CN1929773B - Capsule medical device position/posture detecting system - Google Patents

Abstract

A detecting system of the position and the posture of a capsule medical device includes a main body of the capsule medical device that is inserted in a living body, a coil in a capsule that is arranged to the main body of the capsule medical device and forms a resonant circuit, a magnetic field generating device that is arranged around the living body and generates the Alternating magnetic field for generating an induced magnetic field in the coil in the capsule, and a plurality of magnetic field detecting devices that detect the strength of the induced magnetic field generated by the coil in the capsule by the magnetic field generated by the magnetic field generating device.

Description

Capsule medical device position/posture detecting system

Technical field

The present invention relates to detect the direction of the endoceliac capsule medical instrument main body of insertion and the capsule medical device position/posture detecting system of position.

Background technology

As the existing example of in subject, advancing, TOHKEMY 2001-179700 communique is for example arranged by means of rotating excitation field.In above-mentioned TOHKEMY 2001-179700 communique, disclose a kind of mobile control system of transportable micromodule equipment, it has: the magnetic field generation portion that produces rotating excitation field; Accept this rotating excitation field and rotation to obtain the robot body of thrust; The position detection part of detection machine human agent's position; With change unit, magnetic field, it is according to the detected robot body's of this position detection part position, and change is through the direction of the rotating excitation field of magnetic field generation portion formation, so that the robot body is towards the direction that arrives destination.

The position detection part that in the mobile control system of above-mentioned micromodule equipment, uses utilizes Magnetic Sensor to detect the magnetic field that is formed by the Magnet that is built in micromodule equipment, infers the position of above-mentioned micromodule equipment.

In addition; The mobile control system of the micromodule equipment that above-mentioned TOHKEMY 2001-179700 communique is put down in writing; When being that inside in the liquid is when moving at spawn; If can be the next moving direction of basic representation with the positional information, then micromodule equipment can more freely change direction in liquid.Therefore, the mobile control system of the micromodule equipment put down in writing of above-mentioned TOHKEMY 2001-179700 communique is not applied to the situation of control towards (direction) information neatly.

But; In the position detection part that in the mobile control system of the micromodule equipment that above-mentioned TOHKEMY 2001-179700 communique is put down in writing, uses; The rotating excitation field of rotating excitation field is provided and produces to above-mentioned micromodule equipment and disturb (influencing each other) based on the magnetic field of above-mentioned Magnet, be difficult to correct detect above-mentioned micromodule equipment towards and the position.

And; The mobile control system of the micromodule equipment that above-mentioned TOHKEMY 2001-179700 communique is put down in writing; The width of tube chamber or diameter diminish pipeline in body cavity, stenosis is narrow or tube chamber when being waveform, produce sometimes can not smooth and easy guiding micromodule equipment etc. phenomenon.

Therefore; The mobile control system of the micromodule equipment that above-mentioned TOHKEMY 2001-179700 communique is put down in writing; When being applicable to that guiding is controlled at the situation of the capsule medical instrument that moves in the body cavity; The change of the direction of capsule medical instrument is suppressed by tube chamber, can not always on specified direction, advance, conversion direction.Therefore, when not considering that above-mentioned situation just produces the magnetic field of target direction, capsule medical instrument might produce the state of akinesia owing to the inhibition of tube chamber.In order to address the above problem, need consider capsule medical instrument towards control.

The present invention is exactly In view of the foregoing and proposes, and its purpose is, capsule medical device position/posture detecting system is provided, and it does not influence the rotating excitation field of magnetic guide capsule medical treatment device main body, can correctly detect the capsule medical instrument main body towards and the position.

Summary of the invention

Capsule medical device position/posture detecting system has: insert intravital capsule medical instrument main body; Be located at the Magnet on the said capsule medical instrument main body; Go up the 1st magnetic field generation unit that produces magnetic field in any direction; Thrust produces structural portion, and it produces thrust by the magnetic field that is produced by said the 1st magnetic field generation unit and the effect of said Magnet to said capsule medical instrument main body; The capsule interior loop, it is located on the said capsule medical instrument main body, constitutes resonance circuit; The 2nd magnetic field generation unit, it is configured in around the said live body, and generation is used to make said resonance and makes said resonance circuit produce the AC magnetic field of induction electromotive force; A plurality of magnetic field detection unit, it detects the magnetic field intensity of the induced field of said capsule interior loop generation according to the magnetic field that said the 2nd magnetic field generation unit produces; Calculating part, it calculates the direction and the position of said capsule medical instrument main body according to from the unitary detected value of said magnetic field detection; And control circuit, it is according to the direction of the said capsule medical instrument main body that is calculated by said calculating part and the information of position, and control is by the magnetic field of said the 1st magnetic field generation unit generation.

Description of drawings

Fig. 1 is the overall structure figure of the capsule medical device position/posture detecting system of the 1st embodiment.

Fig. 2 is the circuit block diagram of the capsule medical device position/posture detecting system of Fig. 1.

Fig. 3 is the side illustration figure of capsule body.

Fig. 4 is the concept map of the action of the rotating excitation field that applied of expression and the capsule body realized by this rotating excitation field.

Fig. 5 is expression a oscillating magnetic field (couple produces and use magnetic field) that the rotating excitation field of Fig. 4 is applied and by the concept map of the action of the capsule body of this oscillating magnetic field (couple produces and uses magnetic field) realization.

Fig. 6 carries out the key diagram that position detects through the position checkout gear to capsule body.

Fig. 7 is the key diagram of expression rotating excitation field generator and position checkout gear.

Fig. 8 is the rotating excitation field generator of Fig. 7 and the amplification stereogram of position checkout gear.

Fig. 9 is rotating excitation field generator and the position checkout gear of Fig. 8 figure that decides what is right and what is wrong.

Figure 10 is the axonometric chart of variation of the position checkout gear of presentation graphs 8.

Figure 11 is rotating excitation field generator and the position checkout gear of Figure 10 figure that decides what is right and what is wrong.

Figure 12 is rotating excitation field generator and the axonometric chart of position checkout gear of the 2nd variation of the position checkout gear of presentation graphs 8.

Figure 13 is that expression constitutes the rotating excitation field generator that can be divided into two and the synoptic diagram of position checkout gear.

Figure 14 is that expression constitutes the rotating excitation field generator that can open and close and the synoptic diagram of position checkout gear.

Fig. 1 5A and Fig. 1 5B are that expression is configured in position and detects detection on the substrate with coil and the key diagram of excitation with the configuration mode example of coil, and Fig. 1 5A is that expression is configured in detection on the position detection substrate with coil and the excitation axonometric chart with the routine position detection substrate of the configuration mode of coil.

Fig. 1 5B is the rotating excitation field generator of Fig. 1 5A and the vertical view of position checkout gear.

Fig. 1 6A～Fig. 1 6C is that expression is configured in position and detects detection on the substrate with coil and the key diagram of excitation with other configuration modes examples of coil, and Fig. 1 6A is that expression is configured in detection on the position detection substrate with coil and the excitation axonometric chart with the routine position detection substrate of other the 1st configuration mode of coil.

Fig. 1 6B is that expression is configured in position and detects detection on the substrate with coil and the excitation axonometric chart with the routine position detection substrate of other the 2nd configuration mode of coil.

Fig. 1 6C is that expression is configured in position and detects detection on the substrate with coil and the excitation axonometric chart with the routine position detection substrate of other the 3rd configuration mode of coil.

Fig. 1 7A and Fig. 1 7B are the rotating excitation field generator of Figure 10 and the summary description figure of position checkout gear, and Fig. 1 7A is the summary axonometric chart of outward appearance of rotating excitation field generator and the position checkout gear of expression Figure 10.

Fig. 1 7B is the summary profile of internal structure of rotating excitation field generator and the position checkout gear of presentation graphs 17A.

Figure 18 is the summary axonometric chart of outward appearance of rotating excitation field generator and the position checkout gear of expression Figure 12.

Fig. 1 9A and Fig. 1 9B are the summary profiles of internal structure of rotating excitation field generator and the position checkout gear of expression Figure 18, and Fig. 1 9A representes that the A of internal structure of rotating excitation field generator and position checkout gear of Figure 18 is to the summary profile of looking.

Fig. 1 9B is that the B of internal structure of rotating excitation field generator and position checkout gear of expression Figure 18 is to the summary profile of looking.

Figure 20 be expression according to the capsule body that utilizes direction/position detecting device to detect towards (direction) and positional information, the flow chart of the action of the direction of control rotating excitation field etc.

Figure 21 is the circuit block diagram of the variation of expression direction/position detecting device shown in Figure 2.

Figure 22 capsule body that to be expression detect according to the direction of utilizing Figure 21/position detecting device towards (direction) and positional information, the flow chart of the action of the direction of control rotating excitation field etc.

The flow chart of Figure 23 control that to be expression append the flow chart of Figure 20 or Figure 22 again.

Fig. 2 4A～Fig. 2 4C is the key diagram of capsule body of the variation of the expression coil that constitutes resonance circuit, and Fig. 2 4A is the side illustration figure of capsule body of coil of on the coating member that covers inner matter, having reeled.

Fig. 2 4B is the key diagram of section configuration of the coating member of presentation graphs 24A.

Fig. 2 4C is the side illustration figure of capsule body of coil of on bar-like member, having reeled.

Fig. 2 5A～Fig. 2 5C is the circuit block diagram of the power-supply circuit that constitutes of resonance circuit that expression uses the coil utilize Fig. 2 4A～Fig. 2 4C to constitute, and Fig. 2 5A is the circuit block diagram of expression the 1st power-supply circuit.

Fig. 2 5B is the circuit block diagram of expression the 2nd power-supply circuit.

Fig. 2 5C is the circuit block diagram of expression the 3rd power-supply circuit.

Fig. 2 6A and Fig. 2 6B are rotating excitation field generator and the summary description figure of position checkout gear of the 3rd variation of the position checkout gear of presentation graphs 8, and Fig. 2 6A is rotating excitation field generator and the summary axonometric chart of position checkout gear of the 3rd variation of the position checkout gear of presentation graphs 8.

Fig. 2 6B is that the A of internal structure of rotating excitation field generator and position checkout gear of presentation graphs 26A is to the summary profile of looking.

Figure 27 is rotating excitation field generator and the summary axonometric chart of position checkout gear of the 4th variation of the position checkout gear of presentation graphs 8.

Fig. 2 8A and Fig. 2 8B are the summary description figure of the 5th variation of the position checkout gear of presentation graphs 8, and Fig. 2 8A is the summary axonometric chart of the 5th variation of the position checkout gear of presentation graphs 8.

Fig. 2 8B is the summary profile of internal structure of the position checkout gear of presentation graphs 28A.

Fig. 2 9A and Fig. 2 9B are the rotating excitation field generators and the key diagram of position checkout gear of the expression capsule medical device position/posture detecting system that constitutes the 2nd embodiment, and Fig. 2 9A is rotating excitation field generator and the summary axonometric chart of position checkout gear of the capsule medical device position/posture detecting system of expression formation the 2nd embodiment.

Fig. 2 9B is the summary profile of internal structure of rotating excitation field generator and the position checkout gear of presentation graphs 29A.

Figure 30 is rotating excitation field generator and the summary axonometric chart of position checkout gear of variation of the position checkout gear of presentation graphs 29A and Fig. 2 9B.

Figure 31 is that the A of internal structure of rotating excitation field generator and position checkout gear of expression Figure 30 is to the summary profile of looking.

Figure 32 is the rotating excitation field generator of the expression capsule medical device position/posture detecting system that constitutes the 3rd embodiment and the key diagram of position checkout gear.

