WO2020100321A1

WO2020100321A1 - Capsule endoscope

Info

Publication number: WO2020100321A1
Application number: PCT/JP2019/011208
Authority: WO
Inventors: Hiroyuki Nakanishi
Original assignee: Hiroyuki Nakanishi
Priority date: 2018-11-12
Filing date: 2019-03-18
Publication date: 2020-05-22
Also published as: JP2020078388A; JP6473266B1

Abstract

The objective of the invention is to obtain a capsule endoscope, which is capable of examining the inside of a stomach and dramatically reducing the time required for an examination. The capsule endoscope 100 of the invention is a capsule endoscope capable of autonomous flight, comprising an endoscope airframe 100c and flying means 120 enabling the endoscope airframe 100c to fly. The flying means 120 has a lift/thrust generating unit 120a for generating lift and thrust to the endoscope airframe 100c. The flying means 120 is configured to have the lift/thrust generating unit 120a for generating lift and thrust to the endoscope airframe 100c.

Description

CAPSULE ENDOSCOPE

The present invention relates to a capsule endoscope comprising flying means.

In recent years, use of capsule endoscopes that passively move by peristalsis has become more prevalent in endoscopic examinations. Capsule endoscopes utilizing peristalsis are advantageous in terms of the lack of need for insertion of a tube from the mouth into the body through the esophagus as in conventionally used endoscopes, so that the burden on a subject undergoing an endoscopic examination is low.

However, capsule endoscopes utilizing peristalsis are used for examining only small intestines and large intestines that are tubular, so that the inside of a stomach could not be examined. Further, curved parts and other parts of the body have unstable peristalsis, which could potentially lead to oversight in examinations. Such capsule endoscopes are also incapable of real-time observation. Since a recorder that has recorded images is retrieved for interpretation of the images, examinations required time and effort. Since the movement of a capsule is dependent on peristalsis, a considerable amount of time, i.e., about one day, is required from capsule ingestion, small intestine or large intestine observation, and then to excretion from the anus. While a method of pushing out a capsule with a large amount of laxatives to reduce the time is available, it is still time intensity even with the use thereof, from about 4 hours to about half a day.

Capsule endoscopes include self-propelling capsule endoscopes that not only move passively by peristalsis, but also move actively by generating a thrust.

For example, Patent Literature 1 discloses a self-propelling capsule endoscope using a gas jetting scheme and Patent Literature 2 discloses a self-propelling capsule endoscope using a caterpillar driving scheme as examples of self-propulsion schemes of capsule endoscopes.

Japanese Laid-Open Publication No. 2006-334141 Japanese Patent No. 5006381

However, self-propelling capsule endoscopes are also instruments for examining thin and narrow tubular small intestines and large intestines, so that the inside of a stomach with a wide bag-like space could not be examined. This is because the conventional self-propelling capsule endoscopes described in Patent Literature 1, Patent Literature 2, and the like can move in an approximately horizontal direction or approximately diagonal direction along the inner walls of intestine or the like and change the posture thereof, but it was challenging to move in a space extending in the vertical direction inside the stomach with the output from a caterpillar or gas jetting.

Even if a small intestine or large intestine could be examined, traveling the moist and elastic intestinal tract required a significant amount of time. In particular, such a capsule endoscope was not able to readily travel the ascending colon with large and deep folds. Further, traveling in the large intestine involves three-dimensional travel, often from the back side to the abdominal side in the supine position. Upward movement is difficult with a magnetic or caterpillar propulsive force. Hence, although not to the extent of capsule endoscopes utilizing peristalsis, examinations take significant time.

For this reason, endoscopic examinations using a conventional self-propelling capsule endoscope had problems in that the inside of the stomach could not be examined, and examination was very time consuming so as to place burden on the body of a subject.

The objective of the present invention is to solve the problems resulting from conventional endoscopes to obtain a capsule endoscope, which is capable of examining the inside of the stomach and dramatically reducing the time required for an examination (e.g., examination of the entire digestive tract from the esophagus to the large intestine in 30 minutes or less).

The present invention provides the following items.

(Item 1)
A capsule endoscope comprising:
an endoscope airframe; and
flying means enabling the endoscope airframe to fly.

(Item 2)
The capsule endoscope of item 1, configured to have a lift/thrust generating unit for generating lift and thrust to the endoscope airframe.

(Item 3)
The capsule endoscope of item 2, wherein the lift/thrust generating unit is configured to generate the lift and the thrust independently.

(Item 4)
The capsule endoscope of item 2 or 3, wherein the lift/thrust generating unit is a drone or a helicopter having a rotor blade.

(Item 5)
The capsule endoscope of item 4, wherein the lift is generated by rotating the rotor blade in a positive direction, and the thrust is generated by rotating the rotor blade in an opposite direction.

(Item 6)
The capsule endoscope according to any one of items 2 to 5, wherein inside of a stomach is observed by generating at least the lift.

(Item 7)
The capsule endoscope of item 6, wherein at least the thrust is generated to observe at least a part inside a duodenum, a small intestine, and a large intestine.

The objective of the present invention is to obtain a capsule endoscope, which is capable of examining the inside of a stomach and dramatically reducing the time required for an examination.

Figure 1 is a diagram for explaining a capsule endoscope 100 of the invention. Figure 1(a) depicts the outward appearance of a capsule endoscope. Figure 1(b) conceptually depicts the basic configuration of a capsule endoscope. Figure 1(c) schematically depicts the capsule endoscope 100 in use. Figure 2 is a perspective view for explaining the capsule endoscope 100 according to embodiment 1 of the invention. Figure 3 is a plan view depicting the structure of the capsule endoscope 100 when viewed from the top side thereof (direction A in Figure 2). Figure 4 is a plan view depicting the structure of the capsule endoscope 100 when viewed from the front side thereof (direction B in Figure 2). Figure 5 is a plan view depicting the structure of the capsule endoscope 100 when viewed from the bottom side thereof (direction C in Figure 2). Figure 6 is a block diagram for explaining a circuit unit 100b installed in the capsule endoscope 100. Figure 7 is a perspective view for explaining an examination system 1000 for administering an endoscopic examination using the capsule endoscope 100, and schematically depicts the configuration of the examination system 1000. Figure 8 is a diagram depicting one example of a route of a capsule endoscope when administering an endoscopic examination using the capsule endoscope 100. Figure 9 is a diagram depicting one example of the capsule endoscope 100 observing the inside of the stomach while flying in the body of a subject. Figure 10 is a diagram depicting one example of the capsule endoscope 100 changing the posture from in-flight to landed stat in the body of a subject. Figure 11 is a diagram depicting one example of the capsule endoscope 100 moving in the body (duodenum or small intestine) of a subject by thrust. Figure 12 is a diagram depicting one example of the capsule endoscope 100 moving in the body (large intestine) of the subject by thrust. Figure 13 is a diagram depicting one example of the capsule endoscope 100 moving in a fluid in the body of a subject. Figure 14 is a perspective view for explaining the capsule endoscope 100 according to embodiment 2 of the invention, depicting the outward appearance of the capsule endoscope 100.

