WO2006030773A1 - 位置検出装置、被検体内導入システムおよび位置検出方法 - Google Patents
位置検出装置、被検体内導入システムおよび位置検出方法 Download PDFInfo
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- WO2006030773A1 WO2006030773A1 PCT/JP2005/016826 JP2005016826W WO2006030773A1 WO 2006030773 A1 WO2006030773 A1 WO 2006030773A1 JP 2005016826 W JP2005016826 W JP 2005016826W WO 2006030773 A1 WO2006030773 A1 WO 2006030773A1
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- magnetic field
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- position detection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
Definitions
- Position detection apparatus in-subject introduction system, and position detection method
- the present invention relates to a position detection device that performs position detection of a detection target using a position detection magnetic field that has position dependency with respect to intensity, an in-subject introduction system using position detection, and a position detection method. .
- a swallowable capsule endoscope has been proposed in the field of endoscopes.
- This capsule endoscope is provided with an imaging function and a wireless communication function.
- Capsule endoscopes are used to observe inside the body cavity, for example, the stomach, small intestine, and other organs, after being swallowed from the mouth of the subject (human body) for observation (examination) and before being spontaneously excreted. It has the function of moving in accordance with the peristaltic movement and capturing images sequentially.
- image data imaged inside the body by the capsule endoscope is sequentially transmitted to the outside by wireless communication and stored in a memory provided outside.
- a receiver equipped with a wireless communication function and a memory function the subject can freely move between swallowing the capsule endoscope and discharging it.
- a doctor or nurse can make a diagnosis by displaying an organ image on the display based on the image data stored in the memory (for example, patent Reference 1).
- a conventional capsule endoscope system having a mechanism for detecting the position of the capsule endoscope in a body cavity.
- a magnetic field having a position dependency with respect to strength is formed inside a subject to which a capsule endoscope is introduced, and the inside of the subject is based on the strength of the magnetic field detected by a magnetic field sensor built in the capsule endoscope. It is possible to detect the position of the capsule endoscope.
- a force-pseed endoscope system in order to form a magnetic field, a configuration in which a predetermined coil is arranged outside the subject is adopted, and a predetermined current is passed through the powerful coil to cause the inside of the subject. A magnetic field is to be formed.
- the position of the capsule endoscope in advance Because it is difficult to detect the capsule endoscope, the magnetic field to be formed is formed so that the capsule endoscope has a detectable intensity in the entire region where the capsule endoscope can exist. There is a need. Specifically, in a conventional capsule endoscope system, a magnetic field that can be detected by the capsule endoscope is formed in all extinguisher organs that reach the oral anus.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-19111
- the conventional capsule endoscope system including the position detection mechanism has a problem that the power consumption is significantly increased.
- a large current is applied to the coil for several hours to several tens of hours during which the capsule endoscope remains in the subject.
- the need to continue to supply arises.
- a magnetic field having a strength that can be detected by the capsule endoscope is formed on the entire digestive organ inside the subject. The power required is enormous.
- the physique difference of the subject is a problem.
- adult males and infants have significantly different physiques, and the areas in which the magnetic field for position detection needs to be generated are completely different.
- a magnetic field for position detection is uniformly formed regardless of the difference in the size of the subject. Therefore, for example, for infants, magnetic field formation is performed over an unnecessarily large area, and wasteful power is consumed, and there are problems such as adversely affecting electronic devices existing in the vicinity. Will occur.
- the present invention has been made in view of the above, and relates to a position detection device and the like for detecting the position of a detection target such as a capsule endoscope using a position detection magnetic field having position dependency. Therefore, it is possible to realize a position detection device capable of forming a magnetic field for position detection having an optimum intensity according to the difference in the physique of the subject, an in-subject introduction system using the position detection device, and a position detection method. Objective.
- a position detection device is a position detection device that detects a position of a detection target using a predetermined position detection magnetic field. Therefore, the magnetic field forming means that forms the magnetic field for position detection is separated from the magnetic field forming means by a distance that is not less than the maximum value of the distance between the region where the detection target can be located and the magnetic field forming means.
- a magnetic field sensor for detecting the strength of the position detection magnetic field at a position, a magnetic field strength control means for controlling the strength of the position detection magnetic field formed by the magnetic field formation means based on a detection result by the magnetic field sensor, and Position deriving means for deriving the position of the detection object using the intensity of the position detection magnetic field detected at the position where the detection object exists is provided.
- the intensity of the magnetic field for position detection is based on the detection result of the magnetic field sensor arranged farther than the magnetic field forming means at any point in the region where the detection target can be located. It is possible to always maintain the strength of the magnetic field for position detection in the area at a predetermined level regardless of the fluctuation of the area where the detection target can be located. .
- the magnetic field intensity control means is configured such that the magnetic field intensity detected by the magnetic field sensor is greater than or equal to a magnetic field intensity that can be detected by the detection target.
- the magnetic field forming means is controlled so as to be a value.
- the detection target is an in-subject introduction device that is introduced into a predetermined subject
- the magnetic field sensor includes the It is arranged on the outer surface of the subject.
- the in-subject introduction system uses the in-subject introduction apparatus that is introduced into the subject and moves inside the subject, and a predetermined magnetic field for position detection is used.
- An intra-subject introduction system comprising a position detection device for detecting the position of the intra-subject introduction device within the subject, wherein the intra-subject introduction device includes the intra-subject introduction device.
- a magnetic field sensor for detecting the intensity of the magnetic field for position detection at a position; and a wireless transmission means for transmitting a radio signal including information on the magnetic field intensity detected by the magnetic field sensor.
- the magnetic field strength control means for controlling the strength of the magnetic field for position detection using the physique information having different contents depending on the physique of the subject is provided. Therefore, it is possible to form a position detection magnetic field having a predetermined intensity with respect to the region inside the subject regardless of the difference in physique.
- the magnetic field intensity control means is configured so that the in-subject introduction apparatus is located inside the subject based on the physique information.
- the driving state of the magnetic field forming means is controlled so that the magnetic field for position detection has a strength that can be detected by the magnetic field sensor in the entire region that can be positioned.
- the in-subject introduction system further includes physique information detection means for detecting the physique information in the above invention, and the magnetic field intensity control means includes the physique information detection.
- the strength of the magnetic field for position detection formed by the magnetic field forming means is controlled based on the physique information detected by the means.
- the physique information detection means is disposed at a predetermined position on the outer surface of the subject, and is disposed at the position.
- Magnetic field sensor means for detecting the strength of the position detection magnetic field as physique information, and the magnetic field strength control means can detect the magnetic field strength detected as the physique information by a magnetic field sensor provided in the in-vivo introduction device. It is characterized in that the control is performed so that the strength becomes a certain level.