Figure 33 is the rotating excitation field generator of Figure 32 and the major part enlarged drawing of position checkout gear.

Figure 34 is the overall structure figure of the capsule medical device position/posture detecting system of expression the 3rd embodiment.

Figure 35 is the flow chart of control action of the capsule medical device position/posture detecting system of expression the 3rd embodiment.

Figure 36 is the summary axonometric chart of variation of the position checkout gear of expression Figure 32.

Figure 37 is the summary description figure of the position checkout gear of Figure 36.

Figure 38 representes the variation of Figure 37, is to constitute flat position checkout gear carries out the position detection to capsule body key diagram through position being detected substrate.

Figure 39 replaces the capsule body that capacitor constituted resonance circuit and carries out the key diagram that position detects agitator is set through the position checkout gear.

Fig. 4 0A～Fig. 4 0C be the expression excitation with coil and the summary description figure that detects with the position relation of coil and capsule interior loop, Fig. 4 0A is that expression connects excitation and spool with capsule interior loop is in summary description figure that position when coaxial concern with detecting with coil with coil.

Fig. 4 0B be expression connect excitation with coil with detect with coil spool with the length orthogonality of center shaft of capsule interior loop the time the summary description figure that concerns of position.

Fig. 4 0C be expression capsule interior loop be in broken away from connect excitation with coil with detect with coil spool the position time the summary description figure that concerns of position.

The specific embodiment

Below, with reference to description of drawings embodiment of the present invention.

(the 1st embodiment)

Fig. 1～Figure 28 B relates to the 1st embodiment of the present invention; Fig. 1 is the overall structure figure of the capsule medical device position/posture detecting system of the 1st embodiment; Fig. 2 is the circuit block diagram of the capsule medical device position/posture detecting system of Fig. 1; Fig. 3 is the side illustration figure of capsule body; Fig. 4 is the concept map of the action of the rotating excitation field that applied of expression and the capsule body realized by this rotating excitation field; Fig. 5 is expression a oscillating magnetic field (couple produces and use magnetic field) that the rotating excitation field of Fig. 4 is applied and by the concept map of the action of the capsule body of this oscillating magnetic field (couple produces and uses magnetic field) realization; Fig. 6 carries out the key diagram that position detects by the position checkout gear to capsule body; Fig. 7 is the key diagram of expression rotating excitation field generation device and position checkout gear; Fig. 8 is the rotating excitation field generation device of Fig. 7 and the amplification stereogram of position checkout gear; Fig. 9 is the rotating excitation field generation device of Fig. 8 and the figure that decides what is right and what is wrong of position checkout gear; Figure 10 is rotating excitation field generation device and the stereogram of position checkout gear of the 1st variation of the position checkout gear of presentation graphs 8; Figure 11 is the rotating excitation field generation device of Figure 10 and the figure that decides what is right and what is wrong of position checkout gear; Figure 12 is rotating excitation field generation device and the stereogram of position checkout gear of the 2nd variation of the position checkout gear of presentation graphs 8; Figure 13 is that expression constitutes the rotating excitation field generation device that can be divided into two and the synoptic diagram of position checkout gear; Figure 14 is that expression constitutes the rotating excitation field generation device that can open and close and the synoptic diagram of position checkout gear; Figure 15 A and Figure 15 B are that expression is configured in detection coil and the excitation key diagram of the configuration mode example of coil on the position detection substrate; Figure 15 A is that the detection that expression is configured on the position detection substrate uses the position of the configuration mode example of coil to detect the stereogram of substrate with coil and excitation; Figure 15 B is the rotating excitation field generation device of Figure 15 A and the vertical view of position checkout gear; Figure 16 A～Figure 16 C is that expression is configured in detection coil and the excitation key diagram of other configuration modes examples of coil on the position detection substrate; Figure 16 A is that expression is configured in position and detects detection on the substrate with coil and excitation other the stereogram of position detection substrate of the 1st configuration mode example with coil; Figure 16 B is that expression is configured in position and detects detection on the substrate with coil and excitation other the stereogram of position detection substrate of the 2nd configuration mode example with coil; Figure 16 C is that expression is configured in position and detects detection on the substrate with coil and excitation other the stereogram of position detection substrate of the 3rd configuration mode example with coil; Figure 17 A and Figure 17 B are the rotating excitation field generation device of Figure 10 and the summary description figure of position checkout gear; Figure 17 A is the summary stereogram of outward appearance of rotating excitation field generation device and the position checkout gear of expression Figure 10; Figure 17 B is the summary profile of internal structure of rotating excitation field generation device and the position checkout gear of presentation graphs 17A; Figure 18 is the rotating excitation field generation device of Figure 12 and the summary description figure of position checkout gear; Figure 19 A and Figure 19 B are the summary profiles of internal structure of rotating excitation field generation device and the position checkout gear of expression Figure 18; Figure 19 A is that the A of internal structure of rotating excitation field generation device and position checkout gear of expression Figure 18 is to the summary profile of looking; Figure 19 B is that the B of internal structure of rotating excitation field generation device and position checkout gear of expression Figure 18 is to the summary profile of looking; Figure 20 be expression according to the capsule body that utilizes direction/position detecting device to detect towards (direction) and positional information; The flow chart of the action of the direction of control rotating excitation field etc.; Figure 21 is the circuit block diagram of variation of the direction/position detecting device of presentation graphs 2; Figure 22 capsule body that to be expression detect according to the direction of utilizing Figure 21/position detecting device towards (direction) and positional information; The flow chart of the action of the direction of control rotating excitation field etc.; The flow chart of Figure 23 control that to be expression append the flow chart of Figure 20 or Figure 22 again; Figure 24 A～Figure 24 C is the key diagram of capsule body of the variation of the expression coil that constitutes resonance circuit; Figure 24 A is the side illustration figure at the capsule body that covers the coil of having reeled on the coating member of inner matter; Figure 24 B is the key diagram of section configuration of the coating member of presentation graphs 24A; Figure 24 C is the side illustration figure of capsule body of coil of on bar-like member, having reeled; Figure 25 A～Figure 25 C is the circuit block diagram of the power-supply circuit that constitutes of resonance circuit that expression uses the coil utilize Figure 24 A～Figure 24 C to constitute; Figure 25 A is the circuit block diagram of expression the 1st power-supply circuit; Figure 25 B is the circuit block diagram of expression the 2nd power-supply circuit; Figure 25 C is the circuit block diagram of expression the 3rd power-supply circuit; Figure 26 A and Figure 26 B are rotating excitation field generation device and the summary description figure of position checkout gear of the 3rd variation of the position checkout gear of presentation graphs 8; Figure 26 A is rotating excitation field generation device and the summary stereogram of position checkout gear of the 3rd variation of the position checkout gear of presentation graphs 8; Figure 26 B is that the A of internal structure of rotating excitation field generation device and position checkout gear of presentation graphs 26A is to the summary profile of looking; Figure 27 is the summary stereogram of the 4th variation of the position checkout gear of presentation graphs 8; Figure 28 A and Figure 28 B are the summary description figure of the 5th variation of the position checkout gear of presentation graphs 8; Figure 28 A is the summary stereogram of the 5th variation of the position checkout gear of presentation graphs 8, and Figure 28 B is the summary profile of internal structure of the position checkout gear of presentation graphs 28A.

As depicted in figs. 1 and 2; The capsule medical device position/posture detecting system 1 of the 1st embodiment of the present invention has: below the capsule medical instrument main body 3(; Abbreviate capsule body as), it is inserted in not shown patient's the body cavity, plays a role as taking endoceliac capsule endoscope; The 1st magnetic field generation device as guiding device is a rotating excitation field generator 4, and it is configured in around the patient promptly external, and capsule body 3 is applied rotating excitation field, from this capsule body 3 of external guiding towards and the position; The magnetic field control device (or power control)5, it makes this rotating excitation field generator 4 produce the supply control of the drive current of rotating excitation field; Blood processor 6, it is configured in the external of patient, carries out the processing of carrying out radio communication with capsule body 3, and controlling magnetic field control device 5, controls the processing such as direction and size of the rotating excitation field that imposes on capsule body 3; Display device 7, it is connected with this blood processor 6, the image that demonstration photographs through capsule body 3 etc.; And input device 8, it is connected with blood processor 6, and through operators' such as operative doctor operation, the indication input is corresponding to the index signal of operation.Input device 8 for example comprises: the direction input device 8a that produces the index signal of magnetic direction; Generation is corresponding to the speed input equipment 8b of the index signal of the rotating excitation field of the speed of operation; And functional keys 8c, it produces corresponding to operation eccentric rotating excitation field etc., produces the index signal corresponding to the function that sets.

In addition; The position detection system 1 of capsule medical instrument is provided with the position checkout gear 9 as magnetic-field detecting unit such as Magnetic Sensor; Its generation be used to make be built in the capsule body 3 after state the AC magnetic field that resonance circuit 40 produces induction electromotive forces; And detect the magnetic field that produces by the resonance circuit 40 that has produced induction electromotive force according to this AC magnetic field; Detect capsule body 3 length direction towards (direction), also detection position simultaneously.The concrete structure of this position checkout gear 9 will be narrated in the back.

At first, capsule body 3 is described.

As shown in Figure 3, capsule body 3 is provided with the helical form projection (or threaded portion) 12 that becomes thrust generation structural portion at the outer peripheral face of the outer packaging container 11 of capsule shape, and it produces thrust by means of rotation.And, by should outside the airtight inside of packaging container 11, except that objective lens optical system 13 and be configured in the imaging apparatus 14 of its image space, for taking the illumination component 15 that throws light on etc., also taken in Magnet 16.

The optical axis of said objective lens optical system 13 is consistent with the central shaft C of capsule body 3 cylindraceous, for example is configured in the inboard of the transparent hemispheric preceding end shield 11a of forming of outer packaging container 11, and the middle body of preceding end shield 11a becomes observation window 17.In addition, in Fig. 3, do not illustrate, but illumination component 15 be configured in objective lens optical system 13 around.

Therefore, in this case, the visual field direction of objective lens optical system 13 becomes the optical axis direction of objective lens optical system 13, promptly along the direction of the cylindric central shaft C of capsule body 3.

And; Capsule body 3 is for example with near the following state inner capsule interior loop 42 that constitutes resonance circuit 40 of the taking in rear end of packaging container 11 outside, that is, and and with the direction of regulation; Specifically capsule interior loop 42 is wound into solenoid shape, its towards the length direction that is set to capsule body 3 towards.

In addition, near the Magnet 16 of central authorities that is configured in the length direction in the capsule body 3 is disposing the N utmost point and the S utmost point with the orthogonal direction of central shaft C.During this situation; The center of Magnet 16 is configured to consistent with the position of centre of gravity of this capsule body 3; Applying under the situation in magnetic field from the outside, the center that acts on the magnetic force of Magnet 16 becomes the position of centre of gravity of capsule body 3, forms the structure that can advance capsule body 3 swimmingly with the magnetic mode.And Magnet 16 is configured to consistent with the customized configuration direction of imaging apparatus 14.That is the last direction when, showing the image that is photographed by imaging apparatus 14 is set to from the direction of the S best N utmost point of Magnet 16.

Utilize 4 pairs of capsule bodies 3 of rotating excitation field generator to apply rotating excitation field; Make Magnet 16 magnetic rotation thus; Make internal fixation have the capsule body 3 of this Magnet 16 to rotate with Magnet 16; At this moment; Be located at the helical form projection 12 contact cavity walls and the rotation of the outer peripheral face of capsule body 13, thereby can advance capsule body 3.