As used herein, "about" means that the subsequent number is within the range of the number ± 10%.

The present invention has solved the problem of being unable to examine the inside of a stomach in an endoscopic examination using a conventional capsule endoscope. The present invention has also solved the problem of examinations being time consuming. The present invention enables the administration of an examination in a very short period of time with low burden on the body of a subject from a capsule endoscope.

Figure 1 is a diagram for explaining capsule endoscope 100 of the invention. Figure 1(a) depicts the outward appearance of a capsule endoscope. Figure 1(b) conceptually depicts the basic configuration of a capsule endoscope. Figure 1(c) schematically depicts the capsule endoscope 100 in use.

The capsule endoscope 100 of the invention comprises an endoscope airframe 100c having an endoscope main body 100a onboard and flying means 120 enabling the endoscope airframe 100c to fly, as depicted in Figure 1(b). In this regard, the endoscope main body 100a has a function of imaging the inside of the body of a subject P. The endoscope airframe 100c having the endoscope main body 100a onboard can, for example, image the inside of the body while moving inside the body of a subject.

The capsule endoscope can fly and observe inner walls of a cavity in the body of the patient P, e.g., a stomach inflated with gas such as air or carbon dioxide gas, while floating by comprising flying means.

The capsule endoscope 100 of the invention may be anything that comprises the flying means 120 capable of autonomous flight in the endoscope airframe 100c having the endoscope main body 100a onboard. Other configurations are also not particularly limited.

In this regard, the flying means 120 refers to means for generating at least one of lift (force that lifts up the airframe against gravity) and thrust (force that accelerates the airframe in a horizontal direction) so that a capsule endoscope can move to any location based on an operational signal.

Such flying means 120 essentially has a lift/thrust generating unit 120a for generating lift and thrust to the endoscope airframe 100c, a driving unit 120b for driving the lift/thrust generating unit 120a, and flight controlling means 120c for controlling the driving unit 120b, as depicted in Figure 1(b).

The lift/thrust generating unit 120a of the capsule endoscope 100c of the invention can have any configuration. For example, a flying object which can generate lift without moving in a horizontal direction, i.e., a drone, helicopter, or airship, can be used. A drone is explained herein as one embodiment of flying means, but the present invention is not limited thereto.

In this regard, drones include those with three or more propellers generating lift and thrust. Helicopters include those with a main rotor for generating lift and thrust and an auxiliary rotor for maintaining a posture and those with two main rotors for generating lift and thrust. Airships include those with a mechanism for generating buoyancy with gas lighter than air and a propeller for generating thrust.

The endoscope airframe 100c of the invention can be made of any material. The endoscope airframe may be made of various materials such as metal, plastic, ceramic, or sponge. The endoscope airframe may be made of not only a single material, but also a composite of multiple materials. Preferably, a light material such as plastic is used in order to allow the endoscope airframe to float with the flying means 120. In one embodiment, the material is a composite material of ABS resin and ceramic. Such a material can be used to produce an endoscope airframe which is more light weight and highly rigid.

The endoscope airframe 100c can have any shape. Examples thereof include, but are not limited in the present invention to, an approximately bullet shape, approximately semispherical shape, and approximately spherical shape as in conventional capsule endoscopes (Figure 13(a)), approximately cubic shape, approximately cuboid shape, approximately regular octahedron shape, and outer shape of an approximately cylindrical shape with both ends having a semispherical shape.

The endoscope airframe 100c may comprise a cover 1002 for covering the flying means 102, which is dissolved by gastric juice or the like (Figure 13(b)). Since the portion of the flying means reaches the stomach without directly contacting tissue in the body by comprising the cover 1002, the capsule endoscope 100 of the invention can be administered into the body from the mouth more with more piece of mind. Since the cover 1002 is configured to be dissolved by gastric juice, the flying means 120 can be used when the endoscope airframe can move in the stomach or the like (in some cases the duodenum, small intestine, or large intestine) by the flying means 120. The material of the cover 1002 can be any material, as long as the material can be dissolved by gastric juice or the like. Examples thereof include, but are not limited in the present invention to, cellulose, gelatin, and the like.

The endoscope airframe 100c may also comprise a net member 1003 for covering the flying means 120, or the cover 1002 which is dissolved by gastric juice may be provided (Figure 13(b)). Since tissue in the body would not directly contact the flying means 120 by comprising the net member 1003, damage to tissue in the body can be prevented to enable safe observation. The material of the net member 1003 can be any material. Examples thereof include, but are not limited in the present invention to, resins such as plastic and metals such as titanium and stainless steel.

The endoscope airframe 100c of the invention may comprise both or one of the cover member 1002 and the net member 1003.

As depicted in Figure 1(b), the endoscope airframe 100c of the invention may comprise an air-tight sealed space 100d, and a penetrated space 20, which penetrates through the endoscope airframe 100c, and may house the endoscope main body 100a and the driving unit 120b and the flight controlling means 120c constituting the flying means 120 in the sealed space 100d, and may house the lift/thrust generating unit 120a constituting the flying means 120 in the penetrated space 20.

The embodiment depicted in Figure 1 explains a case where the penetrated space 20 housing the flying means 120 is provided in the endoscope airframe 100c, but the present invention is not limited thereto.

The endoscope main body 100a of the invention may comprise illumination means 140 for illuminating the inside of a body, imaging means 130 for imaging the inside of the body, communication means 160 for communication with a signal processing apparatus or a remote controller (not shown) outside the body, system controlling means 150 for controlling each of the above means, and a powder source 110 for supplying power to each of the above means, in the same manner as conventional self-propelling capsule endoscopes as depicted in Figure 1(b).

In this regard, the illumination means 140 can be any means, as long as the means can illuminate the inside of the body of the subject P, i.e., inside of an organ (e.g., digestive organ such as the stomach, duodenum, small intestine, or large intestine) of the subject P subjected to an endoscopic examination. For example, illumination means 140 using a semiconductor light emitting element which is capable of being micronized as a light source is desirable. Examples of the semiconductor light emitting elements include, but are not limited in the present invention to, LEDs (light emitting diode), organic EL elements, LDs (laser diode), and the like.

While the imaging means 130 may any means as long as the means is capable of imaging the inside of an organ to be examined, imaging means using a semiconductor imaging element capable of being micronized as a camera is desirable in the same manner as the illumination means 140. Examples of such semiconductor imaging elements include CCD image sensors and CMOS image sensors.