- the magnetic field forming unit includes a coil that forms a magnetic field according to the power supplied by the predetermined power supply unit,
- the magnetic field strength control means controls the strength of the magnetic field for position detection by adjusting power supplied to the coil.
- the magnetic field forming means is provided by a power supply means formed by a primary battery or a secondary battery.
- the position detection method is a position for detecting the position of the in-subject introduction apparatus that is introduced into the subject and moves inside the subject by using a predetermined magnetic field for position detection.
- a position detecting method for detecting a position detecting magnetic field intensity at a predetermined position on an outer surface of the subject, and the position based on the magnetic field intensity detected in the magnetic field intensity detecting process.
- the magnetic field intensity control process for controlling the intensity of the detection magnetic field and the position detection magnetic field controlled in the magnetic field intensity control step
- the position of the detection object is detected based on the intensity at the position where the detection object exists. And a position detecting step.
- the magnetic field strength control step for controlling the strength of the magnetic field for position detection is included based on the magnetic field strength on the general evaluation surface of the subject detected in the magnetic field strength detection step, the subject existing in the subject is included. It is possible to form a magnetic field for position detection optimized with respect to position detection of the in-sample introduction device.
- the position detection magnetic field is formed by a coil supplied with power by a power supply means formed by a primary battery or a secondary battery.
- a holding power amount held in the power supply means further includes a determination step of determining whether or not a necessary power amount required for forming the position detection magnetic field controlled by the magnetic field intensity control step is satisfied. It is characterized by
- the position detection device determines the intensity of the magnetic field for position detection based on the detection result of the magnetic field sensor arranged farther than the magnetic field forming means with respect to an arbitrary point in the region where the detection target can be located. Since the configuration includes the magnetic field strength control means for controlling, it is possible to always maintain the strength of the magnetic field for position detection in the region at a predetermined level regardless of variations in the region where the detection target can be located. [0024]
- the in-subject introduction system uses a magnetic field strength control that controls the strength of the position detection magnetic field using physique information that differs depending on the physique of the subject. Since the control means is provided, there is an effect that a position detection magnetic field having a predetermined intensity can be formed on a region inside the subject regardless of differences in physique or the like.
- the position detection method includes a magnetic field strength control step of controlling the strength of the magnetic field for position detection based on the magnetic field strength on the general surface of the subject detected in the magnetic field strength detection step.
- a magnetic field strength control step of controlling the strength of the magnetic field for position detection based on the magnetic field strength on the general surface of the subject detected in the magnetic field strength detection step.
- FIG. 1 is a schematic diagram showing an overall configuration of an in-subject introduction system according to Example 1.
- FIG. 2 is a schematic block diagram showing a configuration of a capsule endoscope provided in the in-subject introduction system.
- FIG. 3 is a schematic diagram showing a first linear magnetic field formed by a first linear magnetic field forming unit provided in the position detection device.
- FIG. 4 is a schematic diagram showing configurations of a second linear magnetic field forming unit and a diffusion magnetic field forming unit provided in the position detection device, and an aspect of the second linear magnetic field formed by the second linear magnetic field forming unit. It is.
- FIG. 5 is a schematic diagram showing an aspect of a diffusion magnetic field formed by a diffusion magnetic field forming unit.
- FIG. 6 is a schematic block diagram showing a configuration of a processing device provided in the position detection device.
- FIG. 7 is a flowchart for explaining the contents of processing performed by the magnetic field intensity control unit.
- FIG. 8 is a schematic diagram for explaining the contents of processing performed by the magnetic field intensity control unit.
- FIG. 9 is a flowchart for explaining the contents of processing performed by the power determination unit.
- FIG. 10 is a schematic diagram showing a relationship between a reference coordinate axis and a target coordinate axis.
- FIG. 11 is a schematic diagram showing how the second linear magnetic field is used in position derivation.
- FIG. 12 is a schematic diagram showing how the diffusion magnetic field is used in position derivation.
- FIG. 13 is a schematic diagram illustrating an overall configuration of an in-subject introduction system according to the second embodiment.
- FIG. 14 is a schematic block diagram showing a configuration of a processing device provided in the position detection device.
- FIG. 1 is a schematic diagram illustrating an overall configuration of the intra-subject introduction system according to the first embodiment.
- the in-subject introduction system according to the first embodiment includes a capsule endoscope 2 that is introduced into the subject 1 and moves along a passage route, and a capsule endoscope.
- a position detection device 3 that performs wireless communication with 2 and detects a positional relationship between a target coordinate axis fixed to the capsule endoscope 2 and a reference coordinate axis fixed to the subject 1.
- the display device 4 that displays the contents of the radio signal transmitted from the capsule endoscope 2 received by the position detection device 3 and the information exchange between the position detection device 3 and the display device 4 are performed.
- the target coordinate axis which is a coordinate axis formed by the X axis, the Y axis, and the Z axis and is fixed to the capsule endoscope 2, and the X axis, It is formed by the y-axis and z-axis, and is determined independently of the movement of the capsule endoscope 2, and specifically, the reference coordinate axis that is a fixed coordinate axis with respect to the subject 1 is set. The positional relationship of the target coordinate axis with respect to the reference coordinate axis is detected using the mechanism described in (1).
- the display device 4 is for displaying an in-subject image received by the capsule endoscope 2 and received by the position detection device 3, and is displayed on the portable recording medium 5. It has a configuration such as a workstation that displays images based on the obtained data. Specifically, the display device 4 may be configured to directly display an image or the like by a CRT display, a liquid crystal display, or the like, or may be configured to output an image or the like to another medium such as a printer.
- the portable recording medium 5 is detachable from a processing device 12 and a display device 4 described later. Thus, it has a structure capable of outputting and recording information when inserted into both. Specifically, the portable recording medium 5 is inserted into the processing device 12 while the capsule endoscope 2 is moving in the body cavity of the subject 1, and the target coordinate axis with respect to the in-subject image and the reference coordinate axis. The positional relationship is stored. Then, after the capsule endoscope 2 is discharged from the subject 1, the capsule endoscope 2 is taken out from the processing device 12 and inserted into the display device 4, and the recorded data is read out by the display device 4.
- Data is transferred between the processing device 12 and the display device 4 using a portable recording medium 5 such as a CompactFlash (registered trademark) memory.
- a portable recording medium 5 such as a CompactFlash (registered trademark) memory.
- the subject 1 can freely move even when the capsule endoscope 2 is moving inside the subject 1.
- the capsule endoscope 2 functions as an example of a detection target in the present invention. Specifically, the capsule endoscope 2 is introduced into the subject 1, acquires in-subject information while moving in the subject 1, and transmits a radio signal including the acquired in-subject information. It has a function to transmit to the outside.
