WO2012117815A1 - カプセル型内視鏡の位置検出装置、カプセル型内視鏡システムおよびカプセル型内視鏡の位置決定プログラム - Google Patents
カプセル型内視鏡の位置検出装置、カプセル型内視鏡システムおよびカプセル型内視鏡の位置決定プログラム Download PDFInfo
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- capsule endoscope
- image data
- electric field
- orientation
- unit
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
-
- 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
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
Definitions
- the present invention relates to a position detection device that receives a radio signal transmitted from a capsule endoscope in a subject by a receiving device outside the subject and detects the position of the capsule endoscope based on the received radio signal, and
- the present invention relates to a capsule endoscope system.
- capsule endoscopes that incorporate an imaging function, a wireless communication function, and the like in a capsule-shaped casing formed in a size that can be introduced into the digestive tract of a subject such as a patient have been used.
- This capsule endoscope is swallowed from the subject's mouth and then moves inside the subject such as in the digestive tract by peristaltic motion or the like. Then, the inside of the subject is sequentially imaged to generate image data, and the image data is sequentially wirelessly transmitted.
- the image data wirelessly transmitted from the capsule endoscope in this way is received by a receiving device provided outside the subject.
- the image data received by the receiving device is stored in a memory built in the receiving device. After the inspection is completed, the image data stored in the memory of the receiving device is taken into the image display device. An observer such as a doctor or nurse observes an organ image or the like displayed by the image display device and diagnoses the subject.
- this capsule endoscope moves in the body cavity by a peristaltic motion or the like, it is necessary to correctly recognize at which position in the body cavity the image data transmitted by the capsule endoscope is taken.
- the electromagnetic waves transmitted by the capsule endoscope are received by a plurality of receiving antennas outside the body cavity, and the position and orientation of the capsule endoscope are determined using the Gauss-Newton method from the received intensities of the plurality of received radio signals.
- a capsule-type medical device that estimates the above is disclosed (for example, see Patent Document 1).
- a capsule endoscope in which a sensor that collects information in the subject is provided and the position of the capsule endoscope in the subject is determined from the information collected by the sensor (for example, , See Patent Document 2).
- Patent Document 2 when a sensor is provided in a capsule endoscope, the configuration inside the capsule endoscope becomes complicated, and it is difficult to reduce the size and power supply to the sensor is necessary. Therefore, there was a problem of an increase in power consumption.
- the present invention has been made in view of the above, and a receiving apparatus and a capsule type capable of performing high-speed estimation processing of the position and orientation of a capsule endoscope in a body cavity while reducing the size of the capsule endoscope
- An object is to provide an endoscope system.
- a capsule endoscope position detection apparatus uses a plurality of receiving antennas to transmit radio signals transmitted from a capsule endoscope in a subject.
- a receiving antenna unit for receiving, and storage means for storing the theoretical electric field strength of the radio signal received by each receiving antenna according to the position of the capsule endoscope in the subject, or the position and orientation;
- Comparison means for comparing a predetermined value calculated by using a difference between the received electric field strength of the radio signal received by each receiving antenna and the theoretical electric field strength stored in the storage means, and a comparison result by the comparison means
- determining means for determining the position or position and orientation of the capsule endoscope from which the image data was taken.
- the storage means may be obtained by dividing the region in the subject in which the capsule endoscope may exist in the storage unit. For each of the partial regions, a theoretical electric field strength corresponding to the direction of the capsule endoscope is stored.
- the comparison means includes a theoretical electric field strength and a reception electric field strength stored in the storage means for each of the partial regions and the orientations.
- the determination unit is configured to calculate the position of the capsule endoscope from which the image data is captured, from a combination of an area and a direction in which the residual square sum is smallest, Alternatively, the position and orientation are determined.
- the capsule endoscope position detection apparatus is the above-described invention, wherein the comparison means includes the partial area divided into at least two or more levels and the residual sum of squares according to the orientation. For each of the divided hierarchies, and the determining means limits the area where the capsule endoscope exists to each hierarchy based on the comparison result by the comparing means, and the image data is captured. Further, the position and orientation of the capsule endoscope are determined.
- the comparison unit is configured to determine, for each of the image data, a predetermined number of regions and directions in order from the smallest residual sum of squares.
- the position of the capsule endoscope is extracted as a candidate for the position and orientation, and the determination unit determines whether each image data is obtained from the distance between the candidate positions and / or the residual sum of squares in the image data that is temporally changed.
- the position of the photographed capsule endoscope or the position and orientation thereof is determined.
- the capsule endoscope position detection device is characterized in that, in the above invention, the reception antenna unit has a sheet shape in which the plurality of reception antennas are arranged.
- the capsule endoscope position detection apparatus includes a trajectory calculation unit that calculates the trajectory of the capsule endoscope from the position of the capsule endoscope determined by the determination unit in the above invention. It is characterized by that.
- the capsule endoscope system includes a capsule endoscope that acquires image data in a subject, image data transmitted from the capsule endoscope, and received image data.
- the position detection device described above that estimates the position and orientation of the capsule endoscope from which the image is captured, the image data and position information of the image data are acquired from the reception antenna, and the acquired image data and position And an image display means for displaying information.
- the image display means displays the image data, and the capsule endoscope calculated by the trajectory calculation means in the subject.
- the moving trajectory is displayed.
- the capsule endoscope position determination program is the capsule in which the image data transmitted from the capsule endoscope in the subject is received and the received image data is captured.
- a radio signal acquisition procedure for acquiring a radio signal transmitted by the capsule endoscope received by a plurality of receiving antennas of a receiving antenna unit to a receiving device that estimates a position and an orientation of the mold endoscope;
- a theoretical intensity acquisition procedure for acquiring, from a storage means, a theoretical electric field strength of the radio signal received by each receiving antenna according to the position of the endoscope in the subject or the position and orientation;
- a comparison procedure for comparing a predetermined value calculated using a difference between a received electric field strength of the received radio signal and a theoretical electric field strength stored in the storage means; and the comparison Based on the comparison result of the order, the image data is characterized in that to execute a positioning procedure for determining the position, or the position and the orientation of the captured the capsule endoscope.
- the theoretical electric field strength estimated to be received by each receiving antenna at a position where the capsule endoscope can exist in the subject is stored in advance, and the radio signal actually received by each receiving antenna is stored. Since the position and orientation of the capsule endoscope are determined based on the difference between the electric field strength and the stored theoretical electric field strength, the position estimation process can be speeded up.
- FIG. 1 is a schematic diagram illustrating a schematic configuration of a capsule endoscope system using the receiving apparatus according to the first embodiment of the present invention.
- FIG. 2 is a cross-sectional view showing a schematic configuration of the inside of the capsule endoscope.
- FIG. 3 is a block diagram showing a schematic configuration of the receiving apparatus according to the first embodiment of the present invention.
- FIG. 4A is a schematic diagram for explaining position detection of the capsule endoscope.