And, utilize like this external magnetic field control built-in during the capsule body 3 of Magnet 16, can know that which direction utilizes the last direction of the image that capsule body 3 photographs is according to the direction of external magnetic field.

In capsule body 3, except that above-mentioned objective lens optical system 13, imaging apparatus 14 and Magnet 16, as shown in Figure 2, also take in: the signal processing circuit 20 of the signal that is photographed by imaging apparatus 14 being carried out signal processing; Interim storage is by the memorizer 21 of the digital video signal of these signal processing circuit 20 generations; Radio-circuit 22, it utilizes high-frequency signal to modulate the video signal of reading from this memorizer 21, and converts the signal of wireless transmission into, the control signal that demodulation is sent from blood processor 6 etc.; The capsule control circuit 23 of signal processing circuit 20 grades in the control capsule body 3; To capsule body 3 inner electrical systems such as signal processing circuit 20 battery 24 of action with power supply is provided.

In addition, in capsule body 3, be provided with the capacitor 41 that is electrically connected with said capsule interior loop 42, and constitute resonance circuit 40 with said capsule interior loop 42.In this resonance circuit 40, constitute, when having produced AC magnetic field, produce induction electromotive force, flow through electric current by this AC magnetic field through said position checkout gear 9.

In addition, coil 42 has inherent self-resonant frequency, when the AC magnetic field that has been produced by said position checkout gear 9 near this self-resonant frequency, also can produce effective induction electromotive force even without capacitor 41, does not need capacitor 41.Like this, can omit capacitor 41, can realize miniaturization, and structure is become simple.

And the blood processor 6 that carries out radio communication with this capsule body 3 has: carry out the radio-circuit 25 of radio communication with said radio-circuit 22; Data processing circuit 26, it is connected with radio-circuit 25, the view data of sending from capsule body 3 is carried out the date processing of pictorial display etc. etc.; The control circuit 27 of control data treatment circuit 26 and magnetic field control device 5 grades; The status information of the rotating excitation field that memory circuit 28, its storage are produced by rotating excitation field generator 4 through said magnetic field control device 5 and the information of utilizing direction input device 8a etc. to set.

On data processing circuit 26, connecting display device 7, the image after demonstration is taken, handled by data processing circuit 26 through radio-circuit 22,25 by imaging apparatus 14 etc.And; This data processing circuit 26 is handled as follows: photographic images in the time of owing to capsule body 3 rotations; So the image that carries out when being shown in display device 7 is the processing of fixed-direction towards proofreading and correct; And carry out Flame Image Process with the image that can show operative doctor and see clearly easily (for example, with reference to the technology of being put down in writing for TOHKEMY 2003-299612 number).

For control circuit 27, from the index signal of inputs such as the direction input device 8a that constitutes input device 8, speed input equipment 8b corresponding to operation, the control action that control circuit 27 carries out corresponding to index signal.

And; Control circuit 27 is connected on the memory circuit 28, always being stored in the memory circuit 28 through the direction (normal direction of the magnetic field Plane of rotation of rotating excitation field) and the directional information in magnetic field of magnetic field control device 5 by the rotating excitation field of rotating excitation field generator 4 generations.Then, even when the operation of the direction in direction of having carried out changing rotating excitation field and magnetic field, the direction of rotating excitation field and the direction in magnetic field changed continuously, and variation swimmingly.In addition, also can be located at control circuit 27 inside to memory circuit 28.

And the magnetic field control device 5 that is connected with control circuit 27 has: the alternating current by 3 alternating currents produce and control circuit constitutes produces and control part 31, and it produces alternating current, and controls its frequency and phase place; And the drive division 32 that constitutes by 3 drivers, it amplifies each alternating current respectively, and the output current of 3 drivers offers 3 electric magnet 33a, 33b, the 33c that constitutes rotating excitation field generator 4 respectively.

During this situation, electric magnet 33a, 33b, 33c dispose in order to produce orthogonal 3 axial magnetic fields.For example, electric magnet 33a, 33b, 33c are respectively 1 group of face-off coils with two coils, can consider that magnetic field separately produces the orthogonal 3 face-off coils of direction etc.As the example of face-off coil, can consider two Helmholtz coil (Helmholtz Coil that the patient is clipped in the middle and disposes) etc.

In addition, in this embodiment, as hereinafter described, rotating excitation field generator 4 has the rotating excitation field generation and uses Helmholtz coil 4A, is used for the coil (with reference to figure 7) of the rotating excitation field of guide capsule main body 3 as generation.

Capsule medical device position/posture detecting system 1 constitutes the direction input device 8a of input device 8 through operation; Produce the index signal of magnetic direction; Or through speed of operation input equipment 8b; Generation is corresponding to the index signal of the rotating excitation field of the speed of operation; Or produce (the alternative or periodic) oscillating magnetic field set through functional buttons being operated 8c; Thereby can produce couple to the Magnet 16 of capsule body 3, so that the central shaft C of capsule body 3 self is around the central point rotation of the central shaft C of its length direction.During this situation,, exchange or periodically apply rotating excitation field, change in the other direction with direction, so capsule body 3 is tilted or vibration with oscillating magnetic field (acting as couple) making before central shaft C self rotates fully.In addition,, not shown stick is tilted to the direction of wanting to advance, produced the rotating excitation field that capsule body 3 is moved thus on this direction through direction input device 8a.

State when Fig. 4 representes for example to apply rotating excitation field through capsule body 3 is applied rotating excitation field, can make Magnet 16 rotation that is built in capsule body 3, can capsule body 3 advanced or retreats by means of this rotation.

As shown in Figure 4; Be applied in direction (in Fig. 4, being y ') the vertical rotating excitation field plane with the central shaft C of the length direction of capsule body 3, the rotating excitation field of the direction variation of the utmost point of this rotating excitation field; Capsule body 3 is rotated around its length direction with the Magnet 16 that in capsule body 3, is fixed on the vertical direction of its length direction; According to this direction of rotation; Helical form projection 12 through shown in Figure 3 engages with body cavity walls, thereby can advance or retreat.

And; Fig. 5 representes the for example state when rotating excitation field applies oscillating magnetic field (couple produces and uses magnetic field), capsule body 3 is applied make Magnet 16 shake the oscillating magnetic field (couple produces and uses magnetic field) of (vibration) around the direction (in Fig. 5, being yz) of the central shaft C of length direction.

Thus, capsule body 3 is around the central shaft C of its length direction rotation, and off-centre is that the direction of the central shaft C of this rotation is tilted.That is, the turning moment of the gyro that is rotated diminishes, and can form the state that carries out the action that axle waves (below, this action is called axle collar action) by means of action of gravity.

Like this, with the tube chamber of the roughly the same degree of diameter of capsule body 3 in make this capsule body 3 advance or when retreating, make its rotating excitation field around its length direction rotation through capsule body 3 is applied along the length direction of this tube chamber, it is moved swimmingly.

With respect to this, in the part of the bending of tube chamber, capsule body 3 contact sweeps, or just when length direction rotate, be difficult on the direction of bending mobile swimmingly sometimes.

In this case; That kind applies oscillating magnetic field as stated; So that central shaft C active force along the length direction of capsule body 3; Make central shaft C around its center rotation thus; Thereby make capsule body 3 carry out axle collar action; Length direction when the axle collar moves is under the state of bending direction of tube chamber, and capsule body 3 is moved on this direction swimmingly.

In addition,, grasp the state of capsule body 3 or the state of rotating excitation field all the time, so that can be controlled to be desired any direction to the direction of rotating excitation field from current direct of travel through the bank control bar.In this embodiment, all the time the state of rotating excitation field (specifically being the direction of rotating excitation field and the direction in magnetic field) is stored in the memory circuit 28.

Specifically; The operation index signal of the input device 8 among Fig. 2 is transfused to control circuit 27; Control circuit 27 produces the control signal corresponding to the rotating excitation field of index signal to 5 outputs of magnetic field control device, and the information of the direction in the direction of this rotating excitation field and magnetic field is stored in the memory circuit 28.

Therefore, in memory circuit 28, store the information of the direction of rotating excitation field that produces through rotating excitation field generator 4 and the periodically variable magnetic field that forms this rotating excitation field all the time.

In addition; Memory circuit 28 is not limited to store and situation from the corresponding information of the control signal of the direction in the direction of the rotating excitation field of control circuit 27 and magnetic field; Also can utilize the control signal of exporting to magnetic field control device 5 from control circuit 27; Confirm that alternating current through magnetic field control device 5 produces and the information of the direction in the direction of the actual rotating excitation field of exporting to rotating excitation field generator 4 of control part 31 and drive division 32 and magnetic field control device 5 sides send to control circuit 27 from magnetic field, and be stored in the memory circuit 28.

And; In this embodiment; Apply time started and the direction that applies dwell time and rotating excitation field (in other words in the change rotating excitation field; Capsular direct of travel towards) etc. the time; Control rotating excitation field is changed continuously, make can not act on rapid power but effect swimmingly capsule body 3.

And; In this embodiment; Rotation through capsule body 3; The image that is photographed by imaging apparatus 14 also rotates; If so it directly is shown in the display device 7; Then institute's images displayed also becomes postrotational image, and the operability of being operated by the indication to desired direction of direction input device 8b realization reduces, so preferably make the rotation of display image static.

Therefore, in this embodiment, as TOHKEMY 2003-299612 description is disclosed, carry out image rotating is proofreaied and correct to rotating immobilized treatment of picture through data processing circuit 26 and control circuit 27.

In addition, also can be the basis, make the image rotation with the directional information in magnetic field, the rotation of cancellation capsule body 3 and demonstration (and, also can carry out the relevant treatment of image etc., show the rest image of prescribed direction).

And as shown in Figure 6, said position checkout gear 9 has: as the excitation of the 2nd magnetic field generation unit with coil array 51, the AC magnetic field that its generation is used to make the resonance circuit 40 of said capsule body 3 to produce induction electromotive forces; With coil array 52, it detects the magnetic field that the resonance circuit 40 by capsule body 3 produces as the unitary detection of magnetic field detection, detect capsule body 3 length direction towards (direction), and also detect the position of capsule body 3.

Said excitation constitutes 1 group with coil array 51 and said detection with coil array 52, in this embodiment, disposes 3 groups, to produce orthogonal 3 axial magnetic fields.That is, said excitation constitutes 1 group with coil array 51 and said detection with coil array 52,3 groups have respectively roughly orthogonal each other generation direction and detection side to.

And said position checkout gear 9 has: measure by the signal measuring device 53 of said detection with the signal of coil array 52 detections; Calculation section calculating 54, it is according to the data of being measured by this signal measuring device 53, calculate capsule body 3 length direction towards (direction), and also calculating location; Agitator 55, its control through this calculation section calculating 54 makes said excitation vibrate with coil array 51 frequency of oscillation, for example 1kHz～1MHz with regulation, makes the said resonance circuit 40 needed AC magnetic field that interacts with generation.

Here, being made as B with the magnetic field that applies that coil array 51 produces by excitation < > Ext <> (vector) is made as B to the magnetic field that is produced by resonance circuit 40 < > Reso <> When (vector), by the mensuration magnetic field B of said detection with coil array 52 detections < > Total <> (vector) expression as follows.

... (Equation 1)

In addition, the magnetic field B that produces by resonance circuit 40 < > Reso <> (vector) can (not shown) be represented as follows on three-dimensional coordinate as the position of resonance circuit 40, the function of direction.