- the capsule endoscope 2 has a magnetic field detection function for detecting a positional relationship, which will be described later, and has a configuration in which driving power is supplied from the outside. Specifically, a wireless signal transmitted from the outside is used. And receiving the radio signal as drive power.
- FIG. 2 is a block diagram showing a configuration of the capsule endoscope 2.
- the force-pessel endoscope 2 has an in-subject information acquisition unit 14 that acquires in-subject information as a mechanism for acquiring in-subject information, and the acquired in-subject information. And a signal processing unit 15 for performing predetermined processing.
- the capsule endoscope 2 also detects a magnetic field as a magnetic field detection mechanism, outputs a magnetic signal 16 corresponding to the detected magnetic field, an amplification unit 17 for amplifying the output electric signal, and an amplification And an AZD conversion unit 18 for converting the electrical signal output from the unit 17 into a digital signal.
- the in-subject information acquiring unit 14 is for acquiring in-subject information, that is, an in-subject image as image data in the subject in the first embodiment.
- the in-subject information acquisition unit 14 includes an LED 22 that functions as an illumination unit, an LED drive circuit 23 that controls driving of the LED 22, and an imaging unit that captures at least a part of the area illuminated by the LED 22.
- a CCD drive circuit 25 that controls the drive state of the CCD 24.
- the illumination unit and the imaging unit it is not essential to use an LED or a CCD.
- a CMOS or the like may be used as the imaging unit.
- the magnetic field sensor 16 is for detecting the azimuth and intensity of the magnetic field formed in the region where the capsule endoscope 2 is present.
- the magnetic field sensor 16 is formed using, for example, an MI (magnetolmpedance) sensor.
- the Ml sensor has a configuration that uses, for example, an FeCoSiB amorphous wire as a magnetosensitive medium, and when a high frequency current is applied to the magnetosensitive medium, the magnetic impedance of the magnetosensitive medium greatly changes due to an external magnetic field. Magnetic field strength is detected using Ml effect.
- the magnetic field sensor 16 may be configured using, for example, an MRE (magnetoresistive effect) element, a GMR (giant magnetoresistive effect) magnetic sensor, or the like in addition to the Ml sensor.
- the target coordinate axes defined by the X axis, the Y axis, and the Z axis are assumed as the coordinate axes of the capsule endoscope 2 to be detected.
- the magnetic field sensor 16 detects the magnetic field strength of the X direction component, the Y direction component, and the Z direction component for the magnetic field formed in the region where the capsule endoscope 2 is located, It has a function to output an electrical signal corresponding to the magnetic field strength in the direction of.
- the magnetic field strength component in the target coordinate axis detected by the magnetic field sensor 16 is transmitted to the position detection device 3 via the wireless transmission unit 19 described later.
- the position detection device 3 detects the magnetic field component detected by the magnetic field sensor 16. Based on this value, the positional relationship between the target coordinate axis and the reference coordinate axis is derived.
- the capsule endoscope 2 includes a transmission circuit 26 and a transmission antenna 27, and a radio transmission unit 19 for performing radio transmission to the outside, and a signal output to the radio transmission unit 19 And a switching unit 20 that appropriately switches between the one output from the signal processing unit 15 and the one output from the AZD conversion unit 18.
- the capsule endoscope 2 includes a timing generation unit 21 for synchronizing the drive timings of the in-vivo information acquisition unit 14 , the signal processing unit 15, and the switching unit 20.
- the capsule endoscope 2 has a receiving antenna 28 and a radio signal force received via the receiving antenna 28 as a mechanism for receiving a radio signal for power supply of external force.
- a power regeneration circuit 29 that regenerates power
- a booster circuit 30 that boosts the voltage of the power signal output from the power regeneration circuit 29, and a power signal that has been changed to a predetermined voltage by the booster circuit 30 and accumulates the other
- a capacitor 31 that supplies power for driving the components.
- the receiving antenna 28 is formed using, for example, a loop antenna.
- a loop antenna is fixed at a predetermined position in the capsule endoscope 2, and specifically has a predetermined position and a directing direction on the target coordinate axis fixed to the capsule endoscope 2. It is arranged as follows.
- the position detection device 3 includes receiving antennas 7a to 7d for receiving a radio signal transmitted from the force-push type endoscope 2, and a power supply for the capsule endoscope 2. Transmitting antennas 8a to 8d for transmitting radio signals, a first linear magnetic field forming unit 9 that forms a first linear magnetic field, a second linear magnetic field forming unit 10 that forms a second linear magnetic field, and a diffusion magnetic field A diffusion magnetic field forming unit 11, a processing device 12 that performs predetermined processing on radio signals received via the receiving antennas 7 a to 7 d, and a magnetic field sensor 13 that functions as a physique information detection unit.
- the receiving antennas 7a to 7d are for receiving radio signals transmitted from the radio transmitting unit 19 provided in the capsule endoscope 2. Specifically, the receiving antennas 7a to 7d are formed by a loop antenna or the like and have a function of transmitting a received radio signal to the processing device 12.
- the transmitting antennas 8a to 8d are for transmitting the radio signal generated by the processing device 12 to the capsule endoscope 2. Specifically, the transmission antennas 8a to 8d are formed by a loop antenna or the like electrically connected to the processing device 12.
- FIG. 1 schematically shows only these components, and the number of receiving antennas 7a to 7d etc. is not limited to the number shown in FIG.
- the shape and the like are not limited to those shown in FIG. 1, and any configuration can be adopted.
- the first linear magnetic field forming unit 9 is for forming a linear magnetic field in a predetermined direction in the subject 1.
- the “linear magnetic field” is a magnetic field component force substantially only in one direction in at least a predetermined spatial region, in the spatial region where the capsule endoscope 2 in the subject 1 can be located in the first embodiment. It refers to a magnetic field. Specifically, as shown in FIG.
- the first linear magnetic field forming unit 9 includes a coil formed so as to cover the body portion of the subject 1, and has a predetermined power for the coil to be covered. It has a function of forming a linear magnetic field in the space region inside the subject 1 by supplying a predetermined power by a power supply unit (not shown) that supplies.
- a power supply unit not shown
- an arbitrary direction may be selected as the traveling direction of the first linear magnetic field, but in the first embodiment, the first linear magnetic field is z on the reference coordinate axis fixed to the subject 1. A linear magnetic field traveling in the axial direction is assumed.
- FIG. 3 is a schematic diagram showing a first linear magnetic field formed by the first linear magnetic field forming unit 9.
- the coil forming the first linear magnetic field forming unit 9 is formed so as to include the body of the subject 1 inside and has a configuration extending in the z-axis direction of the reference coordinate axis. Therefore, as shown in FIG. 3, the first linear magnetic field formed in the subject 1 by the first linear magnetic field forming unit 9 forms magnetic force lines that travel in the z-axis direction of the reference coordinate axis.