- FIG. 4B is a schematic diagram in which the region of FIG. 4A is divided into four in the xyz direction.
- FIG. 5 is a diagram illustrating an electromagnetic field component at an arbitrary position based on an antenna (using a circular coil) of a capsule endoscope.
- FIG. 1 is a schematic diagram illustrating a schematic configuration of a capsule endoscope system using the receiving apparatus according to the first embodiment of the present invention.
- FIG. 2 is a cross-sectional view showing a schematic configuration of the inside of the capsule endoscope.
- FIG. 6 is a diagram showing how the electromagnetic field attenuates when propagating through the medium.
- FIG. 7 is a diagram illustrating the relationship between the electric field generated by the capsule endoscope and the direction of one receiving antenna of the receiving antenna unit.
- FIG. 8A is a schematic diagram in which a region where a capsule endoscope exists is divided into three in the xyz direction.
- FIG. 8B is a schematic diagram in which one region of FIG. 8A is further divided into three in the xyz direction.
- FIG. 9 is a block diagram showing a schematic configuration of the receiving apparatus according to the third embodiment of the present invention.
- FIG. 10 is a flowchart illustrating an outline of the trajectory calculation process performed by the trajectory calculation unit.
- FIG. 10 is a flowchart illustrating an outline of the trajectory calculation process performed by the trajectory calculation unit.
- FIG. 11 is a diagram showing a plurality of candidate positions whose positions have been estimated for a plurality of image data that change with time.
- FIG. 12 is a diagram illustrating a flowchart of the trajectory calculation process.
- FIG. 13A is an example of a diagram in which a trajectory in a subject of a capsule endoscope calculated by the receiving device of Embodiment 3 is displayed on an image display device.
- FIG. 13B is an example of a diagram in which a trajectory in the subject of the capsule endoscope calculated by the receiving device of Embodiment 3 is displayed on the image display device.
- a position detection device and a capsule endoscope system according to an embodiment of the present invention will be described with reference to the drawings.
- a capsule including a capsule endoscope that is introduced into the body of the subject and captures an in-vivo image of the subject A type endoscope system is illustrated, but the present invention is not limited to this embodiment.
- FIG. 1 is a schematic diagram illustrating a schematic configuration of a capsule endoscope system 1 using a position detection device according to a first embodiment of the present invention.
- a capsule endoscope system 1 includes a capsule endoscope 3 that captures an in-vivo image in a subject 2 and a capsule endoscope 3 that is introduced into the subject 2.
- a receiving apparatus 5 that receives the transmitted radio signal via the receiving antenna unit 4 and receives the imaging position of the image data in the subject 2 captured by the capsule endoscope 3, and the capsule endoscope
- An image display device 6 for displaying an image corresponding to the image data in the subject 2 imaged by the mirror 3.
- FIG. 2 is a cross-sectional view showing a schematic configuration of the inside of the capsule endoscope 3.
- the capsule endoscope 3 has a substantially cylindrical or semi-elliptical spherical container 30a having one end formed in a hemispherical dome shape and the other end opened, and an opening of the container 30a.
- the container 30a is housed in a capsule-type container 30 (housing) comprising a hemispherical optical dome 30b that tightly seals the inside of the container 30a.
- the capsule container 30 (30a, 30b) is, for example, large enough to be swallowed by the subject 2.
- at least the optical dome 30b is formed of a transparent material.
- the capsule endoscope 3 electrically converts an objective lens 32 that forms an image of light incident through the optical dome 30b, a lens frame 33 to which the objective lens 32 is attached, and an optical signal incident by the objective lens 32.
- the imaging unit 34 that converts the signal to form an imaging signal
- the illumination unit 35 that illuminates the inside of the subject 2 at the time of imaging, and the imaging unit 34 and the illumination unit 35 are driven, and imaging that is input from the imaging unit 34
- a plurality of button type batteries 38 for supplying the battery.
- the capsule endoscope 3 passes through the esophagus in the subject 2 by being swallowed into the subject 2, and moves in the body cavity by the peristaltic movement of the digestive tract cavity.
- the capsule endoscope 3 sequentially images the inside of the body cavity of the subject 2 at a minute time interval, for example, every 0.5 seconds while moving in the body cavity, and generates image data in the taken subject 2.
- the data is sequentially transmitted to the receiving device 5.
- the position estimation process can be performed based on the image signal of the image data captured by the imaging unit 34 of the capsule endoscope 3, but the captured image signal and the capsule endoscope 3 It is preferable to generate a transmission signal including a reception intensity detection signal for position detection, and perform position detection processing using a reception intensity detection signal with which the reception intensity is easy to detect.
- the position detecting device includes a sheet-shaped receiving antenna unit 4 on which a plurality of receiving antennas 40 (40a, 40b, 40c, 40d, 40e, 40f, 40g, 40h) are arranged, and a receiving device 5.
- the receiving device 5 is connected to the receiving antenna unit 4 through an antenna cable 43.
- the receiving device 5 receives the radio signal transmitted from the capsule endoscope 3 via the receiving antennas 40a to 40h.
- the receiving device 5 detects the received electric field strength of the radio signal received from the capsule endoscope 3 for each of the receiving antennas 40a to 40h, and acquires image data in the subject 2 based on the received radio signal. .
- the receiving device 5 stores the received electric field strength information of each of the receiving antennas 40a to 40h, time information indicating the time, and the like in a storage unit (see FIG. 3) described later in association with the received image data.
- the receiving device 5 While the imaging is being performed by the capsule endoscope 3, the receiving device 5 is introduced from the mouth of the subject 2, for example, until it passes through the digestive tract and is discharged from the subject 2. To be carried. The receiving device 5 is removed from the subject 2 after the examination by the capsule endoscope 3 and connected to the image display device 6 for transferring information such as image data received from the capsule endoscope 3.
- Each receiving antenna 40a to 40h corresponds to each organ in the subject 2 which is a passage path of the capsule endoscope 3 when the receiving antenna unit 4 is attached to the subject 2 at a predetermined position on the sheet 44. It is arranged at the position.
- the arrangement of the receiving antennas 40a to 40h may be arbitrarily changed according to the purpose of inspection or diagnosis. Although eight receiving antennas are used in this embodiment, the number of receiving antennas is not necessarily limited to eight, and may be smaller or larger than eight.
- the image display device 6 is configured using a workstation or personal computer provided with a monitor unit 6c such as a liquid crystal display.
- the image display device 6 displays an image corresponding to the image data in the subject 2 acquired via the receiving device 5.
- the image display device 6 is connected to a cradle 6 a that reads image data from the memory of the receiving device 5 and an operation input device 6 b such as a keyboard and a mouse.
- the cradle 6a is connected to the image data from the memory of the receiving device 5 when the receiving device 5 is mounted, the received electric field strength information associated with the image data, the time information, the identification information of the capsule endoscope 3, and the like. Information is acquired, and the acquired various information is transferred to the image display device 6.
