a predetermined position on the body surface of the subject 3. Note that the number of antennas 6 is not limited to one, and may be plural. Also good.
- the receiving device 8 receives the captured image data wirelessly transmitted from the capsule endoscope 4 via the antenna 6 and the antenna cable 7, and outputs the received captured image data to the control device 14.
- a guidance information display device 12a that displays the operation information of the capsule endoscope 4 as guidance information, and a capsule image display device 12b for displaying an image captured by the capsule endoscope 4 is displayed.
- an input device 13 such as a keyboard, a mouse pointer, and a joystick.
- the control device 14 includes a communication unit 15, a control unit 16, and an uninterruptible power supply 17.
- the communication unit 15 displays the captured image data received by the receiving device 8 in accordance with the control signal from the control unit 16 on the capsule image display device 12b. Note that the communication unit 15 may output the captured image data to the control unit 16 via a bus wiring such as a USB, or may transmit the captured image data to the control unit 16 by an optical communication method.
- the control unit 16 displays a captured image data received by the receiving device 7 on the capsule image display device 12b, a display function, an image generation function, an image processing function, an image storage function, a subject data input function, and posture information of the subject 3.
- a display function, a capture function, a function for outputting a control signal for performing drive control of the capsule endoscope 4 to the signal generator 11, a function for estimating and displaying the position and orientation of the capsule endoscope 4 and the like are displayed. To do.
- the control unit 16 also controls output to the guidance information display device 12a.
- the uninterruptible power supply 17 has a function of preventing an inadvertent power supply stop at the time of a power failure, and suppresses the loss of captured image data received by the receiving device 7 in particular.
- the uninterruptible power supply 17 has a function of outputting a detection signal to the control device 14 and displaying a message prompting shutdown on the capsule image display device 12b when a power failure or disconnection is detected. According to such a function, the medical staff can select a subsequent response based on the cause of the power failure. Specifically, if the cause is not enough to terminate the examination, the medical staff returns the power source to continue the examination, and if there is no prospect of restoration, the examination is terminated. Note that the uninterruptible power supply 17 may automatically execute an inspection end process in accordance with the elapsed time since the power failure.
- the trolley 10 is composed of two trolleys 10a and 10b, and functions (for example, a guidance information display function and a capsule image display function).
- the control device 14 may be divided into two control devices 14a and 14b.
- the guide information display device 12a and the capsule image display device 12b are divided into different trolleys, it may be difficult to use the guide information display device 12a and the capsule image display device 12b. It is desirable to arrange on the upper surface of the trolley 10b. Further, in this case, since a cable for connecting the trolley 10a and the trolley 10b is required, it is desirable to fix the trolley 10a and the trolley 10b with the fixture 18 in order to prevent the cable from being disconnected.
- the medical staff changes the posture of the subject 3 according to the diagnosis contents and captures the in-subject image.
- the receiving device 8 for receiving the image data wirelessly transmitted from the capsule endoscope 4 is attached to the body side surface of the subject 3.
- the posture of the subject 3 may be difficult to change because the receiving device 8 comes into contact with the bed or the like. Therefore, in the capsule endoscope system that is an embodiment of the present invention, the posture conversion of the subject 3 is facilitated by configuring the antenna cable 7 and the receiving device 8 as described below.
- the configuration of the antenna cable 7 and the receiving device 8 according to the first to third embodiments of the present invention will be described with reference to FIGS.
- FIG. 4 is a schematic diagram showing configurations of the antenna cable 7 and the receiving device 8 according to the first embodiment of the present invention.
- the receiving device 8 is fixed to the end portion in the long axis direction of the bed 2 on which the subject 3 is placed. Therefore, according to such an arrangement position of the receiving device 8, the subject 3 can easily change the posture.
- the antenna cable 7 is wired in the body axis direction of the subject 3. According to such a configuration of the antenna cable 7 and the receiving device 8, the antenna cable 7 is always on the body axis of the subject 3, and the antenna cable is disconnected due to stress applied to both ends of the antenna cable, or the antenna The posture change of the subject 3 can be facilitated while suppressing the cable from being wound around the subject.
- FIG. 5 is a schematic diagram showing configurations of the antenna cable 7 and the receiving device 8 according to the second embodiment of the present invention.