- the second linear magnetic field forming unit 10 is for forming a second linear magnetic field that is a linear magnetic field that travels in a direction different from the first linear magnetic field. Further, the diffusion magnetic field forming unit 11 is different from the first linear magnetic field forming unit 9 and the second linear magnetic field forming unit 10 in that the magnetic field direction has a position dependency. It is intended to form a magnetic field that diffuses with increasing distance.
- FIG. 4 is a schematic diagram showing configurations of the second linear magnetic field forming unit 10 and the diffusion magnetic field forming unit 11 and an aspect of the second linear magnetic field formed by the second linear magnetic field forming unit 10.
- the second linear magnetic field forming unit 10 includes a coil 32 that extends in the y-axis direction on the reference coordinate axis and is formed so that the coil cross section is parallel to the xz plane. Therefore, the second linear magnetic field formed by the coil 32 is at least inside the subject 1 as shown in FIG.
- the strength gradually decreases with distance from the coil 32, that is, has a position dependency with respect to the strength.
- the diffusion magnetic field forming unit 11 includes a coil 34.
- the coil 32 is arranged so as to form a magnetic field having a traveling direction in a direction determined in advance, and in the case of the first embodiment, the linear magnetic field formed by the coil 32 proceeds. It is arranged so that the direction is the y-axis direction of the reference coordinate axis.
- the coil 34 is fixed at a position where it forms a diffusion magnetic field that is the same as the magnetic field direction stored in the magnetic field direction database 42 described later.
- FIG. 5 is a schematic diagram showing an aspect of the diffusion magnetic field formed by the diffusion magnetic field forming unit 11.
- the coil 34 provided in the diffusion magnetic field forming unit 11 is spirally formed on the surface of the subject 1, and the diffusion magnetic field formed by the diffusion magnetic field forming unit 11 is shown in FIG.
- the magnetic lines of force diffuse radially and diffuse so as to enter the coil 34 again.
- the diffusion magnetic field forming unit 11 is also arranged outside the subject 1 and forms a magnetic field radially, so that the formed diffusion magnetic field has a characteristic that the intensity decreases as the distance from the coil 34 increases.
- the magnetic field sensor 13 detects a magnetic field intensity such as a first linear magnetic field at a predetermined position on the outer surface as an example of physique information corresponding to the outer surface shape of the subject 1 that varies depending on individual differences. It functions as an example of the physique information detection means in the present invention.
- the magnetic field sensor 13 is disposed at a predetermined position on the outer surface of the subject 1, for example, the base of the foot, the abdomen, the side of the abdomen, and the base of the neck. It has a function to detect the strength of
- the magnetic field sensor 13 is a region where the distance from the magnetic field forming means (for example, the second linear magnetic field forming unit 10) can be located in the capsule endoscope 2 that is a detection target when performing position detection. It is preferably arranged at a position that is larger than the maximum value of the distance between the (existable region in FIG. 8 described later) and the magnetic field forming means. Further, as a specific configuration of the magnetic field sensor 13, the magnetic field sensor 13 has a configuration including an Ml sensor and the like, similar to the magnetic field sensor 16 included in the capsule endoscope 2, and information on the detected magnetic field strength is transmitted to the processing device 12. Has a function to output The
- FIG. 6 is a block diagram schematically showing a specific configuration of the processing apparatus 12.
- the processing device 12 has a function of receiving a radio signal transmitted by the capsule endoscope 2, and determines whether any of the receiving antennas 7a to 7d corresponds to the function to be covered.
- a signal processing unit 39 for reconstructing an image signal or the like by processing the original signal.
- the signal processing unit 39 performs magnetic field signals S to S and S based on the extracted original signal.
- the magnetic field signals S to S are the first straight lines detected by the magnetic field sensor 16, respectively.
- the image signal S is output to the recording unit 43.
- Recording unit 43 is input
- the processing device 12 has a function of detecting the position of the capsule endoscope 2 inside the subject 1 based on the magnetic field intensity detected by the capsule endoscope 2, and the like. It has a function of detecting the orientation formed by the target coordinate axis fixed with respect to the capsule endoscope 2 with respect to the reference coordinate axis fixed with respect to the capsule endoscope 2. Specifically, out of the signals transmitted by the capsule endoscope 2 and output by the signal processing unit 39, the magnetic field signals S and S corresponding to the detected intensities of the first linear magnetic field and the second linear magnetic field are used. Based on the reference coordinate axis
- azimuth deriving unit 40 Capsule using azimuth deriving unit 40 for deriving the azimuth of the target coordinate axis, magnetic field signal S and magnetic field signal S corresponding to the detected intensity of the diffusion magnetic field, and derivation result of azimuth deriving unit 40
- a position deriving unit 41 for deriving the position of the endoscope 2 and a magnetic field direction database 42 that records the correspondence between the traveling direction and position of the magnetic field lines constituting the diffusion magnetic field when the position deriving unit 41 derives the position; Is provided. The direction derivation and position derivation by these components will be described in detail later.
- the processing device 12 has a function of wirelessly transmitting drive power to the capsule endoscope 2, and an oscillator 44 that defines the frequency of a wireless signal to be transmitted, and is output from the oscillator 44.
- An amplification circuit 46 that amplifies the intensity of the radio signal, and a transmission antenna selection unit 47 that selects a transmission antenna used for transmission of the radio signal are provided.
- the earned radio signal is received by the receiving antenna 28 provided in the capsule endoscope 2 and functions as driving power for the capsule endoscope 2.
- the processing device 12 also includes a selection control unit 48 that controls the antenna selection mode by the reception antenna selection unit 37 and the transmission antenna selection unit 47.
- the selection control unit 48 is based on the direction and position of the capsule endoscope 2 derived by the azimuth deriving unit 40 and the position deriving unit 41, respectively, and is the most suitable transmission antenna for transmission / reception with respect to the capsule endoscope 2. 8 and a function of selecting the receiving antenna 7.
- the processing apparatus 12 includes the first linear magnetic field forming unit 9, the second linear magnetic field forming unit 10, and the diffusion magnetic field forming unit 11 before the capsule endoscope 2 is introduced into the subject 1. It has a function of controlling to form a magnetic field with sufficient strength to detect the position.
- the processing device 12 includes a magnetic field strength control unit 50 that controls the strength of the magnetic field formed by the first linear magnetic field forming unit 9 and the like based on the magnetic field strength detected by the magnetic field sensor 13, and a magnetic field strength control. And a magnetic field intensity database 51 for storing information necessary for control by the unit 50.