- the operation input device 6b accepts input from the user.
- the user operates the operation input device 6b and sees the images in the subject 2 that are sequentially displayed by the image display device 6, while the living body part inside the subject 2, such as the esophagus, stomach, small intestine, and large intestine. And subject 2 is diagnosed.
- FIG. 3 is a block diagram showing a configuration of the receiving device 5 shown in FIG. 1 .
- the receiving device 5 is selected by the above-described receiving antennas 40a to 40h, the antenna switching selection switch unit 49 that selectively switches the receiving antennas 40a to 40h, and the antenna switching selection switch unit 49.
- a transmission / reception circuit 50 that performs processing such as demodulation on a radio signal received via any one of the receiving antennas 40a to 40h, and a signal that extracts image data and the like from the radio signal output from the transmission / reception circuit 50
- the signal processing circuit 51 that performs processing, the reception electric field intensity detection unit 52 that detects the reception electric field intensity based on the intensity of the radio signal output from the transmission / reception circuit 50, and the reception antennas 40a to 40h are selectively switched for reception.
- a display unit 54 that displays an image corresponding to the image data, an operation unit 55 that performs an instruction operation, a storage unit 56 that stores various types of information including image data received from the capsule endoscope 3, and a cradle 6a.
- An I / F unit 57 that performs transmission and reception in the mutual direction with the image display device 6, a power supply unit 58 that supplies power to each unit of the reception device 5, and a control unit 59 that controls the operation of the reception device 5.
- the receiving antenna 40a includes an antenna unit 41a, an active circuit 42a, and an antenna cable 43a.
- the antenna unit 41 a is configured using, for example, an open antenna or a loop antenna, and receives a radio signal transmitted from the capsule endoscope 3.
- the active circuit 42a is connected to the antenna unit 41a, and performs impedance matching of the antenna unit 41a, amplification and attenuation of the received radio signal, and the like.
- the antenna cable 43a is configured using a coaxial cable, one end is connected to the active circuit 42a, and the other end is electrically connected to the antenna switching selection switch unit 49 and the antenna power source switching selection unit 53 of the receiving device 5, respectively. .
- the antenna cable 43a transmits a radio signal received by the antenna unit 41a to the receiving device 5 and transmits power supplied from the receiving device 5 to the active circuit 42a.
- the receiving antennas 40b to 40h have the same configuration as that of the receiving antenna 40a, and thus the description thereof is omitted.
- the antenna switching selection switch unit 49 is configured using a mechanical switch or a semiconductor switch.
- the antenna switching selection switch unit 49 is electrically connected to each of the receiving antennas 40a to 40h via a capacitor C1.
- the antenna switching selection switch unit 49 selects the receiving antenna 40 indicated by the switching signal S1, and selects the selected antenna Radio signals received via the receiving antennas 40a to 40h are output to the transmitting / receiving circuit 50.
- the capacity of the capacitor connected to each of the receiving antennas 40a to 40h is equal to the capacity of the capacitor C1.
- the transmission / reception circuit 50 performs signal processing by performing predetermined processing such as demodulation and amplification on the radio signal received via the receiving antenna 40 (40a to 40h) selected by the antenna switching selection switch unit 49.
- the data is output to the circuit 51 and the received electric field strength detection unit 52, respectively.
- the signal processing circuit 51 extracts image data from the radio signal input from the transmission / reception circuit 50, and performs predetermined processing such as various image processing and A / D conversion processing on the extracted image data. Output to the control unit 59.
- the received electric field strength detection unit 52 detects a received electric field strength corresponding to the strength of the radio signal input from the transmission / reception circuit 50, and receives a received electric field strength signal (RSSI: Received Signal Strength Indicator) corresponding to the detected received electric field strength. Output to the control unit 59.
- RSSI Received Signal Strength Indicator
- the antenna power supply switching selector 53 is electrically connected to each of the receiving antennas 40a to 40h via the coil L1.
- the antenna power supply switching selection unit 53 supplies power to the reception antennas 40a to 40h selected by the antenna switching selection switch unit 49 via the antenna cables 43 (43a to 43h).
- the antenna power source switching selection unit 53 includes a power source switching selection switch unit 531 and an abnormality detection unit 532.
- the electrical characteristics of the coils connected to the receiving antennas 40a to 40h are equal to the electrical characteristics of the coil L1.
- the power supply selection switch unit 531 is configured using a mechanical switch or a semiconductor switch. When the selection signal S2 for selecting the receiving antennas 40a to 40h for supplying electric power is input from the control unit 59, the power supply selection selection switch unit 531 selects the receiving antennas 40a to 40h indicated by the selection signal S2. Power is supplied only to the receiving antennas 40a to 40h.
- the abnormality detection unit 532 outputs, to the control unit 59, an abnormality signal indicating that an abnormality has occurred in the receiving antennas 40a to 40h that supply electric power when an abnormality has occurred in the receiving antennas 40a to 40h that supply electric power. .
- the display unit 54 is configured using a display panel made of liquid crystal, organic EL (Electro Luminescence), or the like.
- the display unit 54 displays various information such as an image corresponding to the image data captured by the capsule endoscope 3, the operating state of the receiving device 5, patient information of the subject 2, and examination date / time.
- the operation unit 55 can input an instruction signal such as changing the imaging cycle of the capsule endoscope 3.
- the signal processing circuit 51 sends the instruction signal to the transmission / reception circuit 50, and the transmission / reception circuit 50 modulates the instruction signal and transmits it from the receiving antennas 40a to 40h.
- Signals transmitted from the receiving antennas 40a to 40h are received by the antenna 39 and demodulated by the transmission / reception circuit 37, and the circuit board 36 performs, for example, an operation of changing the imaging cycle in accordance with the instruction signal.
- the storage unit 56 is configured using a semiconductor memory such as a flash memory or a RAM (Random Access Memory) that is fixedly provided inside the receiving device 5.
- the storage unit 56 has theoretical electric field strength data 561 for estimating the position and orientation of the capsule endoscope 3 in the subject 2 in which image data is captured.
- the theoretical electric field strength data 561 is theoretical value data of the received electric field strength of the radio signal received by each of the receiving antennas 40a to 40h according to the position and orientation of the capsule endoscope 3 in the subject 2.
- the storage unit 56 also stores image data captured by the capsule endoscope 3 and various types of information associated with the image data, such as estimated position and orientation information of the capsule endoscope 3, received electric field strength information, and Identification information for identifying the receiving antenna that has received the radio signal is stored. Further, the storage unit 56 stores various programs executed by the receiving device 5.
- the storage unit 56 may be provided with a function as a recording medium interface that reads information stored in the recording medium while storing information from a recording medium such as a
- the I / F unit 57 has a function as a communication interface, and performs transmission / reception with the image display device 6 in a mutual direction via the cradle 6a.
- the power supply unit 58 includes a battery that is detachable from the receiving device 5 and a switch unit that switches between on and off states.