... (Equation 2)

Wherein, x < > 0 <> : the x coordinate of capsule body 3

y < > 0 <> : the y coordinate of capsule body 3

z < > 0 <> : the z coordinate of capsule body 3

θ: the angle around the rotation of z axle of capsule body 3

φ: the angle around the rotation of y axle of capsule body 3

R: from resonance circuit 40 to the distance that detects with coil array 52

M: the intensity of the magnetic torque of the equivalence that resonance circuit 40 generates

That is the mensuration magnetic field B of calculation section calculating 54, from detecting with coil array 52 by detection < > Total <> Deduct by the apply magnetic field B of excitation with coil array 51 generations < > Ext <> , obtain the magnetic field B that produces by resonance circuit 40 < > Reso <> , calculate position (x, y, the z of capsule body 3 according to this value), the direction (θ, φ) of capsule body 3 and the magnetic torque M of equivalence.

In addition, produce frequency that the magnetic of the rotating excitation field that generates with Helmholtz coil 4A guides based on rotating excitation field capsule body 3 is moved with physics mode, so be about 10Hz.On the other hand,, consider the absorption of live body etc., for example be about 1kHz～1MHz as stated based on the frequency that interacts of the resonance of resonance circuit 40.Therefore, these can not influence based on the guiding of magnetic of rotating excitation field with based on the interacting of resonance of resonance circuit 40 each other.

And said excitation for example constitutes Fig. 7～shown in Figure 9 with coil array 51 and said detection with coil array 52, is assembled in the said rotating excitation field generator 4.

Like Fig. 7～shown in Figure 9; Said excitation constitutes with coil array 52 with coil array 51 and said detection; For example, dispose excitation identically and make its face-off with coil 61 with coil 62 and a plurality of detections for 4 except the part corresponding opening portion of the mode that will can get into patient body and head and foot.Specifically; Roughly the normal direction of the face that becomes peristome of the framework of cubic shaped and a plurality of detection use coil 61 the detection side of a part to being same direction roughly, on the face beyond the opposing face of face that becomes peristome and said peristome, dispose a plurality of detections with coil 61.

Said excitation for example can become by dual-purpose with coil array 52 with said detection with coil array 51, and during as the excitation side, the face of the opposition side of face-off is a detection side, constitutes 1 group as stated, disposes 3 groups to produce orthogonal 3 axial magnetic fields the face of front side.In addition, as for head and foot portion 1 group, can't dispose excitation with coil array 51 with detect with coil array 52, so with direction (towards) excitations that differ 90 degree are formed on other 4 with coil 61 with coil 62 and detection with sharing.

And,, be provided with 3 groups of excitations with the preferred helmholtz arrangement of coil 62(as the excitation coil), it constitutes the cubic shaped identical with said rotating excitation field generator 4, and magnetic field separately produces the direction quadrature and also is formed uniformly AC magnetic field.

Thus, position checkout gear 9 can be formed uniformly AC magnetic field, so can make resonance circuit 40 extremely compactly produce induction electromotive force, can utilize said detection to detect the magnetic field of resonance circuit 40 more accurately with coil array 52.

In addition, said detection is configured in position with said excitation with coil 62 with coil 61 and detects on the substrate (with reference to Fig. 1 5A, Fig. 1 5B, Fig. 1 6A, Fig. 1 6B and Figure 16 C), but in order to see clearly easily, to have omitted position and detected substrate.

In addition, said excitation also can be like Figure 10 and shown in Figure 11 with coil array 52 with coil array 51 and said detection, two assembly are set to mountain type shape and form with the angle of stipulating, to produce orthogonal 3 axial magnetic fields.In addition; In Figure 10 or Figure 11; Said detection also is configured in position with said excitation with coil 62 with coil 61 and detects on the substrate (with reference to Fig. 1 5A, Fig. 1 5B, Fig. 1 6A, Fig. 1 6B and Figure 16 C), but in order to see clearly easily, to have omitted position and detected substrate.Disposed these and detected with coil 61 and excitation with the position detection substrate 60 of coil 62 for example shown in Fig. 1 7A, Fig. 1 7B, be installed in and have framework that live body can insert logical peristome promptly on the said rotating excitation field generator 4 as framework.This framework is roughly polyhedral, is the parts of cubic roughly here.

And excitation can be located on patient's head and the foot portion 4 with coil 62 as shown in figure 12.In Figure 12, a plurality of excitations are different with the direction in the magnetic field of coil 63 with other excitations with the direction in the magnetic field of coil 63 with at least one excitation in the coil 63.Equally, a plurality of detection with in the coil 61 at least one detect with the detection side of coil 61 to other detections with the detection side of coil 61 to different.This excitation is with the coil 62 preferred helmholtz arrangement that adopt.In addition, in Figure 12, said detection also is configured in position with said excitation with coil 63 with coil 61 and detects on the substrate (with reference to Fig. 1 5A, Fig. 1 5B, Fig. 1 6A, Fig. 1 6B and Figure 16 C), but in order to see clearly easily, to have omitted position and detected substrate.

In addition; Position checkout gear shown in Figure 12 is compared with other examples are provided with position detection substrate on head that comprises the patient and foot portion 3 situation; Position is set on the diaxon except patient's head and foot portion to be detected substrate and constitutes; So though detection sensitivity descends to some extent; But correspondingly simple in structure, realize easily.

Disposed these excitations with coil 62, detect with coil 61 and excitation and for example shown in Figure 18 and Fig. 1 9A, Fig. 1 9B, be installed on the said rotating excitation field generator 4 as framework with the position detection substrate 60 of coil 63.

What the position checkout gear 9 of Gou Chenging can be with the capsule body 3 that calculates through said calculation section calculating 54 like this inputs to the control circuit 27 of said blood processor 6 towards (direction) and positional information.

When control circuit 27 had carried out operation at input device 8, the information according to being stored in the information in the memory circuit 28 and being detected by position checkout gear 9 produced rotating excitation field, controlled the action of the direction etc. of the rotating excitation field that is produced.

In addition; Said rotating excitation field generator 4 be assembled into position checkout gear 9 on this rotating excitation field generator 4 and can constitute as shown in figure 13 and may be partitioned into two parts; So that the patient inserts health easily, perhaps can constitute as shown in figure 14 and can open and close.And, also can in said rotating excitation field generator 4 and position checkout gear 9, individually constitute said structure.

And said position checkout gear 9 constitutes shown in Fig. 1 5A, Fig. 1 5B, Fig. 1 6A, Fig. 1 6B and Fig. 1 6C, and said excitation is configured in position with coil 61 and detects in the same plane of substrate 60 with coil 62, said detection.Shown in Fig. 1 5A, Fig. 1 5B; Position detects substrate 60 and has formed the blocking structure through following manner: in the same plane on the plate-shaped base that is made up of nonmagnetic material; Said detection with coil 61 with respect to said excitation with coil 62 with identical ground of equal intervals horizontal arrangement; And, for the detection of head and foot portion with coil 61 with the identical ground of equal intervals arranged perpendicular.A plurality of said detections with the part of coil 61 have respectively roughly unidirectional detection side to, but the detection side that other parts have a different directions to.Specifically, at least 3 detections with coil 61 have mutually orthogonal detection side to.And under the situation of Fig. 1 5A, excitation is configured on the roughly same plane with coil 61 with coil 62 and at least one detections, excitation with the direction in the magnetic field of coil 62 and at least one detection with the detection side of coil 61 to roughly the same.

On the other hand, shown in Fig. 1 6A, position detect substrate 60 constitute in same plane side by side the said excitation of configuration with coil 62 and said detection with coil 61.And shown in Fig. 1 6B, position detects substrate 60 and constitutes in same plane, disposes said detection with coil 61 in said excitation in coil 62.In Fig. 1 6B, the excitation with symmetry shape that is configured in pedestal and is on position/posture detection substrate 60 is arranged coaxial with the symmetrical centre axle of coil 62 and the detection with symmetry shape with the symmetrical centre axle of coil 61.Here, position detection substrate 60 has a detection with coil 61.Shown in Fig. 1 6C, position detects substrate 60 and constitutes on the basis of structure shown in Fig. 1 6B, further disposes said detection with coil 61 in said excitation on every side with coil 62 identically.A plurality of said detections with coil 61 have respectively roughly unidirectional detection side to.

As utilize illustrate among above-mentioned 15A, Fig. 1 5B, Fig. 1 6A, Fig. 1 6B and Fig. 1 6C, said position detects substrate 60 and in same plane, has various variations.Thus, said position checkout gear 9 can effectively produce the AC magnetic field that the resonance circuit 40 that is used to make said capsule body 3 produces induction electromotive forces, and can effectively detect the magnetic field that the resonance circuit 40 by capsule body 3 produces.

In addition, said position checkout gear 9 is when making two said position detect substrate 60 face-offs, and preferred excitation adopts helmholtz arrangement with coil 62.

Explanation is based on the effect of this embodiment of such structure.

In the time of in utilizing capsule body 3 inspection body cavitys, the patient swallows this capsule body 3.Be inserted into endoceliac capsule body 3 the time, utilize illumination component 15 to throw light on, the image that is photographed by imaging apparatus 14 is passed through radio-circuit 22 send to external blood processor 6 with wireless mode through esophagus etc.

Blood processor 6 receive through radio-circuit 25 and the image data storage of demodulation in being located at (hard disk etc.) image memory device of data processing circuit 26 inside etc.; And show with processing, and export to the image that display device 7 demonstrations photograph through capsule body 3 successively.

Here, the control circuit of blood processor 6 27 according to the capsule body 3 that detects by position checkout gear 9 towards (direction) and positional information, produce the action of the direction etc. of the rotating excitation field that rotating excitation field, control produced.Figure 20 be expression according to the capsule body that detects by direction/position detecting device towards (direction) and positional information, the flow chart of the action of the direction of control rotating excitation field etc.Use Figure 20 that its action is described.

At first, control circuit 27 control activation point/gesture detection means 9, measure capsule body 3 towards (direction) and position (step S1 and S2).In addition, in this embodiment, use excitation with coil 62 with coil array 51, use detection with coil 61 as detecting with coil array 52 as excitation.

Position checkout gear 9 through agitator 55 make excitation with coil array 51(excitation with coil 62) with frequency of oscillation, for example 1kHz～1MHz vibration of regulation, produce AC magnetic field.

The resonance circuit 40 of capsule body 3 interacts by means of AC magnetic field and produces induction electromotive force, makes electric current flow through capsule interior loop 42 and produces magnetic field.The magnetic field that forms through this resonance circuit 40 to be detected with coil array 52(detection with coil 61) detect.Detecting with coil 61 with coil array 52(by this detection) measured value of detection is taken into through signal measuring device 53, and inputs to calculation section calculating 54.

Calculation section calculating 54 is according to the measured value of being imported, by above-mentioned formula 1 and formula 2 calculate resonance circuits 40 towards (direction) and position, institute's result calculated is exported to control circuit 27 as capsule body 3 towards (direction) and position data.

Control circuit 27 according to from the capsule body 3 of position checkout gear 9 inputs towards (direction) and position data, set the direction of rotating excitation field, control driven in rotation magnetic field generation device 4 and make its to this towards producing rotating excitation field.

Control circuit 27 is according to the input of the stick of the input device 8 that is undertaken by operative doctor operation, for example direction input device 8a, and control driven in rotation magnetic field generation device 4 is so that control to capsule body 3 desired towards (direction) and position.

Promptly; Control circuit 27 detecting operation input equipment 8(sticks) input (step S3); () when step S4 is " being " when being judged as input; Operation according to this input device 8; Calculating is by the formation condition of the next rotating excitation field of rotating excitation field generator 4 generations; So that capsule body 3 is controlled at desired, and generate (adding) rotating excitation field (step S6) towards (direction) and position (step S5).In addition, control circuit 27 is not having input device 8(stick) input the time, the state of keeping the rotating excitation field that sets is till having this input.