- the magnetic field strength control unit 50 forms the strength of the formed magnetic field with respect to the first linear magnetic field forming unit 9, the second linear magnetic field forming unit 10, and the diffusion magnetic field forming unit 11 based on the magnetic field strength detected by the magnetic field sensor 13. It has a function to perform control so as to optimize. Specifically, the magnetic field strength control unit 50 controls the power supplied to the first linear magnetic field forming unit 9 and the like based on the magnetic field strength detected by the magnetic field sensor 13, and the first linear magnetic field forming unit 9 and the like. It has a function to control the strength of the magnetic field to be formed by changing the amount of current flowing in the coil [0059]
- the magnetic field strength database 51 records information necessary for the control operation by the magnetic field strength control unit 50.
- the magnetic field strength database 51 has a function of storing the allowable range of the magnetic field strength at the position of the magnetic field sensor 13 with respect to each of the first linear magnetic field, the second linear magnetic field, and the diffusion magnetic field, for example.
- the minimum allowable value and the maximum allowable value relating to the magnetic field intensity detected by the magnetic field sensor 13 are stored. If the magnetic field intensity control unit 50 determines that the detection result force in the magnetic field sensor 13 is actually outside the allowable range based on the information applied, it changes the power supplied to the first linear magnetic field forming unit 9 etc. Will be controlled.
- the processing device 12 is for supplying a current necessary for magnetic field formation by the first linear magnetic field forming unit 9 and the like, and is a power supply unit 5 that can be attached to and detached from the main body of the processing device 12. 3 and the power supply unit 53 has a function of determining whether or not sufficient power can be supplied to the first linear magnetic field forming unit 9 and the like.
- the processing device 12 includes a power determination unit 52 that determines whether the power supply unit 53 holds the necessary power derived based on the control content by the magnetic field strength control unit 50, and the power determination unit 52. And a display unit 54 for displaying the obtained determination result.
- the in-subject introduction system according to Example 1 acquires the physique information of the subject 1 before performing position detection, controls the magnetic field strength based on the physique information, and realizes the controlled magnetic field strength. Power judgment is performed to determine whether or not the power supply unit 53 holds the power necessary for this. Therefore, in the following description, after describing the magnetic field strength control operation and the power determination operation, the position detection operation using the first linear magnetic field or the like will be described. In the following description, the magnetic field strength control operation and the power determination operation will be described by way of example for the second linear magnetic field, but in the actual operation of the in-vivo introduction system, the first linear magnetic field and the diffusion magnetic field The same control operation is performed for.
- FIG. 7 is a flowchart of a control operation performed by the magnetic field strength control unit 50 in the in-subject introduction system according to the first embodiment.
- the field strength control unit 50 first inputs the magnetic field strength related to the second linear magnetic field detected by the magnetic field sensor 13 arranged at a predetermined position on the outer surface of the subject 1 as physique information (step S101). Then, it is determined whether or not the detected magnetic field strength value is less than the allowable minimum value recorded in the magnetic field strength database 51 (step S102). If the magnetic field strength is less than the allowable minimum value, (Step S102: Yes), the magnetic field intensity control unit 50 controls the second linear magnetic field forming unit 10 to increase the intensity of the second linear magnetic field (Step S103), and returns to Step S102 again.
- step S102 determines whether or not the magnetic field strength value as the detection result is greater than the allowable maximum value recorded in the magnetic field strength database 51. Is determined (step S104).
- the magnetic field strength control unit 50 controls the second linear magnetic field forming unit 10 so that the strength of the second linear magnetic field is reduced (step S105), and again.
- the intensity of the second linear magnetic field at the position where the magnetic field sensor 13 is arranged is converged to a value between the allowable minimum value and the allowable maximum value recorded in the magnetic field intensity database 51. It becomes.
- the same control processing is performed for the first linear magnetic field forming unit 9 for forming the first linear magnetic field and the diffusion magnetic field forming unit 11 for forming the diffusion magnetic field, and the magnetic field sensor 13 is arranged for the magnetic field formed by each.
- the intensity is adjusted to be between the specified minimum and maximum allowable values at the specified position.
- FIG. 8 is a schematic diagram showing the second linear magnetic field formed by the second linear magnetic field forming unit 10 as a result of the magnetic field intensity control.
- a plurality of magnetic field sensors 13a to 13d are respectively arranged on the outer surface of the subject 1, and among these, the magnetic field sensor 13d is connected to the second linear magnetic field forming unit 10. It is assumed that the distance is arranged at a position where the distance is larger than the maximum value of the distance between the existence region 56 where the capsule endoscope 2 can exist and the second linear magnetic field forming unit 10. Specifically, as shown in FIG.
- the farthest point 57 which is a point on the periphery of the possible region 56 and is farthest from the second linear magnetic field forming unit 10
- the second straight line Distance from the magnetic field forming unit 10 ! Value of the distance from the second linear magnetic field forming unit 10 !: max
- the magnetic field sensor 13d is arranged so that becomes larger. [0064] Under such an arrangement, the magnetic field strength detected by the magnetic field sensor 13d is used as the physique information, and the magnetic field strength value detected by the magnetic field sensor 13d is kept between the allowable minimum value and the allowable maximum value.
- the magnetic field formed by the magnetic field forming means does not increase in strength as the magnetic field forming means force is separated.
- the second magnetic field is As the distance from the linear magnetic field forming unit 10 increases, the intensity gradually decreases.
- the strength of the second linear magnetic field becomes a value equal to or greater than the allowable minimum value at an arbitrary position.
- the intensity of the second linear magnetic field is a value equal to or less than the allowable maximum value.
- the magnetic field strength control unit 50 controls the drive state of the second linear magnetic field forming unit 10 using the magnetic field sensor 13, thereby controlling the magnetic field strength inside the subject 1 and outside the subject 1.
- FIG. 9 is a flowchart for explaining the processing of the power determination unit.
- the power determination unit 52 acquires the value of the magnetic field strength determined by the magnetic field strength control unit 50 (step S 201).
- the magnetic field strengths derived for each of them are provided.
- the value of is entered.
- the power determination unit 52 derives a necessary amount of power necessary for the first linear magnetic field forming unit 9 and the like in order to realize each magnetic field intensity over a predetermined time (step S 202).
- step S203 the value of the retained power that is the amount of power retained in the power supply unit 53 is acquired. Then, the power determination unit 52 determines whether or not the holding power amount acquired in step S203 is greater than the required power amount derived in step S202 (step S204), and the holding power amount is higher than the required power amount. If it is determined that there are many (step S204: Yes), the power determination process ends. On the other hand, when the required power amount is larger than the retained power amount, a predetermined warning is displayed to the user that there is a possibility of power shortage (step S205). Note that in step S202, the power consumed by the components of the processing device 12 is actually added. However, the power value is almost the same regardless of the individual difference of subject 1. For example, it is assumed that the power determination unit 52 holds the data as bullying data.