- the power supply unit 58 supplies necessary driving power to each component of the receiving device 5 in the on state, and stops driving power supplied to each component of the receiving device 5 in the off state.
- the control unit 59 is configured using a CPU (Central Processing Unit) or the like.
- the control unit 59 reads out and executes a program from the storage unit 56, and gives instructions to each unit constituting the reception device 5, data transfer, and the like, and comprehensively controls the operation of the reception device 5.
- the control unit 59 includes a selection control unit 591, an abnormality information addition unit 592, an electric field strength comparison unit 593, and a position determination unit 594.
- the selection control unit 591 selects one reception antenna 40 that receives a radio signal transmitted from the capsule endoscope 3, and performs control to supply power only to the selected reception antennas 40a to 40h. Specifically, the selection control unit 591 receives a radio signal transmitted from the capsule endoscope 3 based on the reception field strength of each of the reception antennas 40a to 40h detected by the reception field strength detection unit 52. In addition to selecting one receiving antenna 40, control is performed to supply power only to the selected receiving antennas 40a to 40h.
- the selection control unit 591 drives the antenna switching selection switch unit 49 at every predetermined timing, for example, every 100 msec, and sequentially selects and receives the reception antennas 40a to 40h that receive radio signals from the reception antennas 40a to 40h.
- the electric field strength detection unit 52 is made to detect the received electric field strength.
- the abnormality information addition unit 592 selects any one of the reception antennas 40a to 40h with respect to the radio signal received by the reception antenna 40.
- One abnormality information indicating that an abnormality has occurred is added and output to the storage unit 56.
- the abnormality information adding unit 592 adds abnormality information (flag) to the image data that the signal processing circuit 51 performs signal processing on the radio signals received by the receiving antennas 40a to 40h. To 56.
- the electric field strength comparing unit 593 is configured to calculate the residual sum of squares of the received electric field strength of the radio signal received by each of the receiving antennas 40a to 40h and the theoretical electric field strength stored in the storage unit 56, and the capsule endoscope 3 to the subject. 2 is calculated for each position and orientation in the subject 2 that may exist in the subject 2.
- the electric field strength comparison unit 593 may calculate and compare the sum of the absolute residuals of the received electric field strength and the theoretical electric field strength instead of the residual sum of squares.
- the position determination unit 594 determines the position and orientation of the capsule endoscope 3 from which the image data is captured based on the residual square sum or the absolute residual sum calculated by the electric field strength comparison unit 593. The position determination unit 594 determines the region and orientation in which the residual sum of squares is the smallest as the position and orientation of the capsule endoscope 3 from which the image data is captured.
- the receiving device 5 includes a storage unit 56 that stores theoretical electric field strength data 561, an electric field strength comparison unit 593 that calculates a residual sum of squares of the received electric field strength and the theoretical electric field strength, and electric field strength.
- a position determination unit 594 that determines the position and orientation of the capsule endoscope 3 based on the residual sum of squares calculated by the comparison unit 593, and thereby the position and orientation of image data captured by the capsule endoscope 3 Is calculated.
- the estimation processing of the position and orientation of the capsule endoscope 3 in the receiving device 5 according to the first embodiment will be described in detail.
- a predetermined possible region T in which the capsule endoscope 3 can exist is set according to the purpose of examination or diagnosis.
- This possible region T is set according to the size of the body of the subject 2 and is, for example, a region composed of a cube of 300 mm ⁇ 300 mm ⁇ 300 mm as shown in FIG. 4A.
- the existence possible region T is set so that the sheet-like surface of the receiving antenna unit 4 coincides with one boundary surface.
- the receiving antenna unit 4 is provided on the XY plane which is one boundary surface of the existence possible region T.
- the possible area of the capsule endoscope 3 is divided into a plurality of partial areas according to the desired accuracy.
- the center of the boundary surface where the receiving antenna unit 4 is located is the origin, and there are three axes (X axis, Y axis, Z axis) that are parallel to any side of the possible region T and orthogonal to each other.
- X axis, Y axis, Z axis A case where the orthogonal coordinate system XYZ is divided into four in each axial direction is shown.
- Each partial region is labeled as P 111 , P 112 , P 113 , P 114 , P 121 , P 122 ,..., P 144 , P 211 , P 212 ,.
- P ijk is assumed in the center G xyz of the part region P ijk.
- the center of gravity of the antenna 39 having a circular loop shape arranged in the capsule endoscope 3 is the origin ( OL ), and the normal direction of the opening surface of the circular loop is Consider a Cartesian coordinate system X L Y L Z L with the Z L axis.
- the polar coordinate component of the electromagnetic field formed by the current flowing through the antenna 39 at an arbitrary position P is expressed by the following equation.
- E ⁇ ⁇ (j ⁇ IS / 4 ⁇ ) (jk / r + 1 / r 2 ) exp ( ⁇ jkr) sin ⁇
- H r and H ⁇ represent the magnetic field component
- E ⁇ represents the electric field component
- I and S are the current flowing through the antenna 39 and the area of the opening surface of the circular loop constituting the antenna 39.
- Equation (1) the term r ⁇ 1 is a radiated electromagnetic field, the term r ⁇ 2 is an induction electromagnetic field, and the term r ⁇ 3 is a component of an electrostatic magnetic field.
- the frequency of the electromagnetic field generated by the antenna 39 disposed in the capsule endoscope 3 is high, and each receiving antenna attached to the body surface of the capsule endoscope 3 and the subject 2 as shown in FIG.
- the electromagnetic field (electromagnetic wave) reaching the receiving antenna 40 (40a to 40h) has the largest component of the radiated electromagnetic field. Therefore, the components of the electrostatic magnetic field and the induction electromagnetic field are smaller than the components of the radiated electromagnetic field, and these can be ignored. Therefore, Formula (1) becomes like the following Formula (2).
- an expression necessary for the detection in Expression (2) is an electric field E ⁇ . Therefore, the instantaneous value of the electric field E [psi, using an alternating current theory, it is determined by extracting the real part is multiplied by exp (j? T) to both sides of the electric field E [psi of formula (2).
- U ⁇ t ⁇ kr.
- E ′ ⁇ ( ⁇ ISk / 4 ⁇ r) cosUsin ⁇ (4)
- the energy of the electromagnetic wave is absorbed by the medium propagating due to the characteristics (conductivity, etc.) of the medium.
- the electromagnetic wave propagates in the x direction, it is attenuated exponentially by the attenuation factor ⁇ d and can be expressed by the following equation (6).
- ⁇ ⁇ o ⁇ r ( ⁇ o : vacuum permittivity, ⁇ r : relative permittivity)
- ⁇ ⁇ o ⁇ r ( ⁇ o : vacuum permeability, ⁇ r : relative permeability)
- ⁇ Angular frequency
- ⁇ conductivity.
- E Lz 0 It becomes.
- the receiving antenna unit 4 in which the position P (X L , Y L , Z L ) is attached to the subject 2 is used.