Capsule body 3 changes towards (direction) and position according to the rotating excitation field that is generated.Here; Capsule body 3 is according to the existence of state, for example body fluid or the chamber clothing of tube chamber or the states such as space in the internal organs; Operation with respect to input device 8; Move excessive or difficult moving; Thereby the complexity towards changing changes, produce do not reach the capsule body 3 that calculated towards error.

Here; Interacting of the resonance circuit 40 of capsule body 3; Be provided with excitation with coil array 51(excitation with coil 62) position detect the central shaft of substrate 60 and be provided with to detect with coil array 52(detect with coil 61) central shaft and capsule interior loop 42 spool consistent of position detection substrate 60 time be maximum; The variable quantity of attendant position, the variable quantity of angle increase; The magnetic field that produces through capsule interior loop 42 diminishes, and is difficult to carry out correct position probing.

And; The intensity in the magnetic field that produces through capsule interior loop 42 diminishes with the cube of distance with being directly proportional, so in order to improve accuracy of detection, the space need be suppressed be minimum necessary limit; When in human body, detecting, have to be configured to only surround the object position.

If in the cube face at least the excitation on two sides with coil array 51(excitation with coil 62), detect with coil array 52(and detect with coil 61) and human body interference; So need the configuration of research coil, keeping 3 configurations, and cubical size can not become big.

In this embodiment; As stated; Excitation with coil array 51(excitation with coil 62) and detect with coil array 52(detection with coil 61) constitute; For example produce with Helmholtz coil 4A) for rotating excitation field generator 4(rotating excitation field; A plurality of excitations are configured in for patient body can get on 4 except head and the foot portion with detecting with coil 61 with coil 62 identically, make its face-off.

In addition; In this embodiment; The resonant frequency of the AC magnetic field that produces with coil 62,63 with coil 62 or excitation by excitation; For example with 1kHz～1MHz vibration; So with produce by rotating excitation field generator 4(rotating excitation field use Helmholtz coil 4A) driving frequency of the rotating excitation field of generation is different, can not disturb (influencing each other).

Therefore, in this embodiment, can correctly detect capsule body 3 towards and the position, and can not influence the rotating excitation field of magnetic guide capsule main body 3.

Therefore, control circuit 27 measure once more capsule body 3 towards (direction) and position, carry out following control, to proofread and correct above-mentioned error.

That is, control circuit 27 is controlled activation point/gesture detection means 9 once more, measure capsule body 3 towards (direction) and position data (step S7).

Direction (normal direction of the magnetic field Plane of rotation of the rotating excitation field) data (step S8) of the rotating excitation field that generates towards (direction) data with by rotating excitation field generator 4 of the capsule body 3 that control circuit 27 relatively obtains from position checkout gear 9, whether the result who judges this comparison is greater than predefined setting value α (step S9).

The result of the bearing data of the rotating excitation field that generates towards (direction) data with by rotating excitation field generator 4 of the capsule body 3 that control circuit 27 relatively obtains from position checkout gear 9 is during greater than setting value α; Be the direction setting of rotating excitation field the capsule body 3 measured towards data (step 10); Later detecting operation input equipment 8(stick) input repeats above-mentioned action.

Its result, capsule medical device position/posture detecting system 1 can correctly detect capsule body 3 towards and the position, and can not influence the rotating excitation field of magnetic guide capsule main body 3.

That is, capsule medical device position/posture detecting system 1 has been when having operated input device 8, upgrade capsule body 3 towards data, so can not produce for the error operation of input device 8, that cause because of the state of tube chamber.Therefore, the capsule medical device position/posture detecting system 1 of this embodiment can smooth and easy earth magnetism guide capsule main body 3 and is made its action.

In addition, capsule medical device position/posture detecting system 1 also can be by Figure 21 and such formation shown in Figure 22.Figure 21 is the circuit block diagram of variation of the position checkout gear of presentation graphs 2; Figure 22 capsule body that to be expression detect according to the position checkout gear that utilizes Figure 21 towards (direction) and positional information, the flow chart of the action of the direction of control rotating excitation field etc.

As shown in figure 21, magnetic field control device 5B constitutes and is provided with: towards calculating part 71, it is according to the bearing data of the rotating excitation field that is generated by rotating excitation field generator 4, calculate capsule body 3 towards; Feedback rates adjustment part 72, it is used for adjusting the alternating current that alternating current produces and control part 31 generates according to through control circuit 27 calculated feedback rates.

And control circuit 27 is according to flow chart shown in Figure 22, according to the capsule body 3 that detects through position checkout gear 9 towards (direction) and positional information, produce the action of the direction etc. of the rotating excitation field that rotating excitation field, control produced.In addition,, roughly the same to the action of S4 in the flow chart shown in Figure 22 with the S1 of the flow chart of above-mentioned the 1st embodiment by the end of the S14 that is judged as the input that has detected input device 8, so omit explanation.

And; In this variation; That produce rotating excitation field is 3 groups of face-off coil (Helmholtz coil)33a～33c of rotating excitation field generator 4; Apply be used to make capsule interior loop 42 produce induction electromotive forces AC magnetic field be excitation (Helmholtz coil)62a～62c, that detect the magnetic field that produces the electric current that flows through by means of the induction electromotive force of capsule interior loop 42 is magnetic test coil array 52a～52c with the face-off coil.

Be judged as input device 8(stick) input (step S14) time; Control circuit 27 is according to the operation of input device 8; Calculating is by the formation condition of the next rotating excitation field of rotating excitation field generator 4 generations; So that capsule body 3 is controlled at desired, and generate (adding) rotating excitation field (step S16) towards (direction) and position (step S15).

And capsule body 3 changes towards (direction) and position according to the rotating excitation field that is generated.Here; Capsule body 3 that kind as described above are according to the existence of state, for example body fluid and the chamber clothing of tube chamber and the states such as space in the internal organs; Operation for input device 8; Move excessive or difficult moving; Towards the change complexity change, produce do not reach the capsule body 3 that calculated towards error.

Therefore, control circuit 27 measure once more capsule body 3 towards (direction) and position, carry out following control, to proofread and correct above-mentioned error.

At first, control circuit 27 is controlled activation point/gesture detection means 9 once more, measure capsule body 3 towards (direction) and position data, detect capsule body 3 towards (direction)(step S17).

Then, control circuit 27 control is towards calculating part 71, relatively the bearing data of the rotating excitation field that is generated by rotating excitation field generator 4 and capsule body 3 towards (direction) and position data.And control circuit 27 calculates the difference towards (direction) data (Δ θ, Δ φ)(step S18) of the capsule body 3 that obtains from the bearing data of the rotating excitation field that obtains towards calculating part 71 with from position checkout gear 9.

Then, control circuit 27 detecting operation input equipment 8(sticks) input (step S 19) is calculated direction corresponding to the capsule body 3 of the operation of this input device 8 and is changed composition (θ ', φ ')(step S20).

And; Control circuit 27 from the direction of the capsule body 3 that calculated change composition (θ '; φ ') deducts difference (the Δ θ that has been multiplied by feedback rates A; Δ φ), calculating is corresponding to the variable quantity towards (direction) (changing indicatrix)(step S21) of the capsule body 3 of the operation of input device 8.

Here, calculated corresponding to the capsule body 3 of the operation of input device 8 towards change indicatrix (θ, φ) expression as follows:

（θ，φ）＝（θ’－AΔθ，φ’－AΔφ）

Wherein, A: feedback rates.

Then; Control circuit 27 according to the capsule body 3 that is calculated towards changing indicatrix (θ; φ), calculate the formation condition of the next rotating excitation field that generates by rotating excitation field generator 4 so that become corresponding to the operation of input device 8 towards (direction)(step S22).

And control circuit 27 formation conditions according to the rotating excitation field of being calculated generate (adding) rotating excitation field (step S16), carry out repetition later on.

As a result, the capsule medical device position/posture detecting system 1 of variation can more stably be controlled the action of capsule body 3 than above-mentioned the 1st embodiment.

In addition, flow chart shown in Figure 22 is set at feedback rates A the setting value of regulation in advance, but also can constitute the control that makes feedback rates A variable.

In addition; In the control that in the flow chart of above-mentioned Figure 20 or Figure 22, illustrates; The capsule interior loop 42 of capsule body 3 towards the excitation of, position checkout gear 9 with the face-off coil (Helmholtz coil)62a～62c and detect with coil array 52a～52c towards three's unanimity the time; Can carry out high-precision direction/position probing; But when capsule body 3 has angle, the precise decreasing of above-mentioned direction/position probing.

Therefore, be high accuracy in order to ensure the precision of above-mentioned direction/position probing, constitute on the basis of the control that in the flow chart of above-mentioned Figure 22, illustrates, also carry out the control of flow chart shown in Figure 23.The flow chart of Figure 23 control that to be expression append the flow chart of Figure 20 or Figure 22 again.Promptly; As shown in figure 23; Control circuit 27 is at first as initial value; The capsule body 3 that input is judged in advance towards (direction); And the excitation of desired location/gesture detection means 9 is with face-off coil (direction step S31, the S32 of the AC magnetic field that Helmholtz coil)62a～62c generates), control activation point/gesture detection means 9, the detection of enforcing location/direction (step S33).

Then, control circuit 27 calculate by excitation with the face-off coil (direction of the AC magnetic field that Helmholtz coil)62a～62c generates, with the capsule body 3 that is calculated towards the angle beta that forms (step S34).

And control circuit 27 is with β and the threshold value beta calculated < > 0 <> (for example 30 ° or 45 °) compare (step S35), are surpassing this threshold value beta < > 0 <> The time, according to the β that is calculated, set by excitation with the face-off coil (direction of the AC magnetic field that Helmholtz coil)62a～62c generates, as capsule body 3 towards (step S36).After, repeat S33～S36.

Its result; Through appending above-mentioned control; Capsule medical device position/posture detecting system 1 makes the direction of the capsule interior loop 42 of capsule body 3; (direction of the AC magnetic field that Helmholtz coil)62a～62c generates is roughly consistent with using the face-off coil through the excitation of position checkout gear 9; Its result; The direction of the capsule interior loop 42 of capsule body 3; (Helmholtz coil)62a～62c and detection are roughly consistent towards the three with coil array 52a～52c's, therefore can carry out more high-precision control with the face-off coil for the excitation of position checkout gear 9.

And Helmholtz coil 62 utilizes 3 groups of Helmholtz coil 62a, 62b, 62c to constitute, to produce 3 axial magnetic fields, so can set the direction of AC magnetic field arbitrarily.

In addition, the capsule interior loop 42 of the formation resonance circuit 40 of capsule body 3 for example can constitute according to such shown in Fig. 2 4A～Fig. 2 4C.Fig. 2 4A～Fig. 2 4C is the key diagram of capsule body of the variation of the expression coil that constitutes resonance circuit; Fig. 2 4A is the side illustration figure at the capsule body that covers the coil of having reeled on the coating member of inner matter; Fig. 2 4B is the key diagram of the section configuration of coating member shown in the presentation graphs 24A, and Fig. 2 4C is the side illustration figure of capsule body of coil of on bar-like member, having reeled.

Shown in Fig. 2 4A and Fig. 2 4B, capsule interior loop 42 is wrapped on the coating member 81 of the inner matter that covers capsule body 3, and utilizes resin material to apply its periphery.It is that high magnetic conduction paper tinsel forms that said coating member 81 utilizes high magnetic conductive parts such as permalloy, nickel, ferrum, and form circular-arc, to prevent vortex flow.