- the capsule endoscope 2 is introduced into the subject 1, and the inside of the capsule 1 inside the subject 1 is acquired while acquiring the in-subject information. The position of the endoscope 2 is detected.
- the position detection of the capsule endoscope 2 as the detection target in the in-vivo introduction system according to the first embodiment will be described.
- the positional relationship between the reference coordinate axis fixed with respect to the subject 1 and the target coordinate axis fixed with respect to the capsule endoscope 2 is obtained. Specifically, after deriving the orientation of the target coordinate axis with respect to the reference coordinate axis, using the derived orientation, the position of the origin of the target coordinate axis on the reference coordinate axis, that is, the capsule inside the subject 1 The position of the mold endoscope 2 is derived. Therefore, in the following description, the direction deriving mechanism will be described first, and then the force that will explain the position deriving mechanism using the derived direction.
- the present invention is not limited to a system having a position detecting mechanism. It is.
- FIG. 10 is a schematic diagram showing the relationship between the reference coordinate axis and the target coordinate axis when the capsule endoscope 2 is moving in the subject 1.
- the capsule endoscope 2 travels along the passage path inside the subject 1 and rotates by a predetermined angle about the traveling direction.
- the target coordinate axis fixed with respect to the capsule endoscope 2 has a azimuth shift as shown in FIG. 10 with respect to the reference coordinate axis fixed with respect to the subject 1.
- the first linear magnetic field forming unit 9 and the second linear magnetic field forming unit 10 are each fixed to the subject 1. Therefore, the first and second linear magnetic fields formed by the first linear magnetic field forming unit 9 and the second linear magnetic field forming unit 10 are in a fixed direction with respect to the reference coordinate axis, specifically, the first linear magnetic field is the reference coordinate axis.
- the second linear magnetic field forming unit 10 is used in the z-axis direction, the second linear magnetic field proceeds in the y-axis direction.
- the azimuth derivation in the first embodiment is performed using the first linear magnetic field and the second linear magnetic field.
- the magnetic field sensor 16 provided in the capsule endoscope 2 is used.
- the traveling directions of the first linear magnetic field and the second linear magnetic field supplied in time division are detected.
- the magnetic field sensor 16 is configured to detect the magnetic field components in the X-axis direction, the Y-axis direction, and the Z-axis direction in the target coordinate axis, and the traveling direction of the detected first and second linear magnetic fields in the target coordinate axis
- the information on is transmitted to the position detection device 3 via the wireless transmission unit 19.
- the radio signal transmitted by the capsule endoscope 2 is output as magnetic field signals S and S through processing by the signal processing unit 39 and the like.
- the signal processing unit 39 For example, in the example of FIG.
- S contains information about coordinates (X, Y, Z) as the traveling direction of the first linear magnetic field
- the magnetic field signal S contains information about the coordinates (X, Y, Z) as the direction of travel of the second linear magnetic field.
- the bearing deriving unit 40 receives the magnetic field signals S and S and receives the reference position.
- the azimuth deriving unit 40 has an inner product value of 0 for both (X, Y, Z) and (X, Y, Z) on the target coordinate axis.
- the direction deriving unit 40 performs predetermined coordinate conversion processing based on the above-described correspondence relationship, derives the coordinates of the reference coordinate axes of the X axis, the Y axis, and the Z axis in the target coordinate axis, and determines the coordinates to be collected as the direction. Output as information.
- the above is the direction deriving mechanism by the direction deriving unit 40.
- the position deriving unit 41 receives the magnetic field signals S, S from the signal processing unit 39.
- the information stored in the base 42 is input.
- the position deriving unit 41 derives the position of the capsule endoscope 2 as follows based on the input information.
- the position deriving unit 41 uses the magnetic field signal S and the second linear magnetic field forming unit 10 and the capsule.
- Magnetic field signal S is the presence of capsule endoscope 2
- the second linear magnetic field corresponds to the detection result of the second linear magnetic field in the region
- the second linear magnetic field forming unit corresponds to the fact that the second linear magnetic field forming unit 10 is arranged outside the subject 1. It has a characteristic that its strength attenuates as it is separated from 10. Using the characteristic, the position deriving unit 41 uses the strength of the second linear magnetic field in the vicinity of the second linear magnetic field forming unit 10 ( Capsule from which the magnetic field signal S force can be obtained.
- the strength of the second linear magnetic field in the region where the type endoscope 2 exists is compared, and the distance r between the second linear magnetic field forming unit 10 and the capsule endoscope 2 is derived.
- the capsule endoscope 2 is located on the curved surface 59, which is a set of points separated from the second linear magnetic field forming unit 10 by a distance !: Clearly becomes power.
- the position deriving unit 41 has the magnetic field signal S and the azimuth information derived by the azimuth deriving unit 40.
- the position of the capsule endoscope 2 on the curved surface 59 is derived based on the information and the information stored in the magnetic field direction database 42. Specifically, magnetic field signal S and direction information
- the magnetic field signal S is a signal corresponding to the result of detecting the diffuse magnetic field based on the target coordinate axis.
- the orientation information is used for the traveling direction of the diffusion magnetic field based on the magnetic field signal S.
- the traveling direction of the diffusion magnetic field on the reference coordinate axis at the position where the capsule endoscope 2 exists is derived. Since the magnetic field direction database 42 records the correspondence between the traveling direction and position of the diffusion magnetic field on the reference coordinate axis, the position deriving unit 41 stores the magnetic field line direction database 42 in the magnetic field direction database 42 as shown in FIG. The position corresponding to the traveling direction of the diffused magnetic field derived by referring to the obtained information is derived, and the derived position is specified as the position of the capsule endoscope 2. By performing the above processing, the azimuth and position of the capsule endoscope 2 in the subject 1 are derived, and the position detection is completed.
- the in-subject introduction system according to the first embodiment has the advantage that a position detection magnetic field with sufficient strength can be formed when performing position detection, regardless of differences in physique due to individual differences in subject 1.
- the magnetic field sensor 13 is arranged on the outer surface of the subject 1, and the distance between the magnetic field forming means (for example, the second linear magnetic field forming unit 10) and the magnetic field sensor 13 is It changes according to the physique of subject 1. Therefore, the magnetic field intensity detected by the magnetic field sensor 13 functions as a value reflecting the physique of the subject 1, that is, physique information corresponding to the outer surface shape of the subject 1.
- the magnetic field sensor 13 is a physique information detecting means. It will function as.
- Example 1 the optimal strength is based on the strong physique information.
- the magnetic field strength control unit 50 controls the strength of the magnetic field formed by the magnetic field forming means such as the second linear magnetic field forming unit 10. By adjusting, it is possible to form a magnetic field with sufficient strength regardless of the difference in the physique of the subject 1.