- the equation for converting to the coordinate system X W Y W Z W with the origin at the center (O in FIG. 4A) It becomes.
- (x WP , y WP , z WP ) and (x WG , y WG , z WG ) represent the position P in the coordinate system X W Y W Z W and the position G of the antenna 39, respectively.
- the right side R of the equation (8) represents a rotation matrix of the coordinate system X W Y W Z W and the coordinate system X L Y L Z L, and is obtained by the following equation.
- ⁇ is a rotation angle around the Z axis
- ⁇ is a rotation angle around the Y axis.
- the orientation (g x , g y , g z ) of the antenna 39 is also set in advance together with the position of the capsule endoscope 3, and the capsule endoscope 3 is positioned in a predetermined region. Then, the theoretical electric field strength of each receiving antenna 40 when taking a predetermined direction is calculated.
- the direction of the antenna 39 may be set in increments of 1 ° from the horizontal axis and the vertical axis, for example, according to the desired accuracy.
- V ta k 2 (E Wx D xa + E Wy D ya + E Wz D za ) (12)
- k 2 is a constant.
- the electromotive forces V tb ,..., V th when received by the receiving antenna 40b to the receiving antenna 40h are also obtained for each receiving antenna of the receiving antenna unit 4 arranged in the body of the subject 2.
- the theoretical electric field strength V ti received by each receiving antenna 40 is calculated as described above, and is stored as theoretical electric field strength data 561 in the storage unit 56 for each center position G of the divided area.
- the electric field strength comparison unit 593 receives the received electric field strength received by each receiving antenna 40 for each direction g of the antenna 39 and the center position G of each region where the capsule endoscope 3 can exist, as described above.
- the electric field intensity comparison unit 593 has the reception antennas 40 for each direction g of the antenna 39 with respect to the center position G of each region where the capsule endoscope 3 can exist. Since the residual sum of squares of the received electric field intensity V mi and the theoretical electric field intensity V ti calculated as described above and stored in the storage unit 56 as the theoretical electric field intensity data 561 is calculated, for example, estimation By using the same number of CPUs as the total number of center positions G to be measured (or a factor of the total number of center positions G to be estimated, or a number less than the factor) as the electric field strength comparison unit 593, the capsule-type endoscope It is possible to speed up the process of estimating the position and orientation of the mirror 3.
- the position determination unit 594 determines the center position G of the capsule endoscope 3 and the direction g of the antenna 39 which are the smallest of the residual sum of squares S calculated by the electric field strength comparison unit 593 as described above. The position and orientation of the mold endoscope 3 are determined.
- a region where the capsule endoscope 3 can exist is divided into a plurality of small regions, and a theoretical electric field strength V ti corresponding to the direction of the capsule endoscope 3 is previously set for each divided region. Since it is stored, the processing load for calculating the theoretical electric field strength V ti can be reduced. Further, the image data was captured based on a numerical value obtained by a simple arithmetic process of the residual sum of squares of the stored theoretical electric field strength V ti and the received electric field strength V mi actually received by each receiving antenna 40. Since the position and orientation of the capsule endoscope 3 are determined, the position estimation process can be speeded up.
- the sheet-like receiving antenna unit 4 in which a plurality of receiving antennas 40 are arranged since the sheet-like receiving antenna unit 4 in which a plurality of receiving antennas 40 are arranged is used, it is not necessary to adjust the arrangement position of each receiving antenna 40 every inspection, Since the receiving antenna unit 4 in which the arrangement position of each receiving antenna 40 is determined in advance is used, there is a problem that the accuracy in the position and orientation estimation processing of the capsule endoscope 3 due to the arrangement deviation of each receiving antenna 40 is also reduced. There is an effect that it can be avoided.
- the position detection device that performs estimation processing of the position and orientation of the capsule endoscope 3 has been described. However, as a device that estimates only one of the position and orientation of the capsule endoscope 3. Also good.
- the receiving device 5 includes a storage unit 56 that stores theoretical electric field strength data 561, an electric field strength comparison unit 593, and a position determination unit 594. Is estimated, the image display device 6 of the capsule endoscope system 1 stores the theoretical electric field strength data 561 and the electric field strength comparison unit.
- a position determining unit that receives the image data transmitted from the receiving device and performs the same operation as described above to estimate the position and orientation of the capsule endoscope from which the image data is captured. Also good.
- Emodiment 2 In the first embodiment, the entire direction (or the thinned area for simplification) divided as the position P where the capsule endoscope can exist, and the set all directions (or the thinned direction) are theoretically processed in parallel. The residual sum of squares of the electric field strength and the received electric field strength is calculated, and the position and orientation of the capsule endoscope are estimated. In contrast, in the second embodiment, the position and orientation of the capsule endoscope in which image data is captured are determined in two or more levels.
- Set T For example, as shown in FIG. 4A, it is an area formed of a cube of 300 mm ⁇ 300 mm ⁇ 300 mm.
- the existence possible region T is set so that the sheet-like surface of the receiving antenna unit 4 coincides with one boundary surface.
- the receiving antenna unit 4 is provided on the XY plane which is one boundary surface of the existence possible region T.
- the possible region T of the capsule endoscope 3 is divided into a plurality of partial regions according to the desired accuracy.
- the center of the boundary surface where the receiving antenna unit 4 is located is the origin, and there are three axes (X axis, Y axis, Z axis) that are parallel to any side of the existence region T and orthogonal to each other.
- a case where the orthogonal coordinate system XYZ is divided into three in each axial direction is shown.
- Each partial area is labeled as P 111 , P 112 , P 113 , P 121 , P 122 ,..., P 133 , P 211 , P 212 ,.
- P ijk is assumed in the center G xyz of the part region P ijk.
- FIG. 8A is a schematic diagram in which the possible region T of the capsule endoscope 3 is divided into three in the xyz axis direction.
- FIG. 8B is a schematic diagram in which one divided region of FIG. 8A is further divided into three in the xyz axis direction.
- the position detection device for the region obtained by dividing the possible region T (300 mm ⁇ 300 mm ⁇ 300 mm) into three in the xyz axis direction, in which the capsule endoscope 3 can exist in the subject 2, Performs position and orientation estimation processing.
- the center of each region labeled P 111 , P 112 , P 113 , P 121 , P 122 ,..., P 133 , P 211 , P 212 ,.
- the electric field strength comparison unit 593 performs the remaining of the received electric field strength received by each receiving antenna 40 and the theoretical electric field strength stored as the theoretical electric field strength data 561 in the storage unit 56 for each direction g of the antenna 39.
- the direction g of the antenna 39 to be estimated is limited to 1 or greatly limited (for example, from the horizontal axis and the vertical axis). Perform in 10 ° increments.
- the position determination unit 594 determines the center position G of the region of the capsule endoscope 3 and the direction g of the antenna 39 which are the smallest of the residual sum of squares S calculated by the electric field intensity comparison unit 593, and the capsule endoscope 3 as the first stage position and orientation.