Any communication means 160 may be used, as long as the communication means has a transmitting unit for transmitting an imaging signal outputted from the imaging means 130 to a signal processing apparatus (not shown) outside the body, and a receiving unit for receiving an operational signal from a remote controller or the like outside the body. For example, communication means may be a transmitting unit and a receiving unit respectively configured independently as a transmitter and a receiver, or a transceiver with a transmitting unit integrated with a receiving unit, configured to switch between transmitting and receiving operations. Further, the communication method may be a communication method for sending a single information signal in a single wireless line (channel) or a multiplex communication method for sending multiple information signals in a single wireless line (channel). For example, in one embodiment, the Bluetooth (registered trademark) method, which is harmless to humans, can be employed as a communication method. The capsule endoscope of the invention can transmit an image obtained by an imaging apparatus to an external monitor by communication means, which enables real-time observation. For this reason, oversight is prevented to enable a high level of observation.

The system controlling means 150 can be any means, as long as the illumination means 140 and the imaging means 130 can be controlled based on an imaging instruction signal from the outside of the capsule endoscope 100.

The system controlling means 150 of the endoscope main body 100a and the flight controlling means 120c of the flying means 120 may be independently configured with separate microprocessors, or integrally configured with a single microprocessor.

However, if a drone is adopted as the flying means, complex computation is required in order to stabilize or control autonomous navigation of the airframe, or the like only with rotations of three or more propellers. Thus, a dedicated flight controller may be provided as the flight controlling means 120c separately from the system controlling means 150 for controlling the endoscope main body 100a. Autonomous navigation control is a function for automatically controlling the driving unit 120b, which is required, for example, when hovering at a certain position or the like without an operational signal from an operator.

The power source 110 can be any power source, as long as the power source is capable of supplying a suitable supply voltage to each of the above means (flying means 120, illumination means 140, imaging means 130, communication means 160, and system controlling means 150). For example, the power source 110 has a battery and a power supply circuit for converting the output voltage of the battery to a given voltage. In this regard, the battery is a lithium ion battery (e.g., lithium ion polymer battery of the like), nickel hydrogen battery, or the like, but a battery 110b is not limited to such secondary batteries. For example, the configuration of the power source 110 can be eliminated from a capsule endoscope in the presence of a wireless power supplying system (having power receiving means for wirelessly receiving power supply).

Since circuits other than a motor of propellers (driving unit 120b of the flying means 120) are configured to operate at a lower supply voltage (e.g., about 5 V) compared to the supply voltage (e.g., about 12 V) supplied to the motor of the propellers in drones, each of the means other than the driving unit 120b of the flying means is also generally configured to operate at a lower supply voltage than the supply voltage supplied to the driving unit 120b of the flying means 120 in the capsule endoscope of the invention. In such a case, the power source 110 may be a power source capable of supplying a first supply voltage to the driving unit 120b of the flying means 120, and supplying a second source voltage that is lower than the first supply voltage to other means (illumination means 140, imaging means 130, communication means 160, system controlling means 150, and flight controlling means 120c).

Specifically, a power source may be configured to have a battery and a power source circuit (UBEC: universal battery elimination circuit) for reducing the output voltage of the battery, and to directly supply the output of the battery to the driving unit 120b of the flying means 120 and to supply the output voltage of the battery reduced with the power source circuit (UBEC) to each of the means other than the driving unit 120b of the flying means. The driving unit (ESC: electric speed controller) of the flying means 120 that receives the output of the battery may itself have a power source circuit (BEC: battery elimination circuit) that reduces the output voltage of the battery. In such a case, a power supply circuit (UBEC) for reducing the output voltage of the battery does not need to be provided to the power source. It is sufficient to supply a supply voltage from the power source circuit (BEC) contained in the driving unit (ESC) 120b of the flying means 120 to the means other than the driving unit 120b of the flying means 120.

While power may also be supplied to the flying means 120 from the power source 110 of the endoscope main body 100a in the capsule endoscope 100 of the invention, power may be supplied from a power source which is independent of this power source.

However, the following embodiments discuss capsule endoscopes with flying means of a drone as an example of the capsule endoscope of the invention. In this regard, the flying means of the drone is presumed to have: four rotor blades and four motors for rotating the blades as the lift/thrust generating unit 120a; ESC for each motor as the driving unit 120b supplying a driving current to the motors; and a flight controller (FC) as the flight controlling means 120c for controlling the driving unit 120b based on an operational signal. The capsule endoscope 100 of the embodiments is presumed to have a camera module using a CCD image sensor as the imaging means 130 and an LED module as the illumination means 140. Further, the communication means 160 is presumed as a transceiver with an integrated transmitting unit and a receiving unit. The power source 110 is presumed to have a lithium ion battery and a power source circuit (UBEC) for reducing the output voltage thereof.

However, it is apparent from the above explanation that the capsule endoscope of the invention is not limited to the configurations of the following embodiments.

The embodiments of the invention are explained hereinafter with reference to the drawings.

(Embodiment 1)
Figures 2 to 5 are diagrams for explaining the capsule endoscope 100 according to embodiment 1 of the invention. Figure 2 is a perspective view depicting the outward appearance of the capsule endoscope 100. Figures 3 to 5 are plan views depicting the structure of the capsule endoscope 100 depicted in Figure 2 viewed from directions A to C of Figure 2, respectively.

The capsule endoscope 100 of embodiment 1 has the endoscope airframe 100c having the endoscope main body 100a onboard and the flying means 120 enabling the endoscope airframe 100c to fly.

In this regard, the endoscope main body 100a has the imaging means 130, illumination means 140, communication means 160, system controlling means 150, and power source 110. Each of these means and a power source are installed inside the endoscope airframe 100c.

The flying means 120 has the lift/thrust generating unit 120a, the driving unit 120b, and the flight controlling unit 120c. The driving unit 120b and the flight controlling unit 120c are installed inside the endoscope airframe 100c, and the lift/thrust generating unit 120a is provided outside the endoscope airframe 100c.

The endoscope airframe 100c has an approximately bullet-like shape. The inside thereof is configured as the sealed space 100d, which is sealed to prevent infiltration of liquid. The sealed space 100d houses a circuit unit 100b. The circuit unit 100b has a circuit substrate 101 attached inside the endoscope airframe 100c and multiple electronic components (not shown) implemented on the circuit substrate 101. Such electronic components function as each means of the endoscope main body 100a (imaging means 130, illumination means 140, communication means 160, and system controlling means 150) and the power source 110 as well as the flight controlling unit 120c and the driving unit 120b of the flying means 120. Furthermore, the penetrated space (through hole) 20 is formed in the saucer-shaped endoscope airframe 100c, and a member constituting the lift/thrust generating unit 120a is housed in the penetrated space 20.

First, the configuration of the flying means 120 of the capsule endoscope 100 is specifically explained.