And shown in Fig. 2 4C, capsule interior loop 42 also can constitute and be wrapped on the bar-like member 82 that utilizes high magnetic conductive part formation such as permalloy, nickel, ferrum.In addition, in Fig. 2 4A～Fig. 2 4C, omitted helical form projection (or threaded portion) 12.

Thus, capsule body 3 can further strengthen the magnetic field of resonance circuit 40 generations that utilize above-mentioned capsule interior loop 42 formations, can improve the direction/positional precision of position checkout gear 9.

In addition, also can use the resonance circuit 40 that utilizes above-mentioned capsule interior loop 42 to constitute, the power-supply circuit shown in pie graph 25A～Fig. 2 5C is supplied power.Fig. 2 5A～Fig. 2 5C is the circuit block diagram of the power-supply circuit that constitutes of resonance circuit that expression uses the coil utilize Fig. 2 4A～Fig. 2 4C to constitute; Fig. 2 5A is the circuit block diagram of expression the 1st power-supply circuit; Fig. 2 5B is the circuit block diagram of expression the 2nd power-supply circuit, and Fig. 2 5C is the circuit block diagram of expression the 3rd power-supply circuit.

Power-supply circuit 90A shown in Fig. 2 5A constitutes at the two ends of capsule interior loop 42 two change-over switches 91 is set, and connects capacitor 41 in terminal a side, connects power circuit 92 in terminal b side.The outlet side of power circuit 92, an end are connected on each circuit of capsule, and the other end is connected on rechargeable battery or the super capacitor.

Said change-over switch is switched by control circuit 27 control, through said position checkout gear 9 travel directions/position probing the time, switches to terminal a side, and formation resonance circuit 40 when supply power, switches to terminal b side, is connected on the power circuit 92.

And the power-supply circuit 90B shown in Fig. 2 5B utilizes transformator 93 that resonance circuit 40 and power circuit 92 are connected to said power-supply circuit 90A and constitutes.Thus, power-supply circuit 90B compares with above-mentioned power-supply circuit 90A, can reduce power supply and supply with the influence to the direction/position probing of said position checkout gear 9.

And the power-supply circuit 90C shown in Fig. 2 5C is connected to said power-supply circuit 90B through two change-over switches 94 with resonance circuit 40 and power circuit 92 and constitutes.Through constituting above-mentioned power-supply circuit, can carry out the power supply of capsule body 3.

In addition, said position checkout gear also can constitute according to such shown in Fig. 2 6A and Fig. 2 6B.

Shown in Fig. 2 6A and Fig. 2 6B; Position checkout gear 9B constitutes; To detect that substrate 60 is arranged to the freely openable for the position of foot portion is that the mode of tilted shape can move freely, and makes position for the head part detect substrate 60 to form heads and can insert logical hole portion.In addition, position detection substrate 60 also can load and unload with framework.

Thus, position checkout gear 9B till near head and the foot, can detect effectively capsule body 3 towards (direction) and position.

And said position checkout gear also can constitute positive 8 shapes according to that kind shown in Figure 27.As shown in figure 27, position checkout gear 9C detects substrate 60 with position, and to be installed in framework be on the framework, and this framework forms positive 8 shapes, has live body and can insert logical peristome.Thus, position checkout gear 9C till near head and the foot, can detect effectively capsule body 3 towards (direction) and position.

And said position checkout gear also can constitute spherical shape according to that kind shown in Fig. 2 8A and Fig. 2 8B.

Shown in Fig. 2 8A and Fig. 2 8B, position checkout gear 9D detects substrate 60 with position, and to be installed in framework be on the framework, and this framework forms spherical shape, has live body and can insert logical peristome.Thus; Position checkout gear 9D is configured to dome shape through position being detected substrate 60; Can have with capsule body 3 towards (direction) and location independent ground, with roughly consistent of the axle of capsule interior loop 42, can further improve accuracy of detection.

In addition, position checkout gear 9C, 9D, are making up with the mode that this rotating excitation field generator 4 is configured in the outside when combined with the rotating excitation field generator that is used for magnetic guide capsule main body 34.During this situation, the rotating excitation field generator 4 of combination is configured in the outside with the rotating excitation field generation of not shown cubic shaped with Helmholtz coil 4A.

And position checkout gear 9C, 9D constitute and can open and close, so that the patient inserts health easily, and are provided with handle 71.And position checkout gear 9C compares with the position checkout gear 9D that forms dome shape, position is not detected substrate 60 and is configured to dome shape, so the raising of making property.

(the 2nd embodiment)

Figure 29 A～Figure 31 relates to the 2nd embodiment of the present invention; Figure 29 A and Figure 29 B are the rotating excitation field generation device of the expression capsule medical device position/posture detecting system that constitutes the 2nd embodiment and the key diagram of position checkout gear; Figure 29 A is the rotating excitation field generation device of the expression capsule medical device position/posture detecting system that constitutes the 2nd embodiment and the summary stereogram of position checkout gear; Figure 29 B is the summary profile of internal structure of rotating excitation field generation device and the position checkout gear of presentation graphs 29A; Figure 30 is rotating excitation field generation device and the summary stereogram of position checkout gear of variation of the position checkout gear of presentation graphs 29A and Figure 29 B, and Figure 31 is that the A of internal structure of rotating excitation field generation device and position checkout gear of expression Figure 30 is to the summary profile of looking.

Above-mentioned the 1st embodiment constitutes system and under the state under the patient lies, works, but the 2nd embodiment system that constitutes works under the state that the patient is seated.Structure in addition is identical with the structure of above-mentioned the 1st embodiment, so omit explanation, gives same numeral to same structure and describes.

That is, shown in Fig. 2 9A and Fig. 2 9B, the capsule medical device position/posture detecting system of the 2nd embodiment constitutes the chair-type that the patient can take a seat with position checkout gear 9E.

If more specifically explanation; Position checkout gear 9E detects mode that substrate 60 can take a seat with the patient with position, and to be installed in as framework be on the rotating excitation field generator 4 of framework; This framework forms cubic shaped, has live body and can insert logical peristome.Said position detects substrate 60 and is configured in patient's buttocks and back-rest, and is configured in the patient's relative with these buttocks and back-rest front face.In addition, position detection substrate 60 is configured to relative with patient's two axils.

Thus, do not needing patient lies following time, position checkout gear 9E can make system acting under the state that the patient is seated.

In addition, like Figure 30 and shown in Figure 31, also can constitute position checkout gear 9F is located on the chair 72.More specifically explanation does; Position checkout gear 9F will be that the rotating excitation field generator 4 of framework is installed on the chair 72 as framework; This framework forms cubic shaped; Have live body and can insert logical peristome; Said position detects substrate 60 and is configured in patient's buttocks and back-rest, and is configured in the patient's relative with these buttocks and back-rest front face.

Thus, position checkout gear 9F compares with above-mentioned the 2nd embodiment, can under the state that the patient more cosily is seated, make system acting.

Structure in addition and effect, identical with above-mentioned the 1st embodiment, so omit explanation.

(the 3rd embodiment)

Figure 32～Figure 40 C relates to the 3rd embodiment of the present invention; Figure 32 is the rotating excitation field generation device of the expression capsule medical device position/posture detecting system that constitutes the 3rd embodiment and the key diagram of position checkout gear; Figure 33 is the rotating excitation field generation device of Figure 32 and the major part enlarged drawing of position checkout gear; Figure 34 is the overall structure figure that expression constitutes the capsule medical device position/posture detecting system of the 3rd embodiment; Figure 35 is the flow chart of control action of the capsule medical device position/posture detecting system of expression the 3rd embodiment; Figure 36 is the summary stereogram of variation of the position checkout gear of expression Figure 32; Figure 37 is the summary description figure of the position checkout gear of Figure 36; Figure 38 representes the variation of Figure 37; Be position to be detected substrate constitute the position detection of key diagram flat position checkout gear carries out to(for) capsule body; Figure 39 replaces the capsule body that capacitor constituted resonance circuit and carries out the key diagram that position detects oscillator is set by the position checkout gear; Figure 40 A～Figure 40 C is expression excitation coil and the summary description figure that detects with the position relation of coil and capsule interior loop; Figure 40 A is that expression connects excitation and spool with capsule interior loop is in summary description figure that position when coaxial concern with detecting with coil with coil; Figure 40 B is the summary description figure that expression connects excitation position relation during with the length orthogonality of center shaft that detects with the axle of coil and capsule interior loop with coil, and Figure 40 C is that expression capsule interior loop is in to have broken away from and connects the excitation summary description figure that the position during with the position detected with the axle of coil concerns with coil.

Above-mentioned the 1st, the 2nd embodiment constitutes said position is detected substrate 60 fixed configurations, can in inspection, move to the optimum position but the 3rd embodiment constitutes said position detection substrate 60.Structure in addition is identical with above-mentioned the 1st embodiment, so omit explanation, gives same numeral to same structure and describes.

Promptly; Like Figure 32～shown in Figure 34; The capsule medical device position/posture detecting system 1G of the 3rd embodiment constitutes position checkout gear 9G; At the framework as framework is that rotating excitation field generator 4G is inner; Built-in said position detects two mobile unit 180a of substrate 60, the position that 180b can move to regulation, and this framework forms spherical shape and has live body can insert logical peristome.In addition, in the position/posture detection substrate 60 dispose aforesaid a plurality of detection with coil 61 and excitation with coil 62.

Said rotating excitation field generator 4G can be separated into the roughly hemisphere of sphere-like parts.

Said mobile unit 180a, 180b respectively dispose one in the hemispherical portion of said rotating excitation field generator 4G.When a side produced the AC magnetic field that the resonance circuit 40 be used to make capsule body 3 interacts among said mobile unit 180a, the 180b, the opposing party detected the magnetic field that the resonance circuit 40 of capsule body 3 produces.

In addition; In Figure 32; One side of the upside hemispherical portion that is configured in said rotating excitation field generator 4G is made as excitation mobile unit 180a, a side of the downside hemispherical portion that is configured in said rotating excitation field generator 4G is made as to detect uses mobile unit 180b.

These mobile unit 180a, 180b constitute the driving wheel 181 that can change 180 degree directions and connect motor 182, can move to the position of regulation.Specifically, two position detect substrates 60 and dispose relatively across the space at said capsule medical instrument place, and are configured to move freely keeping under the state of relative status.In addition, at said mobile unit 180a, 180b, for example can be provided with 4 rotationally according to the rotation of said driving wheel 181 and driven driven pulley 183 facing to configuration.

Said motor 182 is controlled driving through motor-drive circuit 184, said motor-drive circuit 184 be connected driving control device 86 through flexible substrate 185 and the signal measuring device 53 that in above-mentioned the 1st embodiment, illustrates on.The said motor-drive circuit 184 of said driving control device 86 controls makes said mobile unit 180a, 180b move to the position of regulation.

Said driving control device 86 is connected on the control circuit 27G of said blood processor 6.This control circuit 27G also controls said driving control device 86 except the control that in above-mentioned the 1st embodiment, illustrates, make said mobile unit 180a, 180b move to the position of regulation.

More specifically explanation does, for example the magnetic field of being detected is used coil 62 in capsule interior loop 42 and excitation, detected and use coil 61 when equidistant, and three kinds of patterns shown in following are arranged.

Shown in Fig. 4 0A, the magnetic field of being detected reaches maximum with coil 62 when coaxial with detecting with spool being in capsule interior loop 42 of coil 61 connecting excitation.

And, shown in Fig. 4 0B, the magnetic field of being detected connect excitation with coil 62 with detect with coil 61 spool with the length orthogonality of center shaft of capsule interior loop 42 time, come self-excitation not get into capsule interior loop 42 with the magnetic flux of coil 62.Therefore, not at capsule interior loop 42(resonance circuit 40) produce induced field, be difficult to utilize the magnetic field of detecting with coil 61 detection capsule interior loop 42.