- the area including the position G of the capsule endoscope 3 determined by the position determination unit 594 in the first estimation stage is further divided into three areas (total of 27 areas) in the xyz-axis direction. And direction estimation processing.
- the position determination unit 594 selects the position P 311 shown in FIG. 8A as the position and orientation of the capsule endoscope 3.
- Each partial region has P 311 (111) , P 311 (112) , P 311 (113) , P 311 (121) , P 311 (122) ,..., P 311 (133) , P 311 (211). , P 311 (212) ,..., P 311 (333) .
- the electric field strength comparing unit 593 receives the received electric field strength received by each receiving antenna 40 for each direction g of the antenna 39, and the theoretical electric field strength stored as theoretical electric field strength data 561 in the storage unit 56. The residual sum of squares is calculated.
- the direction g of the antenna 39 to be estimated in the second estimation stage is performed according to desired accuracy. For example, it is performed in all directions in steps of 1 ° from the horizontal axis and the vertical axis.
- the position determination unit 594 has the smallest position P xyz (xyz) of the capsule endoscope 3 among the residual sum of squares S xyz (xyz) n calculated by the electric field strength comparison unit 593, and the direction g n of the antenna 39. (G nx , g ny , g nz ) is determined as the final position and orientation of the capsule endoscope 3 in which the image data is captured.
- the storage unit 56 can store the possible region T in which the capsule endoscope 3 can exist (for example, 300 mm ⁇ 300 mm ⁇ 300 mm) in the xyz-axis direction, and the region position P xyz (xyz) is divided into nine theoretical field strength data received by each receiving antenna 40 for each direction g of the antenna 39 (in steps of 1 ° from the horizontal and vertical axes). 561 must be stored.
- the position and orientation of the capsule endoscope 3 from which the image data is captured are divided into two levels, and the approximate position and orientation of the capsule endoscope 3 are determined in the first estimation stage. Since the second estimation process is further performed on the determined and limited area, the processing amount can be reduced as compared with the case where the estimation process is simultaneously performed on a similar area. Thereby, the speed of the estimation process can be further increased.
- the estimation process may be performed by dividing into three or more levels.
- the direction of the capsule endoscope 3 (the direction of the antenna 39) may be performed in all directions from the first stage with desired accuracy, for example, in steps of 1 ° from the horizontal axis and the vertical axis.
- Embodiment 3 As in Embodiments 1 and 2, when determining the position and orientation of the capsule endoscope 3 from which image data is captured, the correct position and orientation are estimated due to the influence of the placement antenna error and noise. You may not be able to. In the third embodiment, the position and orientation of the capsule endoscope 3 are estimated based on estimated position information of image data captured before and after time.
- FIG. 9 is a block diagram of a configuration of the receiving device 5A according to the third embodiment.
- the receiving apparatus 5A calculates the distances between the candidate positions selected by the position determination unit 594 as the positions of the capsule endoscope 3 and the candidate positions that move back and forth in time, and whether the distances are equal to or less than a predetermined value.
- a trajectory calculation unit 595 that calculates a movement trajectory (path) in the subject 2 of the capsule endoscope using a condition that satisfies the above conditions.
- the capsule endoscope 3 has a relatively small movement in the subject 2 and an imaging interval is very short. For this reason, the imaging position of the image data captured at a specific time is often almost the same as or close to the imaging position of the image data captured before and after the time when the image data was captured.
- the electric field strength calculation unit 593 calculates the residual sum of squares of the theoretical electric field strength and the received electric field strength in the same manner as in the first and second embodiments.
- the trajectory calculation unit 595 calculates the movement trajectory of the capsule endoscope 3 in the subject 2 in consideration of the distance from the estimated plurality of candidate positions of the image data captured before and after temporally. To do.
- the position determination unit 594 determines the optimal position and orientation of the capsule endoscope based on the trajectory calculated by the trajectory calculation unit 595.
- FIG. 10 is a flowchart showing an outline of the trajectory calculation process performed by the trajectory calculation unit 595.
- the position determination unit 594 extracts the candidate positions of the imaging positions at each time calculated by the electric field strength comparison unit 593 (Step S11). Specifically, the position determination unit 594 extracts three of the imaging positions of the image data captured at each time from those having a small residual sum of squares between the theoretical electric field strength and the received electric field strength at each position and orientation. is doing.
- the trajectory calculation unit 595 calculates connection information with the candidate position in the image data temporally changing with respect to the extracted candidate position G mi (step S12).
- the reception apparatus 5A according to the time interval perform position estimation of the capsule endoscope 3, the capsule endoscope 3 inside the subject 2, the distance movable by one time interval r d It is assumed that it is stored in the storage unit 56 in advance.
- the information is stored in the storage unit 56 as information. When all the distances d ((m ⁇ 1) i, mj) are greater than the movable distance r d for a certain m, the trajectory calculation unit 595 does not store connection information of the candidate positions Q mi .
- the trajectory calculation unit 595 estimates the trajectory of the capsule endoscope 3 using each candidate position G mi and connection information of the candidate positions (step S13).
- FIG. 12 is a flowchart showing an outline of the trajectory estimation process.
- the trajectory calculation unit 595 sets a time t m ⁇ 1 immediately before the last time t m (step S21).
- the trajectory calculation unit 595 sets a parameter i indicating a candidate position label at time t m to an initial value 1 (step S22).
- the trajectory calculation unit 595 reads connection information of the candidate position G mi at the time t m from the storage unit 56 (step S23).
- the trajectory calculation unit 595 determines that the candidate position G mi is the candidate position G (m + 1) at the time t m + 1 . It is determined whether or not j is connected (step S25). When the candidate position G mi is connected to one of the candidate positions G (m + 1) j at time t m + 1 (step S25: Yes), in other words, the candidate position G mi is at time t m + 1. If any of the connection information of the candidate position G (m + 1) j in the trajectory calculation unit 595 stores the route information that is connected to the storage unit 56 (step S26).
- the trajectory calculation unit 595 determines that the path is interrupted between the new path information (time t m and time t m + 1 Is stored in the storage unit 56 (step S27).
- step S26 or S27 when the parameter i is less than 3 (step S28: Yes), the trajectory calculation unit 595 increases i by 1 to i + 1 (step S29), and returns to step S23.
- step S26 or S27 when the parameter i is not less than 3 (step S28: No), if the time parameter m is m> 2 (step S30: Yes), the trajectory calculation unit 595 decreases m by 1. M-1 (step S31), and the process returns to step S22. On the other hand, if m ⁇ 2 (step S30: No), the trajectory calculation unit 595 ends the trajectory estimation process (step S13 in FIG. 10).
- the trajectory calculation unit 595 calculates the trajectory and estimates the position of the capsule endoscope 3 at each time.