In the flying means 120, the lift/thrust generating unit 120a generates lift and thrust to the endoscope airframe 100c, the driving unit 120b supplies a driving voltage to the lift/thrust generating unit 120a, and the flight controller 120c controls the driving unit 120b. This is explained hereinafter in more detail.

(Lift/thrust generating unit 120a of flying means 120)
While the outer shape of the endoscope airframe 100c, which is the housing of the capsule endoscope 100, is an approximately bullet shape as discussed above, the outer shape of the endoscope airframe 100c is not particularly limited, as long as the shape does not obstruct the capsule endoscope 100 from flying in the body of the subject P. The shape is preferably an approximately spherical, approximately semispherical, or approximately bullet shape, which facilitates smooth movement in a thin and narrow tubular portion such as the small intestine or the large intestine.

The endoscope airframe 100c is formed so that four penetrated spaces 20, specifically four circular through

holes

21a, 21b, 22a, and 22b from the top surface side to the bottom surface side, are positioned at equidistance around the center of the endoscope airframe 100c.

Rotor blades

11a, 11b, 12a, and 12b are housed in the through

holes

21a, 21b, 22a, and 22b, respectively, and are rotatably supported with respect to the casing 100c.

More specifically,

parts holders

101a, 101b, 102a, and 102b are disposed on the lower surface side of the casing of the through

holes

21a, 21b, 22a, and 22b as depicted in Figure 5. The

parts holders

101a, 101b, 102a, and 102b are supported by

support arms

111a, 111b, 112a, and 112b extending from the inner circumferential surface to the inside of the through

holes

21a, 21b, 22a, and 22b, respectively.

Motors

121a, 121b, 122a, and 122b for rotating the

rotor blades

11a, 11b, 12a, and 12b are secured by a screw Bt or the like to the

parts holders

101a, 101b, 102a, and 102b. The

rotor blades

11a, 11b, 12a, and 12b are attached to the rotational axis of the

motors

121a, 121b, 122a, and 122b, respectively, directly or via a linking member such as a hub (not shown). It is desirable that each of the

motors

121a, 121b, 122a, and 122b can rotate in both the positive direction and the opposite direction, and the direction of rotation, number of rotations, and the like can be controlled independently for each motor. In the embodiment depicted in Figure 6, the

motors

121a, 121b, 122a, and 122b, which are driving sources of the rotor blades, are provided to the respective rotor blade, but the present invention is not limited thereto. For example, each of the rotor blades may be driven by a single motor.

Each of the

motors

121a, 121b, 122a, and 122b and each of the

rotor blades

11a, 11b, 12a, and 12b form the lift/thrust generating unit 120a of the flying means 120 of the capsule endoscope 100. It is preferable that each of the

motors

121a, 121b, 122a, and 122b has a waterproof structure, by which liquid does not flow inside.

(Driving unit 120b of flying means 120)
The driving unit 120b has speed controllers (ESC) 10a, 10b, 20a, and 20b implemented on the circuit substrate 101. The

speed controllers

10a, 10b, 20a, and 20b are connected to the corresponding

motors

121a, 121b, 122a, and 122b of the lift/thrust generating unit 120a, respectively, and supply driving currents D1a, D1b, D2a, and D2b to the

respective motors

121a, 121b, 122a, and 122b so that the number of rotations of the

rotor blades

11a, 11b, 12a, and 12b would be the number of rotations calculated at the flight controller 120c, based on rotation number signals E1a, E1b, E2a, and E2b from the flight controller 120c.

(Flight controller 120c of flying means 120)
The flight controller 120c is a modularized electronic component installed on the circuit substrate 101 for computing the number of rotations of each of the

rotor blades

11a, 11b, 12a, and 12b based on a flight instruction signal Fc corresponding to an operation of an operator (advance, retreat, ascend, descend, move right, move left, rotate right, or rotate left) and outputting the rotation number signals E1a, E1b, E2a, and E2b to the driving unit 120b driving each of the

motors

121a, 121b, 122a, and 122b.

The flight controller 120c may have one or more sensors onboard for detecting the flight status of the flying means 120, such as the flight posture, flight speed, flight position, or whether the flight position is in a liquid or gas. When there is a sensor, a feedback may be sent to control the

motors

121a, 121b, 122a, and 122b of the

rotor blades

11a, 11b, 12a, and 12b, respectively, so that the flight is stable, based on information from such sensors.

The configuration of the endoscope main body 100a of the capsule endoscope 100 is now specifically explained.

(Imaging means 130 of endoscope main body 100a)
The imaging means 130 has a CCD image sensor 131 for detecting an image of a subject, an imaging lens 131a for collecting light from the subject, and a CCD driving circuit 132 for driving the CCD image sensor 131. In this regard, the CCD image sensor 131, imaging lens 131a, and CCD driving circuit 132 are configured as a single modularized electronic component (camera module) for efficiency of assembly, and are installed on the circuit substrate 101.

The CCD image sensor 131, based on a driving signal Dr from the CCD driving circuit 132, performs a charge transfer operation for transferring a charge obtained by photoelectric conversion of light from the imaging lens 131a at each pixel to an output unit and converts the charge to a detection signal De at the output unit, which outputs the signal to the communication means 160.

Imaging elements constituting the imaging means 130 are not limited to CCD image sensors, and may be other imaging elements such as CMOS image sensors. The imaging means 130 does not necessarily need to be modularized. Electronic components constituting the imaging means 130 may be implemented individually on the circuit substrate 101.

(Illumination means 140 of endoscope main body 100a)
The illumination means 140 has light emitting diodes (LEDs) 141a, 141b and an LED driving circuit 142 for driving the

light emitting diodes

141a, 141b. In this regard, the

light emitting diodes

141a, 141b and the LED driving circuit 142 are configured as a single modularized electronic component (LED module) for efficiency of assembly and are installed on the circuit substrate 101. The illumination means 140 is not limited to an LED module and may be modularized light emitting elements other than LEDs such as organic light emitting diodes or laser diodes (LD). Furthermore, the light emitting elements are not limited to semiconductor elements and may be a fine discharge tube or a miniature light bulb. The illumination means 140 does not necessarily need to be modularized. Electronic components constituting the illumination means 140 may be implemented individually on the circuit substrate 101.

(System controlling means 150 of endoscope main body 100a)
The system controlling means 150 controls the imaging means 130 and the illumination means 140 so as to perform imaging of the inside of the body of the subject P based on a received signal Rs received by the communication means 160.

Specifically, the system controlling means 150 separates the flight instruction signal Fc related to a flight instruction contained in the received signal Rs from other control signals associated with imaging; outputs the flight instruction signal Fc to the flight controlling circuit 120c; and outputs a control signal Cc for imaging and control signal Lc for illumination to the CCD driving circuit 132 of the imaging means 130 and the LED driving circuit 142 of the illumination means 140, respectively. For example, the system controlling means 150 is materialized with a microprocessor chip and is implemented on the circuit substrate 101.