And; Shown in Fig. 4 0C; The magnetic field of being detected capsule interior loop 42 be positioned at broken away from connect excitation with coil 62 with detect with coil 61 spool the position time; Come self-excitation to get into capsule interior loop 42 with the magnetic flux of coil 62; If the position making capsule interior loop 42 produce induced field then can utilize and detect with coil 61 detection magnetic fields.But, during this situation, detect the intensity in the magnetic field of detecting with coil 61, according to the direction of the induced field that produces this moment with detect with coil 61 towards relation and capsule interior loop 42 and detection change with the distance of coil 61.

Therefore; Control circuit 27G according to be used to by said calculation section calculating 54 from the capsule body 3 in the past that the determination data of said signal measuring device 53 calculates towards (direction) and positional information, said driving control device 86 is controlled to said position detects the correct position that magnetic field that the said resonance circuit 40 of the said capsule body 3 that substrate 60 detects generates can not diminish.

The effect of such the 3rd embodiment that structure realized is described.

In the time of in utilizing capsule body 3 inspection body cavitys, the patient swallows this capsule body 3.Be inserted into endoceliac capsule body 3 the time, utilize illumination component 15 to throw light on, the image that is photographed by imaging apparatus 14 is passed through radio-circuit 22 be wirelessly sent to external blood processor 6 through esophagus etc.

Blood processor 6 receive through radio-circuit 25 and the image data storage of demodulation in being located at (hard disk etc.) image memory device of data processing circuit 26 inside etc.; And show with processing, and export to the image that display device 7 demonstrations photograph through capsule body 3 successively.

Here; In this embodiment; According to flow chart shown in Figure 35; Control circuit 27G according to the capsule body 3 that detects by position checkout gear 9G towards (direction) and positional information; Produce the action of the direction etc. of rotating excitation field, the rotating excitation field that produced of control; And carry out control action, make said mobile unit 180a, 180b move to correct position.

At first, control circuit 27G carries out the position probing of capsule body 3.

Control circuit 27G controls activation point/gesture detection means 9G, measures the position of capsule body 3 and towards (direction)(step S41).

Position checkout gear 9G is through agitator 55, makes to be built in excitation that excitation detects substrate 60(with the said position of mobile unit 180a with coil array 51) vibrate the generation AC magnetic field with frequency of oscillation, for example 1kHz～1MHz of regulation.

The resonance circuit 40 of capsule body 3 interacts by means of AC magnetic field and produces induction electromotive force, and produces magnetic field.The magnetic field that forms through this resonance circuit 40 is built in the detection that detects with the said position detection substrate 60(of mobile unit 180b with coil array 52) detect.Be taken into through said signal measuring device 53 with the measured value that mobile unit 180b detects by this detection, and input to calculation section calculating 54.

Calculation section calculating 54 is according to the measured value of being imported; According to above-mentioned formula 1 and formula 2 calculate resonance circuits 40 towards (direction) and position; Measured value and institute's result calculated as capsule body 3 towards (direction) and position data and magnetic field intensity, export to control circuit 27G.

Control circuit 27G according to from the capsule body 3 of position checkout gear 9G input towards (direction) and position data and magnetic field intensity; The correct position that the magnetic field that mobile unit 180a, 180b are generated to resonance circuit 40 does not diminish moves; Measure again, the magnetic field that said resonance circuit 40 generates be the position data according to mobile unit 180a, 180b, the capsule body 3 obtained towards (direction) (step S42) with position data and magnetic field intensity generation.

More previous measured value of control circuit 27G and measured value (step S43) again when previous measured value is big, repeat S41～S43 up to measured value is big again.

Mobile unit 180a, 180b according to the drive motor 182 from said driving control device 86, rotate driving wheel 181 and driven pulley 183 through motor-drive circuit 184, move to the position of regulation.

On the other hand, when measured value was greater than previous measured value again, control circuit 27G end position detected (step S44), carried out the control of the magnetic guiding that next rotating excitation field realized.

Here; Capsule body 3 is according to the existence of state, for example body fluid and the chamber clothing of tube chamber and the states such as space in the internal organs; Operation for input device 8; Move excessive or difficult moving; Towards the change complexity change, produce do not reach the capsule body 3 that calculated towards error.

Therefore, control circuit 27G controls, make to measure again at interval with certain (time), and the position probing (S41 of repetition capsule body 3～S44).

Then, control circuit 27G carries out the magnetic guiding based on the capsule body 3 of rotating excitation field.

Control circuit 27G from position checkout gear 9G output capsule body 3 towards (direction) and position data (step S45), capsule body 3 that set basis is obtained by calculation section calculating 54 towards (direction) and the additional rotating excitation field of position data (being used for magnetic guide capsule main body 3) direction (step S46).

Control circuit 27G is according to the input of the stick of the input device 8 that carries out through the operation of operative doctor, for example direction input device 8a; Control driven in rotation magnetic field generation device 4 is so that capsule body 3 controls to is desired towards (direction) and position.Promptly; Control circuit 27G detecting operation input equipment 8(stick) input (step 47); Judged whether input (step 48); When the input of input device 8 is arranged; Calculate the input quantity of this input device 8, the rotating excitation field that additional above-mentioned rotating excitation field generator 4 generates is up to reaching setting value (step S49).In addition, control circuit 27G is not when having the input of input device 8, and the state of keeping the rotating excitation field that sets is up to this input is arranged.

Control circuit 27G judges whether additional rotating excitation field has reached setting value (step 50); Continue additional rotating excitation field and reach setting value up to rotating excitation field; When rotating excitation field reaches setting value; Finish guiding (step S51), repeat control (S46～S51) based on the magnetic guiding of rotating excitation field.

Its result; Capsule medical device position/posture detecting system 1G is except that can obtaining the effect identical with above-mentioned the 1st embodiment; The position that can make position detect substrate 60 moves to the optimum position, all the time Correct Determination capsule body 3 towards (direction) and position.

In addition, the flowchart text of Figure 35 constitute the situation that transportable position detects substrate 60, but if remove the part that moves mobile unit, also can be applicable to fixed configurations position detect the situation of substrate 60.

As stated, the 3rd embodiment has been described, but in this embodiment, can have considered following modified example.

Capsule medical device position/posture detecting system also can use multiple degrees of freedom movable arm 190 to replace mobile unit 180a, 180b like Figure 36 and shown in Figure 37, constitutes the position checkout gear.

Like Figure 36 and shown in Figure 37, position checkout gear 9H constitutes multiple degrees of freedom movable arm 190 is set.The action of the movable device of control device control multiple degrees of freedom, the magnetic field that makes the specific detection in the position inspection substrate 60 is for maximum.

Said multiple degrees of freedom movable arm 190 as movable device makes front be branched off into two strands, at their leading section said position inspection substrate 60 is set respectively.In these position inspection substrates 60, if a certain side is the excitation side, then the opposing party is a detection side just.Perhaps, position inspection substrate 60 also can switch in the cycle, perhaps can also use a part of coil on the same substrate, another part is used and used simultaneously as detecting as excitation.

Said multiple degrees of freedom movable arm 190 is at the built-in not shown motor of joint portion.These motors are identical with the mobile unit 180a, the 180b that in above-mentioned the 3rd embodiment, illustrate, driven by driving control device 86 controls through control circuit 27G.

Structure in addition is identical with effect, so omit explanation.

Thus, the position checkout gear 9H of this variation does not need the patient to slip into, and is light as snug as a bug in a rug, and can make equipment miniaturization.

In addition, the position that is installed on the multiple degrees of freedom movable arm 190 is examined substrate 60 as shown in figure 38, also can constitute one.During this situation, said position inspection substrate 60 disposes said excitation with coil 62 in substrate center, disposes said detection with coil 61 in this excitation on every side with coil 62.In addition, the magnetic line of force among Figure 38 is exported with coil 62 from the excitation of substrate center, and the detection around returning is with coil 61.

Said position detects substrate 60 and constitutes; Said excitation produces the AC magnetic field that is used to make said capsule interior loop 42 generation induced fields, the induced field that said detection detects the said capsule interior loop 42 that produces by means of this AC magnetic field with coil 61 with coil 62.Here, a plurality of detections with coil 61 be configured to have roughly unidirectional detection side to, also be configured in said position and detect on the roughly same plane on the substrate 60.

Therefore; Said multiple degrees of freedom movable arm 190 can only detect substrate 60 with a said position and constitute following two unitary effects: produce the magnetic field generation unit of the AC magnetic field that is used to make said capsule interior loop 42 produce induced fields and detect the magnetic field detection unit of magnetic field intensity of the induced field of said capsule interior loop 42 generations; So be provided with two and compare when constituting; Control becomes simple, and further miniaturization.

In addition, capsule body 3 also can constitute as shown in figure 39, produces the induced field with the AC magnetic field of coil array 51 except utilizing said excitation, spontaneously produces induced field.

During this situation, capsule body 3 has and replaces capacitor 41 and agitator 55B is connected to the resonance circuit 40B that constitutes on the capsule interior loop 42.In addition, said agitator 55B is for example with the vibration of the frequency of oscillation of 1kHz～1MHz, makes the said resonance circuit 40B needed AC magnetic field that interacts with generation.

On the other hand; Position checkout gear 9B constitutes; Said detection detects with coil 61 with coil array 52() detect magnetic field by the spontaneous generation of resonance circuit 40B of capsule body 3B, have: measure utilize this detection with coil array 52(detection with coil 61) the signal measuring device 53 of the signal of detection; Calculation section calculating 54, it is according to the data of utilizing this signal measuring device 53 to measure, calculate capsule body 3B length direction towards (direction), go back calculating location simultaneously.

Here, the magnetic field that resonance circuit 40B is produced is made as B ' < > Reso <> When (vector), detect with coil 61 with coil array 52(through said detection) the mensuration magnetic field B of detection ' < > Total <> (vector) does

... (Equation 3).

In addition, the magnetic field B that produces by resonance circuit 40B ' < > Reso <> (vector) is roughly the same with the formula 2 that in above-mentioned the 1st embodiment, illustrates, so omit.

Thus, calculation section calculating 54 is detecting with coil 61 by detecting with coil array 52() the mensuration magnetic field B of detection ' < > Total <> As the magnetic field B that produces by resonance circuit 40B ' < > Reso <> , can calculate position (x, y, the z of capsule body 3B), the magnetic torque M of capsule body 3B towards (θ, φ) and equivalence.

Therefore, position checkout gear 9B is not used to make this resonance circuit 40B to produce the excitation unit of the AC magnetic field of induction electromotive force, further miniaturization because capsule body 3B can spontaneously produce magnetic field through resonance circuit 40B so need not produce.

In addition, embodiment that each above-mentioned embodiment etc. is carried out formations such as part combination etc. also belongs to the present invention.

The capsule medical device position/posture detecting system of above-mentioned embodiment of the present invention, have can correctly detect the capsule medical instrument main body towards the effect that can not influence the rotating excitation field of magnetic guide capsule medical treatment device main body with the position.