- the magnetic field forming means (for example, the second linear magnetic field forming unit 10) is associated with at least one of the one or more magnetic field sensors 13.
- a position where the distance between and the position where the capsule endoscope 2 as the detection target can be located when performing position detection is greater than the maximum value of the distance between the area where the capsule endoscope 2 can exist and the magnetic field forming means Placed in
- a general magnetic field such as the second linear magnetic field has a characteristic that the intensity does not increase according to the distance but normally attenuates. Therefore, when the magnetic field sensor 13 is arranged at the above position, In all regions within the possible region 56, a magnetic field having a strength higher than the magnetic field strength detected by the magnetic field sensor 13 is formed.
- the minimum allowable value recorded in the magnetic field intensity database 51 is appropriately set, for example, the minimum intensity that can be detected by the magnetic field sensor 16 provided in the capsule endoscope 2. This makes it possible to detect the position detection magnetic field by the magnetic field sensor 16 provided in the capsule endoscope 2 in all the areas within the possible existence area 56 regardless of the physical difference of the subject 1. Obviously,
- the first embodiment it is possible to reduce the influence of the position detection magnetic field on other electronic devices outside the subject 1.
- a general magnetic field such as a magnetic field for position detection does not increase in intensity according to the distance of the magnetic field forming means force, but normally attenuates.
- the magnetic field intensity in the region located farther than 13 is a value equal to or smaller than the value detected by the magnetic field sensor 13. Therefore, by appropriately setting the allowable maximum value recorded in the magnetic field strength database 51, it is possible to suppress the strength of the magnetic field formed by the magnetic field forming means outside the subject 1, and the subject. It is possible to reduce the influence on the electronic equipment etc. existing outside the specimen 1.
- the magnetic field strength control unit 50 has a configuration for controlling the magnetic field strength by adjusting the supplied power, and the supplied power derived by the magnetic field strength control unit 50 is used.
- a power determination unit 52 that determines whether or not the power supply unit 53 can supply power is provided. That is, the in-subject introduction system according to the first embodiment uses the magnetic field strength control unit 50 to form a magnetic field having a sufficient and sufficient strength for detection according to individual differences of the subject 1.
- a configuration is adopted in which the amount of power supplied to the magnetic field forming means is changed. Therefore, a mechanism for determining whether or not the retained power amount held in the power supply unit 53 is sufficient with respect to the changing required power amount is necessary. In the first embodiment, the power for performing a powerful determination is required.
- Judgment unit 52 is newly provided.
- the power determination unit 52 for example, when the required power amount has a large value as in the case where the subject 1 is a large adult male, the retained power amount held in the power supply unit 53 is reduced. It is possible to grasp problems such as insufficiency in advance and to take measures such as replacing the power supply unit 53 with a large capacity in advance.
- the in-subject introduction system according to Example 2 has a function of performing position detection by using the geomagnetism instead of the magnetic field formed by the first linear magnetic field forming unit as the first linear magnetic field.
- FIG. 13 is a schematic diagram illustrating an overall configuration of the intra-subject introduction system according to the second embodiment.
- the in-subject introduction system according to the second embodiment includes the capsule endoscope 2, the display device 4, and the portable recording medium 5 as in the first to third embodiments.
- the configuration of the detection device 60 is different. Specifically, the first linear magnetic field forming unit 9 provided in the position detection device in Example 1 or the like is omitted, and a new geomagnetic sensor 61 is provided.
- the processing device 62 also has a configuration different from that of the first embodiment.
- the geomagnetic sensor 61 basically has the same configuration as the magnetic field sensor 16 provided in the capsule endoscope 2. That is, the geomagnetic sensor 61 has a function of detecting the strength of the magnetic field component in the predetermined three-axis direction in the arranged region and outputting an electrical signal corresponding to the detected magnetic field strength.
- the geomagnetic sensor 61 is arranged on the outer surface of the subject 1 and extends in the X-axis, y-axis, and z-axis directions in the reference coordinate axes fixed to the subject 1. Each has a function of detecting the intensity of the corresponding magnetic field component.
- the geomagnetic sensor 61 has a function of detecting the direction of travel of geomagnetism, and the X-axis direction.
- the electric signal corresponding to the magnetic field strength detected in the direction, the y-axis direction, and the z-axis direction is output to the processing device 62.
- FIG. 14 is a block diagram showing the configuration of the processing device 62.
- the processing device 62 basically has the same configuration as the processing device 12 in the first embodiment, but on the reference coordinate axis based on the electrical signal input from the geomagnetic sensor 61. It has a configuration including a geomagnetic azimuth deriving unit 63 for deriving the direction of travel of geomagnetism and outputting the derived result to the azimuth deriving unit 40.
- a problem that arises when geomagnetism is used as the first linear magnetic field is the derivation of the advancing direction of geomagnetism on the reference coordinate axis fixed with respect to the subject 1. That is, since the subject 1 can freely move while the capsule endoscope 2 moves in the body, the positional relationship between the reference coordinate axis fixed to the subject 1 and the geomagnetism. Is expected to change as the subject 1 moves. On the other hand, from the viewpoint of deriving the positional relationship of the target coordinate axis with respect to the reference coordinate axis, if the traveling direction of the first linear magnetic field in the reference coordinate axis is unknown, the reference coordinate axis and the target are related to the traveling direction of the first linear magnetic field. The problem is that the correspondence between the coordinate axes cannot be clarified.
- the geomagnetic sensor 61 and the geomagnetic azimuth deriving unit 63 are provided to monitor the advancing direction of the geomagnetism that varies on the reference coordinate axis due to the movement of the subject 1 or the like. .
- the geomagnetic azimuth deriving unit 63 derives the traveling direction of the geomagnetism on the reference coordinate axis and outputs the derived result to the azimuth deriving unit 40.
- the azimuth deriving unit 40 derives the correspondence between the reference coordinate axis and the target coordinate axis with respect to the direction of geomagnetism by using the input direction of geomagnetism, and the correspondence in the second linear magnetic field. Together with this, it is possible to derive azimuth information.
- the direction of geomagnetism and the second linear magnetic field formed by the second linear magnetic field forming unit 10 may be parallel to each other. In the case of profit, it is possible to detect the positional relationship by using data on the direction of the target coordinate axis and the position of the origin at the previous time.
- the geomagnetism and the second linear magnetic field In order to avoid being parallel to each other, for example, the extending direction of the coil 34 constituting the second linear magnetic field forming unit 10 is not the y-axis direction in the reference coordinate axis as shown in FIG. It is also effective to have a configuration that extends in the z-axis direction.