(Communication means 160 of endoscope main body 100a)
The communication means 160 receives an operational signal from a remote controller 200 (see Figure 7(a)) of the capsule endoscope 100, outputs the received signal Rs to the system controlling means 150, and transmits the detection signal De obtained by detecting a charge with the CCD image sensor 131 of the imaging means 130 to the remote controller 200. The communication means 160 may be means that is incorporated into the circuit substrate 101 as a modularized electronic component composed of a transmitting circuit and a receiving circuit, or means composed of circuit elements constituting a transmitting circuit and a receiving circuit individually implemented on the circuit substrate 101.

(Power source 110 of endoscope main body 100a)
The power source 110 has the battery 110b and the power source circuit 110a for reducing the output voltage thereof. A lithium ion battery is used as the battery 110b and is installed in the circuit substrate 101. Further, a UBEC circuit for reducing an output voltage V1 of the lithium ion battery to output a system voltage V2 used in units other than the driving unit 120b of the flying means 120 is implemented on the circuit substrate 101 as the power source circuit 110a.

The capsule endoscope 100 may be configured to have the same level of specific gravity as saline as a whole. With such a configuration, the buoyancy and gravity acting on the capsule endoscope 100 would balance out when the capsule endoscope 100 advances in liquid accumulated in the body of the subject P, such that power used for movement in the vertical direction can be minimized.

(Endoscopic examination using capsule endoscope 100)
A method of examining the subject P using the capsule endoscope 100 of embodiment 1 is now explained.

Figure 7 is a diagram for explaining an examination system 1000 for administering an endoscopic examination using the capsule endoscope 100 depicting in Figure 2, and schematically depicts the configuration of the examination system 1000.

The examination system 1000 has the aforementioned capsule endoscope 100, operating means (remote controller 200) for operating the capsule endoscope 100, and an examination apparatus 300 connected to the remote controller 200. The system may also have an examination table Ts for supporting the subject P.

In this regard, the remote controller 200 has a remote controller housing 200a, a switch 201 attached to the remote controller housing 200a, and a pair of

operation levers

202a, 202b attached to the remote controller housing 200a.

One of the pair of operation levers, 202a, is a lever for vertically moving the capsule endoscope 100 up and down, and the other operation lever 202b is a lever for horizontally moving the capsule endoscope 100 to the front, back, left, or right. An antenna 203 and a connector 204 are attached to the remote controller housing 200a to enable transmitting an operational signal to the capsule endoscope 100 and receiving a detection signal of an image obtained by the capsule endoscope 100. A detection signal from the capsule endoscope 100 received at the remote controller 200 is also configured to be sent to the examination apparatus 300 from the remote controller 200 via a connection cable Ca.

However, the specific structure of the remote controller 200 is not limited to the aforementioned embodiment. For example, the capsule endoscope may be operated on a smart phone or a computer screen. The operation unit for operating the capsule endoscope 100 may also be provided to the examination apparatus 300 instead of the remote controller 200.

The examination apparatus 300 has an apparatus main body 301 and a display apparatus (monitor) 302. The apparatus main body 301 has a signal processing unit for generating an imaging signal by processing a detection signal received from the capsule endoscope 100 via the remote controller 200. The display apparatus 302 is configured to display an image or the like imaged by the capsule endoscope 100 based on the imaging signal generated by the apparatus main body 301.

The movement of the capsule endoscope 100 in an examination of the subject P using the capsule endoscope 100 of embodiment 1 is now explained.

In the capsule endoscope 100, the output voltage V1 of the lithium ion battery 110b of the power source 110 is directly supplied to the driving unit 120b of the flying means 120, and the supply voltage V2 which is the output voltage V1 of the lithium ion battery 110b reduced with the power source circuit (UBEC) 110a is supplied from the power source circuit 110a to the flight controller 120c of the flying means 120 and the system controlling means 150, imaging means 130, illumination means 140, and communication means 160 of the endoscope main body 100a.

When an operation ON signal is transmitted to the capsule endoscope 100 from the remote controller 200 by operating the switch 201 of the remote controller 200 and the system controlling means 150 receives the operation ON signal via the communication means 160, the system controlling means 150 outputs the CCD driving signal Dr to the CCD driving circuit 132, and outputs an illumination controlling signal Lc to the LED driving circuit 142. Imaging by the CCD image sensor 131 and illumination by the

light emitting diodes

141a, 141b are started thereby in the capsule endoscope 100.

Figure 8 depicts one example of a route of a capsule endoscope when administering an endoscopic examination using the capsule endoscope 100. As depicted in Figure 8, when the subject P ingests the capsule endoscope 100 from the mouth, the capsule endoscope 100 reaches the inside of the stomach by peristalsis of the esophagus. When the stomach is examined, the stomach is expanded with a foaming agent or the like to secure a region where the capsule endoscope 100 can freely fly. Thus, the capsule endoscope 100 can observe and examine the inside of the stomach by moving the capsule endoscope 100 while imaging the inner walls of the stomach with the imaging means 130 while flying based on an operational signal from the remote controller 200.

Therefore, the capsule endoscope 100 of the invention has a superb effect in terms of being capable of examining the inside of the stomach, which was impossible with conventional capsule endoscopes, by having the flying means 120.

Furthermore, the capsule endoscope 100 of the invention can transition to observation and examination of the duodenum, small intestine, and large intestine once the examination of the inside of the stomach is completed. If a flyable space for observation of the duodenum, small intestine, or large intestine cannot be secured, or in a section where it is difficult to fly, the capsule endoscope 100 may be moved by thrust of the flying means 120 without levitation by lift of the flying means 120, or moved by means of peristalsis without using the flying means 120.

Conventional self-propelling capsule endoscopes driven by caterpillar or the like have driving means such as caterpillars exposed, and the outer edges of the endoscopes are not smooth. Thus, conventional capsule endoscopes directly contact the tissue surface within the body such as the mucous membrane of the large intestine, resulting in wear. In addition, movement takes time and damage the tissue surface. However, the capsule endoscope 100 of the invention has smooth outer edges and flies, so that direct contact with tissue surfaces can be minimized. For this reason, the capsule endoscope of the invention can move smoothly and prevent damage to the tissue surface.

Since the capsule endoscope 100 of the invention flies with the flying means, direction can be readily changed to reduce the examination time. This enables a safe and high level examination which is gentle to the body of a subject. After examining the duodenum, small intestine, and large intestine in order, the capsule endoscope is excreted from the anus to complete the examination.