Claims (54)

1. capsule medical device position/posture detecting system, it has:

Insert intravital capsule medical instrument main body;

Be located at the Magnet on the said capsule medical instrument main body;

Go up the 1st magnetic field generation unit that produces magnetic field in any direction;

Thrust produces structural portion, and it produces thrust by rotation to said capsule medical instrument main body;

The capsule interior loop, it is located on the said capsule medical instrument main body, constitutes resonance circuit;

The 2nd magnetic field generation unit, it is configured in around the said live body, produces to be used to make said resonance circuit to produce the AC magnetic field of induction electromotive force;

A plurality of magnetic field detection unit, it detects the magnetic field intensity of the induced field of said capsule interior loop generation according to the magnetic field that said the 2nd magnetic field generation unit produces;

Calculation section calculating, it calculates the direction and the position of said capsule medical instrument main body according to from the unitary detected value of said magnetic field detection; And

Control circuit, it controls said the 1st magnetic field generation unit according to the direction of the said capsule medical instrument main body that is calculated by said calculation section calculating and the information of position, makes the 1st magnetic field generation unit produce magnetic field in this direction.

2. capsule medical device position/posture detecting system according to claim 1, wherein, said the 2nd magnetic field generation unit is a coil.

3. capsule medical device position/posture detecting system according to claim 1, wherein, said magnetic field detection unit is a coil.

4. capsule medical device position/posture detecting system according to claim 1, wherein, said magnetic field detection unit is a Magnetic Sensor.

5. according to each the described capsule medical device position/posture detecting system in the claim 1～4; Wherein, Said resonance circuit utilizes said capsule interior loop to constitute; The resonant frequency of said resonance circuit is the self-resonant frequency of said capsule interior loop, and the frequency in the magnetic field that said the 2nd magnetic field generation unit produces is near the resonant frequency of said resonance circuit.

6. according to each the described capsule medical device position/posture detecting system in the claim 1～4; Wherein, Said resonance circuit utilizes said capsule interior loop and capacitor to constitute, and the frequency in the magnetic field that said the 2nd magnetic field generation unit produces is near the resonant frequency of said resonance circuit.

7. according to each the described capsule medical device position/posture detecting system in the claim 1～4, wherein, can insert and dispose said magnetic field detection unit on the framework of logical peristome having said live body.

8. capsule medical device position/posture detecting system according to claim 7, wherein, said framework is roughly sphere-like.

9. capsule medical device position/posture detecting system according to claim 7, wherein, said framework is roughly polyhedral.

10. capsule medical device position/posture detecting system according to claim 9, wherein, said framework is roughly cubic.

11. capsule medical device position/posture detecting system according to claim 1, wherein, said a plurality of magnetic field detection unit be configured to have roughly unidirectional detection side to.

12. capsule medical device position/posture detecting system according to claim 11, wherein, said a plurality of magnetic field detection unit is configured on the roughly same plane.

13. capsule medical device position/posture detecting system according to claim 1; Wherein, said a plurality of magnetic field detection unit is configured to make that at least one magnetic field detection unit has and other magnetic field detection unit different detection directions in said a plurality of magnetic field detection unit.

14. capsule medical device position/posture detecting system according to claim 13, wherein, said magnetic field detection unit disposes three at least, form roughly orthogonal each other three detection sides to.

15. capsule medical device position/posture detecting system according to claim 1 wherein, has two said the 2nd magnetic field generation units at least.

16. capsule medical device position/posture detecting system according to claim 15; Wherein, In the position that has disposed said at least two the 2nd magnetic field generation units, said at least two the 2nd magnetic field generation units are configured to produce respectively roughly unidirectional magnetic field.

17. capsule medical device position/posture detecting system according to claim 16, wherein, said at least two the 2nd magnetic field generation units are configured on the roughly same plane.

18. capsule medical device position/posture detecting system according to claim 15; Wherein, Said at least two the 2nd magnetic field generation units are configured to, and make the direction, different with the direction in the magnetic field of said the 2nd magnetic field generation unit of the position that disposed the 2nd magnetic field generation unit in the magnetic field of said the 1st magnetic field generation unit that has disposed position in said at least two the 2nd magnetic field generation units, the 1st magnetic field generation unit.

19. capsule medical device position/posture detecting system according to claim 18, wherein, said the 2nd magnetic field generation unit disposes three at least, forms roughly orthogonal each other three directions.

20. capsule medical device position/posture detecting system according to claim 1, wherein, at least one is configured on the plate-shaped base that is made up of nonmagnetic material and by blocking in said a plurality of magnetic field detection unit.

21. capsule medical device position/posture detecting system according to claim 20 wherein, has disposed at least two said magnetic field detection unit on said pedestal, said at least two magnetic field detection unit have roughly unidirectional detection side to.

22. capsule medical device position/posture detecting system according to claim 21, wherein, said at least two magnetic field detection unit are configured on the roughly same plane.

23. capsule medical device position/posture detecting system according to claim 20, wherein, at least two said magnetic field detection unit are configured on the said pedestal, and said at least two magnetic field detection unit have mutual different detection direction.

24. capsule medical device position/posture detecting system according to claim 23, wherein, at least three said magnetic field detection unit are configured on the said pedestal, form roughly orthogonal each other three detection sides to.

25. capsule medical device position/posture detecting system according to claim 20, wherein, at least one is configured on the said pedestal and by blocking with said the 2nd magnetic field generation unit in said a plurality of magnetic field detection unit.

26. capsule medical device position/posture detecting system according to claim 25; Wherein, be configured in said the 2nd magnetic field generation unit on the said pedestal the position magnetic field direction, with the unitary detection side of said at least one magnetic field detection to being roughly same direction.

27. capsule medical device position/posture detecting system according to claim 26, wherein, said the 2nd magnetic field generation unit and said at least one magnetic field detection unit of being configured on the said pedestal are configured on the roughly same plane.

28. capsule medical device position/posture detecting system according to claim 26; Wherein, Be configured in said the 2nd magnetic field generation unit on the said pedestal with symmetry shape the symmetrical centre axle, with the unitary symmetrical centre axle of said magnetic field detection with symmetry shape, be arranged coaxial.

29. capsule medical device position/posture detecting system according to claim 25 wherein, has disposed at least two said magnetic field detection unit on said pedestal, said at least two magnetic field detection unit have mutual different detection direction.

30. capsule medical device position/posture detecting system according to claim 29 wherein, has disposed at least three said magnetic field detection unit on said pedestal, form roughly orthogonal each other three detection sides to.

31. capsule medical device position/posture detecting system according to claim 20; Wherein, This capsule medical device position/posture detecting system has the framework that said pedestal is installed, said framework be from external by means of rotating excitation field guide said capsule medical instrument main body towards and/or the guiding device of position.

32. capsule medical device position/posture detecting system according to claim 31, wherein, said the 2nd magnetic field generation unit is configured on the pedestal that has disposed said a plurality of magnetic field detection unit and blocking.

33. capsule medical device position/posture detecting system according to claim 31, wherein, the frequency of the rotating excitation field that produces through said guiding device is to distinguish different frequencies with the resonant frequency of said resonance circuit.

34. capsule medical device position/posture detecting system according to claim 31 wherein, is provided with a plurality of said pedestals.

35. capsule medical device position/posture detecting system according to claim 34; Wherein, Said framework has said live body can insert logical peristome, on said framework with said be provided with in a plurality of pedestals at least three base configuration composition other places in different towards.

36. capsule medical device position/posture detecting system according to claim 35 is characterized in that, said framework has the chair that said live body can be taken a seat.

37. capsule medical device position/posture detecting system according to claim 35 is characterized in that, at least one in the said pedestal constitutes and can move freely or freely load and unload for said framework.

38. capsule medical device position/posture detecting system according to claim 35; Wherein, Said framework is roughly cubic shaped, on removing of said framework becomes in the face of said peristome at least remaining of one side back, with said base configuration become different respectively towards.

39. according to the described capsule medical device position/posture detecting system of claim 38, wherein, said pedestal is configured to the face arbitrarily of the framework of said roughly cubic shaped all not parallel.

40. according to the described capsule medical device position/posture detecting system of claim 38; Wherein, The normal direction of the face that becomes said peristome of the framework of said roughly cubic shaped, with the unitary detection side of said magnetic field detection to being same direction roughly, on the face beyond face that becomes said peristome and the face opposite, dispose said magnetic field detection unit with said peristome.

41. capsule medical device position/posture detecting system according to claim 31; Wherein, Said pedestal and said the 2nd magnetic field generation unit be across relative configuration the in space at said capsule medical instrument place, and constitute under the state of keeping said relative state and move freely.

42. according to the described capsule medical device position/posture detecting system of claim 41; Wherein, Said pedestal and said the 2nd magnetic field generation unit are installed on the movable device of the multiple degrees of freedom that moves freely and rotate; Said capsule medical device position/posture detecting system has control device; The action that it controls the movable device of said multiple degrees of freedom, the magnetic field that makes the specific detection in the said magnetic field detection unit that is configured on the said pedestal is for maximum.

43., wherein, have according to the described capsule medical device position/posture detecting system of claim 41:

At least two movable devices of said pedestal and said the 2nd magnetic field generation unit have been installed;

Have said live body and can insert the said framework that logical peristome, said movable device can move; And

Control device, the action that it controls said movable device, the magnetic field that makes the specific detection in the said magnetic field detection unit that is configured on the said pedestal is for maximum.

44. capsule medical device position/posture detecting system according to claim 31, wherein, the said pedestal that disposes said the 2nd magnetic field generation unit and blocking constitutes, and facing to the spatial configuration at said capsule medical instrument place, and moves freely.

45. according to the described capsule medical device position/posture detecting system of claim 44; Wherein, Said pedestal is installed on the movable device of the multiple degrees of freedom that moves freely and rotate; Said capsule medical device position/posture detecting system has control device; The action that it controls the movable device of said multiple degrees of freedom, the magnetic field that makes the specific detection in the said magnetic field detection unit that is configured on the said pedestal is for maximum.

46., wherein, have according to the described capsule medical device position/posture detecting system of claim 44:

The movable device of said pedestal has been installed;

Have said live body and can insert the said framework that logical peristome, said movable device can move; And

Control device, the action that it controls said movable device, the magnetic field that makes the specific detection in the said magnetic field detection unit that is configured on the said pedestal is for maximum.

47. capsule medical device position/posture detecting system according to claim 1; Wherein, This capsule medical device position/posture detecting system has installs the unitary framework of said magnetic field detection, said framework be from external by means of rotating excitation field guide said capsule medical instrument main body towards and/or the guiding device of position.

48. according to the described capsule medical device position/posture detecting system of claim 47, wherein, the frequency of the rotating excitation field that produces through said guiding device is to distinguish different frequencies with the resonant frequency of said resonance circuit.

49. according to the described capsule medical device position/posture detecting system of claim 47, wherein, said framework has said live body can insert logical peristome, on said framework, at least three magnetic field detection unit is configured to be in respectively the different detection direction.

50. according to the described capsule medical device position/posture detecting system of claim 49, wherein, said framework has the chair that said live body can be taken a seat.

51. according to the described capsule medical device position/posture detecting system of claim 49, wherein, at least one in the said magnetic field detection unit constitutes and can move freely or freely load and unload for said framework.

52. according to the described capsule medical device position/posture detecting system of claim 49; Wherein, Said framework is roughly cubic shaped; On removing of said framework becomes in the face of said peristome at least remaining of one side back, will said at least three magnetic field detection unit be configured to have and distinguish the different detection direction.

53. according to the described capsule medical device position/posture detecting system of claim 49; Wherein, Said framework is roughly cubic shaped, said magnetic field detection unit have with all uneven detection side of normal of the face arbitrarily of the framework of said roughly cubic shaped to.

54. according to the described capsule medical device position/posture detecting system of claim 49; Wherein, Face beyond the face that becomes said peristome of cubical said framework roughly and the face opposite with said peristome, normal direction and the unitary detection side of said magnetic field detection of face who said magnetic field detection unit is configured to become said peristome is to being same direction roughly.

Images