- the positional relationship detection system according to the second embodiment has further advantages due to the use of geomagnetism.
- geomagnetism As the first linear magnetic field, it is possible to omit the mechanism for forming the first linear magnetic field, and the coverage at the time of introduction of the capsule endoscope 2 can be reduced. It is possible to derive the positional relationship of the target coordinate axis with respect to the reference coordinate axis while reducing the burden on the specimen 1. Since the geomagnetic sensor 61 can be configured using an Ml sensor or the like, it can be sufficiently miniaturized, and the newly added geomagnetic sensor 61 does not increase the burden on the subject 1. Absent.
- the present invention has been described using the second embodiment.
- the present invention should not be construed as being limited to the above-described embodiments, and those skilled in the art will be able to conceive various embodiments / variations. It is possible to do.
- the second linear magnetic field forming unit 10 is described as an example of the magnetic field forming unit.
- the first linear magnetic field forming unit is used as the magnetic field forming unit.
- 9 or Z and the diffusion magnetic field forming unit 11 may be used, and the first linear magnetic field or Z and the diffusion magnetic field may be used as the position detection magnetic field.
- control by the magnetic field intensity control unit 50 may be performed only before the capsule endoscope 2 is introduced into the subject 1.
- the magnetic field sensor 13 may remove the external surface force of the subject 1 after the control by the magnetic field control unit 50 is once completed and the capsule endoscope 2 is introduced into the subject 1. good.
- the magnetic field sensor 16 provided in the capsule endoscope 2 before being introduced into the subject 1 is provided with a physique. It can be used in place of the magnetic field sensor 13 as information acquisition means.
- the magnetic field intensity control unit 50 may be configured to perform control based on the magnetic field intensity detected by the capsule endoscope 2 temporarily fixed at a predetermined position on the outer surface of the subject 1.
- the physique information is information that varies depending on the physique of the subject 1 and can be used when deriving the strength of the magnetic field formed by the magnetic field forming means.
- the configuration can be arbitrary as long as this is the case.
- information relating to the height and weight of the subject 1 may be used as the physique information.
- the magnetic field strength control unit 50 can control the magnetic field strength by recording the correspondence between the height and weight of the subject 1 and the strength of the magnetic field formed by the magnetic field forming means in the magnetic field strength database 51. It becomes.
- the detection target may be other than the capsule endoscope 2 inside the subject 1.
- the present invention can be applied regardless of the nature of the detection target.
- a magnetic field forming unit that forms a magnetic field for position detection, and the maximum value of the distance between the region where the detection target can be located (existing region) and the magnetic field forming unit with respect to the magnetic field forming unit
- a position provided with a magnetic field sensor that detects the strength of the magnetic field for position detection, and a magnetic field strength control unit that controls the magnetic field forming unit based on the magnetic field strength detected by the magnetic field sensor.
- the detection target and the like may be arbitrary.
- the in-subject introduction system and the position detection method which are useful in the present invention, are useful for medical observation apparatuses that are introduced into the human body and observe the subject site. It is suitable for forming a position detection magnetic field with the optimum intensity according to the difference in the physique of the subject.
Abstract
Description
Claims
Priority Applications (3)
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US11/631,234 US7686757B2 (en) | 2004-09-13 | 2005-09-13 | Position detecting apparatus, body-insertable apparatus system, and position detecting method |
EP05783168A EP1790279A4 (en) | 2004-09-13 | 2005-09-13 | POSITION DETECTING DEVICE, INTRODUCTION SYSTEM IN A SUBJECT, AND METHOD DETECTING METHOD |
US12/717,308 US8052595B2 (en) | 2004-09-13 | 2010-03-04 | Position detecting apparatus, body-insertable apparatus system, and position detecting method |
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JP2004266066A JP4560359B2 (ja) | 2004-09-13 | 2004-09-13 | 位置検出装置、被検体内導入システムおよび位置検出方法 |
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US12/717,308 Continuation US8052595B2 (en) | 2004-09-13 | 2010-03-04 | Position detecting apparatus, body-insertable apparatus system, and position detecting method |
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EP (1) | EP1790279A4 (ja) |
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2005
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- 2005-09-13 CN CN200580030573A patent/CN100581440C/zh not_active Expired - Fee Related
- 2005-09-13 US US11/631,234 patent/US7686757B2/en not_active Expired - Fee Related
- 2005-09-13 WO PCT/JP2005/016826 patent/WO2006030773A1/ja active Application Filing
- 2005-09-13 EP EP05783168A patent/EP1790279A4/en not_active Withdrawn
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2010
- 2010-03-04 US US12/717,308 patent/US8052595B2/en not_active Expired - Fee Related
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JP2004089421A (ja) * | 2002-08-30 | 2004-03-25 | Shimadzu Corp | 手術支援装置 |
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EP1965698A2 (en) * | 2005-12-29 | 2008-09-10 | Given Imaging Ltd. | System and method of in-vivo magnetic position determination |
EP1965698B1 (en) * | 2005-12-29 | 2014-02-19 | Given Imaging Ltd. | System and method of in-vivo magnetic position determination |
WO2007127316A3 (en) * | 2006-04-25 | 2008-04-03 | Dow Global Technologies Inc | Oral drug compliance monitoring using magnetic-field sensors |
EP2090215A1 (en) * | 2006-11-13 | 2009-08-19 | Olympus Medical Systems Corp. | System for detecting position of medical device, medical device guidance system, position detection method for medical device guidance system, and method for guiding medical device guidance system |
EP2090215A4 (en) * | 2006-11-13 | 2014-01-22 | Olympus Medical Systems Corp | SYSTEM FOR DETECTING POSITION OF A MEDICAL DEVICE, MEDICAL DEVICE GUIDING SYSTEM, POSITION DETECTING METHOD FOR MEDICAL DEVICE GUIDING SYSTEM, AND MEDICAL DEVICE GUIDING SYSTEM GUIDING METHOD |
CN103169442B (zh) * | 2006-11-13 | 2015-06-24 | 奥林巴斯医疗株式会社 | 医疗装置位置检测系统 |
Also Published As
Publication number | Publication date |
---|---|
EP1790279A1 (en) | 2007-05-30 |
JP4560359B2 (ja) | 2010-10-13 |
US20070255087A1 (en) | 2007-11-01 |
JP2006075535A (ja) | 2006-03-23 |
CN100581440C (zh) | 2010-01-20 |
US8052595B2 (en) | 2011-11-08 |
US7686757B2 (en) | 2010-03-30 |
EP1790279A4 (en) | 2009-12-23 |
CN101703400B (zh) | 2011-12-07 |
CN101703400A (zh) | 2010-05-12 |
US20100160732A1 (en) | 2010-06-24 |
CN101018500A (zh) | 2007-08-15 |
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