In the flyable section in the stomach, an operator observes the inside of the stomach by flying and moving the capsule endoscope 100 along the inner walls of the inside of the stomach B1 with an operation on the remote controller 200 while viewing the result of imaging by the imaging means 130 on the display screen 301 of the examination apparatus 300.

The capsule endoscope 100 is also capable of movements other than advance, retreat, ascend, and descend, such as movement to the right or left side and right rotation or left rotation, just as in drones by controlling the direction of rotation and number of rotations of four rotor blades.

The capsule endoscope 100 can also advance in liquid or on a liquid surface when a liquid matter has accumulated in the body of a subject. For example, a rotor blade can be rotated in a positive direction to provide lift to make the capsule endoscope ascend. In contrast, the rotor blade can be rotated in the opposite direction to provide a force in the opposite direction from lift to make the capsule endoscope descend. Further, lift can be increased by elevating the number of rotations, and the lift can be reduced by reducing the number of rotations. When making the capsule endoscope descend, it is possible to select whether to reduce the number of rotations of a rotor blade or to reverse the direction of rotation depending on the situation. Alternatively, both can be selected.

Figure 9 depicts one example of the capsule endoscope 100 observing the inside of the stomach while flying in the body of a subject.

For example, the movement of a capsule endoscope is explained when a region within the stomach has a flyable space as depicted in Figure 9 and the capsule endoscope conducts an observation while moving in the directions illustrated by arrows.

First, the inside of a stomach has a flyable space, which is a region Ra nearly filled with gas. The capsule endoscope 100, at first, is generally disposed lying down (axis of the capsule endoscope is directed along the inner wall) along the inner wall on the bottom side of the stomach after passing through the esophagus and the like. An operator then operates the capsule endoscope to change the posture, from a state where the capsule endoscope 100 is lying down along the inner wall on the bottom side to a state where the capsule endoscope is floating upright (axis of the capsule endoscope is directed approximately perpendicular to the inner wall on the bottom side).

At this time, an operational signal transmitted by an operator from the remote controller 200 is received at the communication means 160 and outputted as the received signal Rs to the system controlling means 150 in the capsule endoscope 100. The system controlling means 150 determines that the received signal Rs is a flight instruction signal Fc related to controlling flight and outputs the signal directly to the flight controlling means 120c.

If the flight controlling means 120c detects that the flight instruction signal Fc is instructing flight with a change in the posture of the capsule endoscope 100 by analysis of the flight instruction signal Fc, the direction of rotation and the number of rotations of each of the

rotor blades

11a, 11b, 12a, and 12b for changing the posture and flying the capsule endoscope 100 are first calculated, and the rotation number signals E1a, E1b, E2a, and E2b for instructing the direction of rotation and the number of rotations are outputted to the

respective speed controllers

10a, 10b, 20a, and 20b corresponding the

rotor blades

11a, 11b, 12a, and 12b, respectively. The

speed controllers

10a, 10b, 20a, and 20b thereby apply the driving currents D1a, D1b, D2a, and D2b to the corresponding

motors

121a, 121b, 122a, and 122b so that each of the

rotor blades

11a, 11b, 12a, and 12b rotates at the instructed direction of rotation and number of rotations.

As a result, the two

rotor blades

12a, 12b close to the inner wall on the bottom side rotate in a positive direction at a higher number of rotations than the two

rotor blades

11a, 11b away from the inner wall on the bottom side, and the left and

right rotor blades

11a, 12a and the

rotor blades

11b, 12b rotate in the positive direction at the same number of rotations. The direction of rotation at this time is the positive direction generating lift, and the number of rotations is the number of rotations at which the lift Lf of the flying means 120 is greater than gravity W of the capsule endoscope.

For this reason, the capsule endoscope 100 changes the posture from lying on the inner wall to upright (axis of the capsule endoscope is directed approximately perpendicular to the inner wall) and floats from the inner wall on the bottom side, as depicted in Figure 9.

The axis of the capsule endoscope 100 may also be directed to a direction perpendicular to the inner wall on the bottom side to make the capsule endoscope ascend, so that a wide range of the inner wall on the bottom side is observed, as depicted on Figure 9. In doing so, all of the four rotor blades are rotated in the positive direction with the same number of rotations, where the number of rotations is a number of rotations at which lift Lf is greater than the gravity W of the capsule endoscope 100.

The inside of the stomach is then observed by flying and moving the capsule endoscope to observe another inner wall of the stomach. For example, as depicted in Figure 9, an operator may operate the capsule endoscope 100 so that the stomach is observed by moving the capsule endoscope from downstream to upstream sides of the stomach B1 (from left to right on the page of the figure) while maintaining a certain altitude. In the capsule endoscope 100, an operational signal transmitted from the remote controller 200 is received by the communication means 160, and outputted to the system controlling means 150 as the received signal Rs. The system controlling means 150 determines that the received signal Rs is a flight instruction signal Fc related to controlling flight and outputs the signal directly to the flight controlling means 120c.

If the flight controlling means 120c detects that the flight instruction signal Fc is instructing the capsule endoscope to advance while maintaining the altitude constant by analysis of the flight instruction signal Fc, the flight controlling means calculates the direction of rotation and the number of rotation of each of the

rotor blades

11a, 11b, 12a, and 12b for advancing the capsule endoscope 100 while maintaining the altitude thereof constant, and outputs the rotation number signals E1a, E1b, E2a, and E2b for instructing the direction of rotation and the number of rotations to the

speed controllers

10a, 10b, 20a, and 20b corresponding to the

respective rotor blades

11a, 11b, 12a, and 12b. The

speed controllers

motors

121a, 121b, 122a, and 122b so that each of the

rotor blades

As a result, the two

rotor blades

12a, 12b on the downstream side of the stomach rotate in the positive direction at a higher number of rotation than the two

rotor blades

11a, 11b on the upstream side, and the left and

right rotor blades

11a, 12a and the

rotor blades

11b, 12b rotate in the positive direction at the same number of rotations. The direction of rotation at this time is in the positive direction that generates lift, and the number of rotations is a number of rotations at which the gravity W of the capsule endoscope is balanced out by the lift Lf of the flying means 120. The capsule endoscope 100 thereby takes a forward leaning posture to advance while maintaining a certain altitude as depicted in Figure 9.

When the capsule endoscope 100 is in the body of the subject P, the switch 201 of the remote controller 200 is in imaging state (ON), so that the imaging means 130 performs an imaging operation. Specifically, in the imaging means (CCD module) 130, the CCD image sensor 131 is driven by the driving signal Dr from the CCD driving circuit 132, and light collected by the imaging lens 131a is photoelectrically converted at each pixel of the CCD image sensor 131 and outputted to the communication means 160 as the detection signal De.