- the receiving device 8 is fixed to the end of the bed 2 on which the subject 3 lies, and the antenna cable 7 that connects the antenna 6 and the receiving device 8 is a magic. It is fixed near the knee and waist of the subject 3 by fixtures 21a and 21b such as tape (registered trademark).
- fixtures 21a and 21b such as tape (registered trademark).
- the antenna cable 7 is connected to the portion of the subject 3 that is fixed near the knee and the receiving device 8. Will rotate between.
- the antenna cable 7 may be fixed near the ankle other than the vicinity of the knee and the waist of the subject 3.
- FIG. 6 is a schematic diagram showing configurations of the antenna cable 7 and the receiving device 8 according to the third embodiment of the present invention.
- the receiving device 8 is fixed to the end in the long axis direction of the bed 2 on which the subject 3 lies.
- the connecting portion between the antenna cable 7 and the receiving device 8 is a rotating mechanism 22 that rotates the connecting portion between the antenna cable 7 and the receiving device 8 with the major axis direction as the rotation axis in accordance with the posture change of the subject 3. Is provided.
- the receiving device 8 itself may be rotated according to a change in the posture of the subject 3 by the same rotation mechanism 22.
- the connection portion of the antenna cable 7 and the receiving device 8 or the receiving device 8 itself rotates according to the posture change of the subject 3. It is possible to easily change the posture of the subject 3 while preventing the antenna cable 7 from being disconnected or the antenna cable 7 from being wound around the subject by applying stress to both ends.
- the present invention is not limited by the description and the drawings that form part of the disclosure of the present invention according to this embodiment.
- the receiving device 8 is fixed to the end portion in the long axis direction of the bed 2, but the device fixed to the end portion in the long axis direction of the bed 2 is limited to the receiving device 8.
- other information processing devices such as a display device that displays image data output from the receiving device 8 are arranged in the long axis direction. You may fix to an edge part.
- the arrangement position of the antenna 6 to be pasted on the body surface of the subject 3 is not mentioned, but the arrangement position of the antenna 6 is arranged in consideration of the receivable area (directivity) of the antenna 6. It is desirable. Specifically, when observing the esophagus and stomach of the subject 3, it is desirable to arrange a plurality of antennas 6a to 6h as shown in FIG. In the arrangement position shown in FIG.
- the antenna 6a is directly above the sternum of the subject, the antenna 6b is directly above the sword-like protrusion, the antenna 6c is directly above the eighth rib, the antenna 6d is the right side of the navel, the antenna 6e is the upper side of the navel, the antenna 6f is the upper right side of the navel, the antenna 6g is the lower side of the navel and is slightly right from the center of the body, and the antenna 6h is pasted on the eighth rib on the back side.
- the antenna 6g is arranged on the back side in order to cover the existing range of the stomach in the backward direction from the abdominal surface.
- the antenna 6a is for interpolating the antenna 6b, and acquires an image while moving from the esophagus to the cardia. According to such an arrangement position of the antenna 6, since the number of the antennas 6 and the antenna cables 7 can be suppressed to a necessary minimum number, the posture of the subject 3 can be easily changed and the cost can be reduced. be able to.
- other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the present embodiment are all included in the scope of the present invention.
- the present invention can be applied to a capsule medical device system that acquires information in a subject by introducing the capsule medical device into the subject.