- FIG. 13A and 13B are examples in which the trajectory in the subject 2 of the capsule endoscope 3 calculated by the receiving device 5A of Embodiment 3 is displayed on the monitor unit 6c of the image display device 6.
- FIG. 13A the monitor unit 6c connects the imaging positions of the capsule endoscope 3 in the subject 2 with a straight line, and shows the movement trajectory of the capsule endoscope 3 in the subject 2.
- a sub-image area 61 and a main image display area 62 for displaying image data captured by the capsule endoscope 3 are provided.
- reference signs A, B, and C shown on the right side of the sub-image region 61 indicate the approximate positions of the organs in the body cavity. Specifically, reference sign A indicates the esophagus, B indicates the small intestine, and C indicates the large intestine.
- a position P i indicates a position estimated as an imaging position of image data to be displayed in the main image display area 62. In addition to FIG. 13A in which the estimated imaging positions P i are connected by a straight line and this is shown as a trajectory, for example, as shown in FIG. 13B, interpolation processing such as spline interpolation is performed between adjacent imaging positions. The imaging position of the capsule endoscope 3 may be displayed so as to be connected with a smooth curve.
- the position and orientation of the capsule endoscope 3 can be estimated without being affected by noise or the like, it is possible to obtain a more accurate position and orientation of the capsule endoscope 3. Become.
- the position and orientation of the capsule endoscope 3 are estimated, and the movement trajectory of the capsule endoscope 3 in the subject 2 is displayed on the image display device 6, so that the captured image is captured in the body cavity. It is possible to easily determine at which position the image is taken, and to perform diagnosis efficiently.
- the position can be estimated with high accuracy, so that it can be performed smoothly and in a short time. The site can be approached, and re-examination and treatment can be performed efficiently.
- the receiving device and the capsule endoscope system of the present invention are useful for detecting the position of the capsule endoscope introduced into the subject, and in particular, image data captured by the capsule endoscope is an image processing device. This is suitable for diagnostic processing.
Abstract
Description
図1は、本発明の実施の形態1にかかる位置検出装置を用いたカプセル型内視鏡システム1の概要構成を示す模式図である。図1に示すように、カプセル型内視鏡システム1は、被検体2内の体内画像を撮像するカプセル型内視鏡3と、被検体2内部に導入されたカプセル型内視鏡3によって無線送信された無線信号を、受信アンテナユニット4を介して受信するとともに、カプセル型内視鏡3によって撮像された被検体2内の画像データの撮像位置を受信する受信装置5と、カプセル型内視鏡3によって撮像された被検体2内の画像データに対応する画像を表示する画像表示装置6と、を備える。
Hr=(IS/2π)(jk/r2+1/r3)exp(-jkr)cosθ
Hθ=(IS/4π)(-k2/r+jk/r2+1/r3)exp(-jkr)sinθ ・・・(1)
Eψ=-(jωμIS/4π)(jk/r+1/r2)exp(-jkr)sinθ
ここで、HrおよびHθは磁界成分、Eψは電界成分を表し、またIとSはアンテナ39に流れる電流とそのアンテナ39を構成する円形ループの開口面の面積である。また、k=ω(εμ)1/2(εは誘電率、μは透磁率)は波数、jは虚数単位である。ここで、式(1)中、r-1の項は放射電磁界、r-2の項は誘導電磁界、r-3の項は静電磁界の成分である。
Hr=0
Hθ=(IS/4π)(-k2/r)exp(-jkr)sinθ ・・・(2)
Eψ=-(jωμIS/4π)(jk/r)exp(-jkr)sinθ
Eψexp(jωt)
=-(jωμIS/4π)(jk/r)exp(-jkr)sinθexp(jωt)
=(ωμISk/4πr)(cosU+jsinU)sinθ ・・・(3)
但し、U=ωt-krである。ここで、式(3)の実部を抽出すると、電界の瞬時値E′ψは次のようになる。
E′ψ=(ωμISk/4πr)cosUsinθ ・・・(4)
ELx=E′ψsinψ=(ωμISk/4πr2)cosU・(-yL)
ELy=E′ψcosψ=(ωμISk/4πr2)cosU・xL ・・・(5)
ELz=0
となる。
Ar=exp(-αdx) ・・・(6)
αd=(ω2εμ/2)1/2[(1+κ2/(ω2ε2))1/2-1]1/2
但し、ε=εoεr(εo:真空の誘電率、εr:比誘電率)、μ=μoμr(μo:真空の透磁率、μr:比透磁率)、ωは角周波数、κは導電率である。
ELx=ArE′ψsinψ=exp(-αdr)(ωμISk/4πr2)cosU・(-yL)
ELy=ArE′ψcosψ=exp(-αdr)(ωμISk/4πr2)cosU・xL・・・(7)
ELz=0
となる。
Vta=k2(EWxDxa+EWyDya+EWzDza) ・・・(12)
ただし、k2は定数。同様に、被検体2の体に複数配置された受信アンテナユニット4の各受信アンテナについて、受信アンテナ40b~受信アンテナ40hで受信したときの起電力Vtb、・・・、Vthも求められる。
実施の形態1では、カプセル型内視鏡が存在しうる位置Pとして分割した全領域(または簡素化するために間引いた領域)で、設定した全方向(あるいは間引いた方向)について並行して理論電界強度と受信電界強度との残差二乗和を算出して、カプセル型内視鏡の位置及び向きを推定処理している。これに対し、実施の形態2では、2段階以上の階層に分けて、画像データが撮像されたカプセル型内視鏡の位置および向きを決定する。
実施の形態1および2のようにして、画像データが撮像されたカプセル型内視鏡3の位置および向きとして決定する際、受信アンテナの配置誤差や、ノイズ等の影響により正しい位置及び向きを推定することができない場合がある。実施の形態3では、時間的に前後して撮像された画像データの推定位置情報に基づき、カプセル型内視鏡3の位置および向きを推定する。
2 被検体
3 カプセル型内視鏡
4 受信アンテナユニット
5、5A 受信装置
6 画像表示装置
6a クレードル
6b 操作入力デバイス
6c モニタ部