When the communication means 160 transmits the inputted detection signal De to the remote controller 200 and the detection signal De is transmitted to the examination apparatus 300 from the remote controller 200, the detection signal De is converted to an imaging signal by signal processing and displayed on the display apparatus 302 in the examination apparatus 300. Since the capsule endoscope of the invention can display an image obtained by imaging means in real time on a display apparatus (monitor), detailed and high level observation is facilitated.

For imaging, the illumination means 140 illuminates with light emission of the

light emitting diodes

141a, 141b by driving the

light emitting diodes

141a, 141b with the LED driving circuit 142. The imaging means and illumination means may be always ON, or turned ON/OFF for each observation.

When the capsule endoscope 100 approaches location (vertical portion) B1 where a flyable space rises up in the vertical direction in the stomach B1 of the subject P, an operator operates the remote controller 200 so as to slow down the capsule endoscope 100.

In addition, the capsule endoscope is capable of various movements such as advance, retreat, ascend, descend, move right, move left, rotate right, or rotate left by adjusting the direction of rotation and the number of rotations of each rotor blade depending on the situation. Every inner wall in the stomach can be observed by having the subject P take a supine position or prone position when observing the inside of the stomach.

While there has been no capsule endoscope for observing and examining the inside of the stomach, the capsule endoscope 100 of the invention attains a significant effect in terms of enabling observation and examination of the stomach while floating by comprising flying means.

Figure 10 depicts one example of the capsule endoscope 100 changing the posture from in-flight to landed state in the body of a subject.

When the flight controlling means 120c receives the flight instruction signal Fc for instructing such a change in the direction of flight, the flight controlling means 120c calculates the direction of rotation and the number of rotations of each of the

rotor blades

11a, 11b, 12a, and 12b for reducing the flight speed of the capsule endoscope 100, and controls the

speed controllers

10a, 10b, 20a, and 20b so that the number of rotations of the

rotor blades

11a, 11b, 12a, and 12b is the calculated number of rotations.

As a result, the number of rotations in the positive direction of the two

rotor blades

11a, 11b facing the B2 side of the capsule endoscope 100 remains the same, while the number of rotations in the positive direction of the two

rotor blades

12a, 12b facing the B1 side is reduced. However, the left and right rotor blade 11a and rotor blade 11b rotate at the same number of rotations, and the left and right rotor blade 12a and rotor blade 12b rotate at the same number of rotations. This state results in the capsule endoscope 100 having a backward leaning posture (posture with the B1 side tilted downward) as depicted in Figure 10. The number of rotations of the four rotor blades is then gradually reduced at a certain ratio, whereby the lift Lf acting on the capsule endoscope 100 gradually becomes smaller than gravity W acting on the capsule endoscope 100, such that the capsule endoscope 100 gradually lowers the altitude.

When the capsule endoscope 100 reaches a portion near the entrance of duodenum B2 thereafter, the rotation of four rotor blades stops. The capsule endoscope 100 would be lying down along the inner wall on the bottom side in a posture where the imaging means 130 faces the B2 side (direction of progression of the capsule endoscope) and the flying means 120 faces the B1 side (opposite direction from the direction of progression of the capsule endoscope).

The duodenum B2 generally does not have a space for the endoscope 100 to fly as depicted in Figure 11. In such a case, the four rotor blades are rotated in a direction of rotation that is opposite from the direction of rotation for flying to generate thrust Tf in the direction indicated in Figure 11. As a result thereof, the capsule endoscope 100 can move along the inner wall inside the duodenum by the thrust Tf without flying. The inside of the body can be observed with the imaging means at the tip in the direction of progression while moving. While movement by the thrust Tf without flying is the same movement as conventional self-propulsion, the portion in contact with the inner wall is smooth unlike caterpillars or the like, so that movement is smooth. Therefore, the time of movement can be reduced. Damage to tissue inside the body can also be suppressed. However, if the inner wall snakes in various directions, the posture of a capsule endoscope may be adjusted by generating not only thrust in the horizontal direction, but also lift in the vertical direction.

Observation of the small intestine and the large intestine after the observation of the duodenum is basically the same as the observation of the duodenum. Thrust is generated with a rotation of direction in the opposite direction from the direction of rotation for flying the flying means 120 to move the capsule endoscope inside the small intestine and large intestine without flying to observe the small intestine and large intestine while imaging the inner walls with the imaging means at the tip in the direction of progression. Since the inner walls snake in various directions inside an intestine (especially the large intestine), the posture of a capsule endoscope may need to be changed in some cases. In such cases, the posture is adjusted by generating not only the thrust Tf in the horizontal direction, but also lift in the vertical direction.

Figure 12 depicts one example of the capsule endoscope 100 observing the inside of the body (large intestine) of a subject. As depicted in Figure 12, it is preferable to change the posture by changing the number of rotations of each rotor blade in accordance with the direction of progression of the inner walls when observing large intestine B3.

For example, when the direction of progression of the inner walls is upward, the posture of the capsule endoscope can be aligned with the upward progressing inner wall by setting the number of rotations of rotor blades close to the inner wall high and the number of rotations of the rotor blades away from the inner wall low. In contrast, when the direction of progression of the inner walls is downward, the posture of the capsule endoscope can be aligned with the downward progressing inner wall by setting the number of rotations of rotor blades close to the inner wall low and the number of rotations of the rotor blades away from the inner wall high. If there is a flying space in the duodenum, small intestine, or large intestine, the capsule endoscope 100 may be flown with the flying means 120 for observation. After observation of the large intestine is finished, the capsule endoscope 100 is retrieved from the anus to complete the examination inside the body.

The above embodiments have explained cases in which inside of the intestine (duodenum, small intestine, or large intestine) is observed while disposing the side of the imaging means of the capsule endoscope 100 on the side of the direction of progression, and moving the capsule endoscope by generating thrust by changing the direction of rotation of the flying means 120 to the direction of rotations in the opposite direction from that for flying. However, inside of the intestine (duodenum, small intestine, or large intestine) may be observed while disposing the side of the imaging means of the capsule endoscope 100 on the opposite side of the direction of progression, and moving the capsule endoscope by generating thrust by changing the direction of rotation of the flying means 120 to the direction of rotations in the same positive direction for flying.

The above embodiments have explained the movement of an endoscope when examining each of the stomach, duodenum, small intestine, and large intestine, but the present invention is not limited thereto.

For example, the entire digestive tract may be examined by moving a capsule endoscope from the esophagus to the large intestine, or a capsule endoscope may be inserted from the anus and moved with thrust to examine only the lower digestive tract (large intestine and/or small intestine), and then moved to the anus with thrust in the opposite direction to retrieve the endoscope from the anus.

Figure 13 is a diagram depicting one example of the capsule endoscope 100 moving in a liquid in the body of a subject.