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Abstract
Description
始めに、図1及び図2を参照して、本発明の一実施形態であるカプセル型内視鏡システムの全体構成について説明する。図1は、本発明の一実施形態であるカプセル型内視鏡システムの構成を示す模式図である。図2は、図1に示す制御装置の内部構成を示すブロック図である。
ところで、従来のカプセル型内視鏡システムでは、医療従事者は、診断内容に応じて被検体3の姿勢を変更して被検体内画像を撮像する。しかしながら、従来のカプセル型内視鏡システムでは、被検体3の体側面にはカプセル型内視鏡4から無線送信された画像データを受信するための受信装置8が取り付けられているために、姿勢変換の際に受信装置8がベッドに接触する等して、被検体3の姿勢変換が困難になることがあった。そこで、本発明の一実施形態であるカプセル型内視鏡システムでは、アンテナケーブル7及び受信装置8を以下に示すように構成することによって、被検体3の姿勢変換を容易にする。以下、図4乃至図6を参照して、本発明の第1乃至第3の実施形態となるアンテナケーブル7及び受信装置8の構成について説明する。
図4は、本発明の第1の実施形態であるアンテナケーブル7及び受信装置8の構成を示す模式図である。図4に示すように、本実施形態では、受信装置8は、被検体3が載置されるベッド2の長軸方向端部に固定されている。従って、このような受信装置8の配置位置によれば、被検体3は容易に姿勢を変換することができる。
図5は、本発明の第2の実施形態であるアンテナケーブル7及び受信装置8の構成を示す模式図である。図5に示すように、本実施形態では、受信装置8は、被検体3が横たわるベッド2の長軸方向端部に固定され、アンテナ6と受信装置8とを接続するアンテナケーブル7は、マジックテープ(登録商標)等の固定具21a,21bによって被検体3の膝付近と腰付近に固定されている。このようなアンテナケーブル7と受信装置8の構成によれば、被検体3が姿勢を変換した際、アンテナケーブル7は、被検体3の膝付近に固定された部分と受信装置8との接続部分との間において回転することになる。しかしながら、被検体3の膝付近に固定された部分と受信装置8との接続部分との間の距離はアンテナケーブル7の全長と比較して短いので、アンテナケーブル7が断線したり、アンテナケーブル7が被検体3に巻き付いたりすることを抑制しつつ、被検体3の姿勢変換を容易にすることができる。なお、アンテナケーブル7は、被検体3の膝付近と腰付近以外に足首付近に固定するようにしてもよい。
図6は、本発明の第3の実施形態であるアンテナケーブル7及び受信装置8の構成を示す模式図である。図6に示すように、本実施形態では、受信装置8は、被検体3が横たわるベッド2の長軸方向端部に固定されている。また、アンテナケーブル7と受信装置8との接続部分には、被検体3の姿勢変換に応じてアンテナケーブル7と受信装置8との接続部分を、長軸方向を回転軸として回転させる回転機構22が設けられている。なお、同様の回転機構22によって受信装置8自体を被検体3の姿勢変化に応じて回転させるようにしてもよい。このようなアンテナケーブル7と受信装置8の構成によれば、被検体3の姿勢変換に応じてアンテナケーブル7と受信装置8との接続部分又は受信装置8自体が回転するので、アンテナケーブル7の両端部に応力が加わることによってアンテナケーブル7が断線したり、アンテナケーブル7が被検体に巻き付いたりすることを抑制しつつ、被検体3の姿勢変換を容易にすることができる。
3 被検体
6 アンテナ
7 アンテナケーブル
8 受信装置
21a,21b 固定具
22 回転機構
Claims (8)
- 長軸方向に沿って被検体を載置する載置台と、
前記被検体の体表面上に配設され、前記被検体内に導入されたカプセル型医療装置から送信される被検体内情報を受信するアンテナと、
前記被検体の体軸に沿って配線され、前記アンテナが受信した被検体内情報を伝送するケーブルと、
前記載置台の長軸方向端部に固定されていると共に、前記ケーブルによって伝送された被検体内情報を処理する処理装置と、
を備えることを特徴とするカプセル型医療装置システム。 - 長軸方向に沿って被検体を載置する載置台と、
前記被検体の体表面上に配設され、前記被検体内に導入されたカプセル型医療装置から送信される被検体内情報を受信するアンテナと、
前記アンテナが受信した被検体内情報を伝送するケーブルと、
前記載置台に固定されていると共に、前記ケーブルによって伝送された被検体内情報を処理する処理装置と、
前記ケーブルを前記被検体に固定する固定具と、
を備えることを特徴とするカプセル型医療装置システム。 - 前記処理装置は、前記載置台の長軸方向端部に固定されてい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。
- 長軸方向に沿って被検体を載置する載置台と、
前記被検体の体表面上に配設され、前記被検体内に導入されたカプセル型医療装置から送信される被検体内情報を受信するアンテナと、
前記アンテナが受信した被検体内情報を伝送するケーブルと、
前記載置台の長軸方向端部に固定されていると共に、前記ケーブルによって伝送された被検体内情報を処理する処理装置と、
前記被検体の姿勢変換に応じて、前記ケーブルと前記処理装置との接続部を前記載置台の長軸方向を回転軸として回転する回転機構と、
を備えることを特徴とするカプセル型医療装置システム。 - 長軸方向に沿って被検体を載置する載置台と、
前記被検体の体表面上に配設され、前記被検体内に導入されたカプセル型医療装置から送信される被検体内情報を受信するアンテナと、
前記アンテナが受信した被検体内情報を伝送するケーブルと、
前記載置台の長軸方向端部に固定されていると共に、前記ケーブルによって伝送された被検体内情報を処理する処理装置と、
前記被検体の姿勢変換に応じて、前記処理装置を前記載置台の長軸方向を回転軸として回転する回転機構と、
を備えることを特徴とするカプセル型医療装置システム。 - 前記被検体内情報を表示する表示装置を更に備え、前記処理装置は、前記カプセル型医療装置から送信される被検体内情報を前記表示装置に転送する転送部を有することを特徴とする請求項1乃至請求項5のうち、いずれか1項に記載のカプセル型医療装置システム。