40a~40h 受信アンテナ
41a~41h アンテナ部
42a~42h 能動回路
43a~43h アンテナケーブル
44 シート
49 アンテナ切替選択スイッチ部
50 送受信回路
51 信号処理回路
52 受信電界強度検出部
53 アンテナ電源切替選択部
54 表示部
55 操作部
56 記憶部
57 I/F部
58 電源部
59 制御部
531 電源切替選択スイッチ部
532 異常検出部
591 選択制御部
592 異常情報付加部
593 電界強度比較部
594 位置決定部
595 軌跡算出部
Claims (10)
- 被検体内のカプセル型内視鏡から送信された無線信号を複数の受信アンテナにより受信する受信アンテナユニットと、
前記カプセル型内視鏡の被検体内での位置、または位置および向きに応じた、前記各受信アンテナが受信する前記無線信号の理論電界強度を記憶する記憶手段と、
前記各受信アンテナが受信した前記無線信号の受信電界強度と前記記憶手段に記憶された理論電界強度との差を用いて算出される所定値を比較する比較手段と、
前記比較手段による比較結果に基づいて、画像データが撮影された前記カプセル型内視鏡の位置、または位置および向きを決定する決定手段と、
を備えたことを特徴とするカプセル型内視鏡の位置検出装置。 - 前記記憶手段は、前記カプセル型内視鏡が存在しうる被検体内での領域を分割したことによって得られる複数の部分領域毎に、前記カプセル型内視鏡の向きに応じた理論電界強度を記憶することを特徴とする請求項1に記載のカプセル型内視鏡の位置検出装置。
- 前記比較手段は、前記部分領域および前記向き毎に、前記記憶手段に記憶された理論電界強度と前記受信電界強度との残差二乗和を前記所定値として算出し、
前記決定手段は、前記残差二乗和が最も小さい領域および向きの組み合わせから、前記画像データが撮影された前記カプセル型内視鏡の位置、または位置および向きを決定することを特徴とする請求項2に記載のカプセル型内視鏡の位置検出装置。 - 前記比較手段は、少なくとも2段階以上の階層に分割された前記部分領域および前記向きに応じた前記残差二乗和を、前記分割された階層毎に算出し、
前記決定手段は、前記比較手段による比較結果に基づき、前記カプセル型内視鏡が存在する領域を階層毎に限定して、前記画像データが撮影された前記カプセル型内視鏡の位置および向きを決定することを特徴とする請求項3に記載のカプセル型内視鏡の位置検出装置。 - 前記比較手段は、前記画像データ毎に、残差二乗和が最も小さいものから順に所定数の領域および向きを、前記カプセル型内視鏡の位置および向きの候補として抽出し、
前記決定手段は、時間的に前後する前記画像データにおける各候補位置間の距離および/または前記残差二乗和から、各画像データが撮影された前記カプセル型内視鏡の位置、または位置および向きを決定することを特徴とする請求項3に記載のカプセル型内視鏡の位置検出装置。 - 前記受信アンテナユニットは、前記複数の受信アンテナを配置したシート状をなすことを特徴とする請求項1に記載のカプセル型内視鏡の位置検出装置。
- 前記決定手段が決定したカプセル型内視鏡の位置からカプセル型内視鏡の軌跡を算出する軌跡算出手段を備えることを特徴とする請求項1に記載のカプセル型内視鏡の位置検出装置。
- 被検体内の画像データを取得するカプセル型内視鏡と、
前記カプセル型内視鏡から送信される画像データを受信し、受信した画像データが撮像された前記カプセル型内視鏡の位置および向きを推定する請求項1~7のいずれか一つに記載の位置検出装置と、
前記受信アンテナから画像データおよび該画像データの位置情報を取得し、取得した前記画像データおよび位置情報を表示する画像表示手段と、
を備えることを特徴とするカプセル型内視鏡システム。 - 前記画像表示手段は、前記画像データを表示するとともに、前記軌跡算出手段が算出したカプセル型内視鏡の被検体内での移動軌跡を表示することを特徴とする、請求項8に記載のカプセル型内視鏡システム。
- 被検体内のカプセル型内視鏡から送信される画像データを受信し、受信した画像データが撮像された前記カプセル型内視鏡の位置および向きを推定する位置検出装置に、
受信アンテナユニットの複数の受信アンテナが受信した前記カプセル型内視鏡が送信する無線信号を取得する無線信号取得手順と、
前記カプセル型内視鏡の被検体内での位置、または位置および向きに応じた、前記各受信アンテナが受信する前記無線信号の理論電界強度を、記憶手段から取得する理論強度取得手順と、
前記各受信アンテナが受信した前記無線信号の受信電界強度と前記記憶手段に記憶された理論電界強度との差を用いて算出される所定値を比較する比較手順と、
前記比較手順による比較結果に基づいて、前記画像データが撮影された前記カプセル型内視鏡の位置、または位置および向きを決定する位置決定手順と、
を実行させることを特徴とするカプセル型内視鏡の位置決定プログラム。
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CN201280007049.9A CN103347431B (zh) | 2011-03-02 | 2012-02-07 | 胶囊型内窥镜的位置检测装置以及胶囊型内窥镜系统 |
JP2013502222A JP5351355B2 (ja) | 2011-03-02 | 2012-02-07 | カプセル型内視鏡の位置検出装置およびカプセル型内視鏡システム |
EP12752226.6A EP2656775B1 (en) | 2011-03-02 | 2012-02-07 | Position detecting apparatus of capsule endoscope and capsule endoscope system |
US13/771,126 US20130237809A1 (en) | 2011-03-02 | 2013-02-20 | Position detecting apparatus of capsule endoscope and capsule endoscope system |
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JP2015231495A (ja) * | 2014-06-10 | 2015-12-24 | オリンパス株式会社 | カプセル型内視鏡システム、位置決定方法およびプログラム |
CN110009097A (zh) * | 2019-04-17 | 2019-07-12 | 电子科技大学 | 胶囊残差神经网络、胶囊残差神经网络的图像分类方法 |
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JP5576631B2 (ja) * | 2009-09-09 | 2014-08-20 | キヤノン株式会社 | 放射線撮影装置、放射線撮影方法、及びプログラム |
US9232909B2 (en) | 2010-04-05 | 2016-01-12 | Ankon Technologies Co., Ltd | Computer-implemented system and method for determining the position of a remote object |
WO2012165426A1 (ja) * | 2011-05-30 | 2012-12-06 | オリンパスメディカルシステムズ株式会社 | アンテナ装置、アンテナおよびアンテナホルダー |
CN105899118A (zh) * | 2014-08-08 | 2016-08-24 | 奥林巴斯株式会社 | 天线接收装置、天线保持器以及接收装置 |
CN106687022A (zh) * | 2015-03-25 | 2017-05-17 | 奥林巴斯株式会社 | 位置检测系统以及引导系统 |
WO2016181388A1 (en) | 2015-05-10 | 2016-11-17 | Check-Cap Ltd. | Body worn antenna |
WO2018168037A1 (ja) * | 2017-03-16 | 2018-09-20 | オリンパス株式会社 | 位置検出装置、位置検出システム及び位置検出方法 |
KR20190046530A (ko) * | 2017-10-26 | 2019-05-07 | 아주대학교산학협력단 | 캡슐내시경의 위치 추적 방법 및 장치 |
CN114187329B (zh) * | 2021-12-08 | 2023-04-14 | 深圳市资福医疗技术有限公司 | 一种胶囊内窥镜运行轨迹识别标注方法、设备及存储介质 |
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- 2012-02-07 WO PCT/JP2012/052758 patent/WO2012117815A1/ja active Application Filing
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- 2012-02-07 EP EP12752226.6A patent/EP2656775B1/en not_active Not-in-force
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JPWO2012117815A1 (ja) | 2014-07-07 |
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