For example, even if liquid matter Rw is accumulated in the body of a subject as depicted in Figure 13, a capsule endoscope can accelerate, decelerate, stop, ascend, or descend in the liquid matter by controlling the size of the lift Lf and thrust Tf generated to the endoscope airframe 100c by the rotations of the

rotor blades

11a, 11b, 12a, and 12b. However, resistance to travel is higher in liquid matters compared to gas, so that a capsule endoscope cannot move as quickly as in cases where the inside the body of a subject is filled with air or inflating gas. Further, the resistance involving rotation of the

rotor blades

11a, 11b, 12a, and 12b is high, such that there is a risk of damage when rotated at high speeds. For this reason, such a damage can be avoided by keeping the number of rotations of the

rotor blades

11a, 11b, 12a, and 12b lower when traveling in a liquid relative to travel in gas.

Further, power consumed for moving the capsule endoscope 100 up and down in liquid inside the body can be kept low with a low specific gravity of the entire capsule endoscope 100 which is the same level as the specific gravity of saline.

In this manner, the capsule endoscope 100 of embodiment 1 is an autonomously flying capsule endoscope 100 comprising the endoscope airframe 100c having the endoscope main body 100a onboard and the flying means 120 enabling the endoscope airframe 100c to fly. Thus, the capsule endoscope 100 can be moved up even in a space extending in the vertical direction inside the body of the subject P without depending on peristalsis of an organ, and can dramatically reduce the time required for an examination with a capsule endoscope (e.g., 30 minutes or less for examination of the entire digestive tract from the esophagus to the large intestine, and about 10 minutes for examining only the large intestine).

In the capsule endoscope 100 of embodiment 1, the flying means 120 comprises the lift/thrust generating unit 120a for generating lift and thrust to the endoscope main body 100a, and the lift/thrust generating unit 120a is configured to generate lift and thrust independently to the endoscope airframe 100c. Thus, the lift/thrust generating unit can make the endoscope main body 100a hover midair, whereby a specific location in the body of the subject P can be examined in detail.

In the capsule endoscope 100 of embodiment 1, the flying means 120 comprises the flight controlling means 120c for controlling the lift/thrust generating unit 120a, and the flight controlling means 120c has a hovering function for automatically controlling the thrust generating unit 120a so that the position and posture of the endoscope airframe 100c are each maintained in a given position and posture. Thus, an operator does not need to operate the flight of the endoscope main body 100a when making the endoscope airframe 100c hover at a given position midair, thus facilitating the work to examine a specific location in the body of the subject P in detail.

In the capsule endoscope 100 of embodiment 1, the thrust generating unit 120a comprises the plurality of

rotor blades

11a, 11b, 12a, and 12b for generating lift and thrust to the endoscope airframe 100c and the plurality of

motors

121a, 121b, 122a, and 122b for rotating each of the rotor blades to control the direction of rotation and number of rotations of each of the plurality of rotor blades so as to generate lift and thrust to the endoscope airframe 100c with driving currents of the plurality of motors. Thus, the flight speed and flight direction can be controlled simply by changing the direction of rotation and number of rotations of the plurality of rotor blades, and the structure of the flying means enabling the endoscope airframe 100c to fly can be simplified. The flying means can also be used as means for adjusting the movement and posture without flying the endoscope when a flying space cannot be secured.

In the capsule endoscope 100 of embodiment 1, the

rotor blades

11a, 11b, 12a, and 12b are disposed in the penetrated space 20 (21a, 21b, 22a, and 22b) formed on the endoscope airframe 100c having the endoscope main body 100a onboard. Thus, damage due to the outer circumferential end of a rotor blade directly contacting tissue inside the body such as an organ of the subject P is prevented, which enables safe examination with a piece of mind.

Figure 14 depicts the capsule endoscope 100 according to embodiment 2 of the invention.

In embodiment 1, the endoscope airframe 100c has an approximately bullet shape, but the shape may be approximately semispherical (Figure 14(a)). A semispherical shape results in a smoother contact with the inner walls in the body and can further facilitate movement in the body and a change in posture of the capsule endoscope 100. As a result, this makes safe observation with a piece of mind possible, which can be completed in a shorter period of time and further suppress damage to tissue in the body.

The endoscope airframe 100c may comprise the cover 1002 covering the flying means 120, which is dissolved by gastric juice or the like (Figure 14(b)). The endoscope airframe can reach the stomach without a portion of the flying means 120 directly contacting tissue in the body by comprising the cover 1002. Since the damage to the surface of tissue can be minimized thereby, the capsule endoscope 100 of the invention can be administered into the body from the mouth with piece of mind. Since the cover 1002 is configured to dissolve by gastric juice, the flying means 120 can be used when it is necessary to move with the flying means 120 in the stomach (or in some cases the duodenum, small intestine, large intestine, or the like). Any material can be used for the material of the cover 1002 as long as the material is dissolved by gastric juice of the like. Examples thereof include, but are not limited in the present invention to, cellulose, gelatin, and the like.

The endoscope airframe 100c may also be configured to comprise the net member 1003 for covering a rotor blade (Figure 14(c)). It is possible to ensure that damage to tissue in the body is prevented by including the net member 1003. The material of the net member 1003 can be any material. Examples thereof include, but are not limited in the present invention to, resins such as plastic and metals such as titanium and stainless steel.

The present invention has been exemplified above using preferred embodiments of the invention, but the present invention should not be interpreted to be limited to the embodiments. It is also understood that the scope of the present invention should be interpreted solely from the scope of Claims. It is understood that those skilled in the art can implement an equivalent scope from the descriptions of the specific preferred embodiments of the invention based on the description of the present invention and common general knowledge. It is understood that any documents cited herein should be incorporated herein by reference in the same manner as the contents are specifically described herein.

The present invention is useful as an invention that can obtain a capsule endoscope, which is capable of dramatically reducing the time required for an examination using the capsule endoscope in the field of endoscopes.

11a, 11b, 12a, 12b Rotor blades
100 Capsule endoscope
100a Endoscope main body
100c Endoscope airframe
120 Flying means

Claims

A capsule endoscope comprising:
an endoscope airframe; and
flying means enabling the endoscope airframe to fly.
The capsule endoscope of claim 1, configured to have a lift/thrust generating unit for generating lift and thrust to the endoscope airframe.
The capsule endoscope of claim 2, wherein the lift/thrust generating unit is configured to generate the lift and the thrust independently.
The capsule endoscope of claim 2 or 3, wherein the lift/thrust generating unit is a drone or a helicopter having a rotor blade.
The capsule endoscope of claim 4, wherein the lift is generated by rotating the rotor blade in a positive direction, and the thrust is generated by rotating the rotor blade in an opposite direction.
The capsule endoscope according to any one of claims 2 to 5, wherein inside of a stomach is observed by generating at least the lift.
The capsule endoscope of claim 6, wherein at least the thrust is generated to observe at least a part inside a duodenum, a small intestine, and a large intestine.