- 前記被検体内情報は、前記カプセル型医療装置が取得した画像情報であることを特徴とする請求項1乃至請求項6のうち、いずれか1項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、少なくとも1つの磁性体を有し、前記磁性体に作用し、前記カプセル型医療装置を誘導する誘導磁界発生装置を備えることを特徴とする請求項1乃至請求項7のうち、いずれか1項に記載のカプセル型医療システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10831366.9A EP2374400B1 (en) | 2009-11-19 | 2010-07-26 | Capsule medical apparatus system |
CN201080003824.4A CN102264271B (zh) | 2009-11-19 | 2010-07-26 | 胶囊型医疗装置系统 |
JP2011502181A JP4717161B1 (ja) | 2009-11-19 | 2010-07-26 | カプセル型医療装置システム |
US13/070,788 US8602989B2 (en) | 2009-11-19 | 2011-03-24 | Capsule medical apparatus system |
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JP2009264302 | 2009-11-19 | ||
JP2009-264302 | 2009-11-19 |
Related Child Applications (1)
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US13/070,788 Continuation US8602989B2 (en) | 2009-11-19 | 2011-03-24 | Capsule medical apparatus system |
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WO2011061967A1 true WO2011061967A1 (ja) | 2011-05-26 |
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PCT/JP2010/062549 WO2011061967A1 (ja) | 2009-11-19 | 2010-07-26 | カプセル型医療装置システム |
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US (1) | US8602989B2 (ja) |
EP (1) | EP2374400B1 (ja) |
JP (1) | JP4717161B1 (ja) |
CN (1) | CN102264271B (ja) |
WO (1) | WO2011061967A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US20130172679A1 (en) * | 2011-07-01 | 2013-07-04 | Fujifilm Corporation | Endoscope insertion assisting device |
WO2014063048A1 (en) * | 2012-10-18 | 2014-04-24 | University Of Utah Research Foundation | Omnidirectional electromagnet |
CN104739411B (zh) * | 2015-04-01 | 2017-04-05 | 南京医科大学 | 一种使用磁传感器对磁性目标进行检测定位的方法 |
CN107049213A (zh) * | 2017-03-28 | 2017-08-18 | 重庆金山医疗器械有限公司 | 一种胶囊内镜控制方法及装置 |
CN117357044A (zh) * | 2020-04-23 | 2024-01-09 | 深圳硅基智控科技有限公司 | 信号收发装置 |
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2010
- 2010-07-26 WO PCT/JP2010/062549 patent/WO2011061967A1/ja active Application Filing
- 2010-07-26 EP EP10831366.9A patent/EP2374400B1/en not_active Not-in-force
- 2010-07-26 JP JP2011502181A patent/JP4717161B1/ja not_active Expired - Fee Related
- 2010-07-26 CN CN201080003824.4A patent/CN102264271B/zh not_active Expired - Fee Related
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2011
- 2011-03-24 US US13/070,788 patent/US8602989B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
CN102264271A (zh) | 2011-11-30 |
JPWO2011061967A1 (ja) | 2013-04-04 |
CN102264271B (zh) | 2014-03-12 |
US20110263951A1 (en) | 2011-10-27 |
EP2374400A1 (en) | 2011-10-12 |
EP2374400B1 (en) | 2013-05-29 |
US8602989B2 (en) | 2013-12-10 |
JP4717161B1 (ja) | 2011-07-06 |
EP2374400A4 (en) | 2012-05-30 |
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