JP5199020B2 - Magnetic induction system and method of operating magnetic induction system - Google Patents

Description

  The present invention relates to a magnetic guidance system and a magnetic guidance method for guiding a capsule medical device introduced into a subject by magnetic force.

  Conventionally, capsule medical devices having an imaging function and a wireless communication function have appeared in the field of endoscopes. The capsule medical device is introduced into the subject by oral ingestion or the like in order to observe the inside of the organ of the subject such as a patient. Thereafter, the capsule medical device inside the subject sequentially takes images of the inside of the organ (hereinafter also referred to as an in-vivo image) at predetermined intervals while moving inside the organ by a peristaltic motion or the like. Sequentially wirelessly transmit images to the outside. The capsule medical device inside the subject repeats such in-vivo image capturing and wireless transmission sequentially until it is discharged to the outside of the subject, and is finally discharged to the outside of the subject.

  Each in-vivo image captured by such a capsule medical device is received by a receiving device outside the subject, and taken into the image display device via this receiving device. The image display device displays each captured in-vivo image on the display. A user such as a doctor or a nurse can observe the inside of the organ of the subject through observation of each in-vivo image displayed on the image display device, and diagnose the subject based on the observation result.

  In recent years, a system for guiding the capsule medical device inside the subject by magnetic force (that is, magnetically guiding) has been proposed. As such a magnetic induction system, for example, there is a system in which a video capsule in a human body positioned in an operation space surrounded by 14 individual coils is guided by magnetic force (see Patent Document 1).

JP 2005-81147 A

  By the way, the physical quantity such as the density of each capsule medical device, which is an assembled product, generally varies due to component variations or manufacturing variations of the capsule medical device. The optimum condition (for example, magnetic field strength or magnetic gradient) of the magnetic field to be applied when magnetically guiding such a capsule medical device differs depending on the density of each capsule medical device.

  However, the conventional magnetic guidance system magnetically guides the capsule medical device inside the subject under uniform magnetic field conditions even when the physical quantity of the capsule medical device varies. For this reason, the guidance state such as the moving speed or the posture control angle of the capsule medical device varies, and as a result, it is difficult to magnetically guide the capsule medical device inside the subject with high accuracy.

  The present invention has been made in view of the above circumstances, and is capable of magnetically guiding a capsule medical device inside a subject with high accuracy by applying a magnetic field under optimum conditions to the capsule medical device. It is an object to provide a system and a magnetic induction method.

  In order to solve the above-described problems and achieve the object, a magnetic guidance system according to the present invention includes a magnetic field application unit that magnetically induces the capsule medical device by applying a magnetic field to the capsule medical device, and the capsule type An information acquisition unit that acquires physical information related to magnetic guidance of a medical device; a magnetic field condition is set based on the physical information acquired by the information acquisition unit; and the magnetic field corresponding to the set magnetic field condition is set as the capsule And a control unit for controlling the magnetic induction of the capsule medical device by controlling the magnetic field application unit so as to be applied to the medical device.

  The magnetic guidance system according to the present invention further includes a receiving unit that receives an image captured by the capsule medical device, and the information acquisition unit includes the image received by the receiving unit. And calculating the physical information.

  In the magnetic guidance system according to the present invention, in the above invention, the bottom is provided with an index, and includes the capsule medical device and a container for storing a liquid, and the capsule medical device in the liquid has the bottom at the bottom. The image included in the subject is captured, and the information acquisition unit calculates the physical information based on an imaging state of the index in the image.

  In the magnetic guidance system according to the present invention, the capsule medical device and a container for storing a liquid, a liquid temperature adjusting unit for adjusting the temperature of the liquid in the container, and the liquid temperature adjusting unit in the above invention A temperature measuring unit that measures the temperature of the liquid adjusted by the method, and a receiving unit that receives an image captured by the capsule medical device, and the information acquiring unit receives the image received by the receiving unit. Determining the timing at which the capsule medical device starts to float or sink in the liquid, and measures the physical information based on the temperature of the liquid measured by the temperature measurement unit at the timing. It is characterized by.

  In the magnetic guidance system according to the present invention, in the above invention, the magnetic field detection unit that detects the magnetic gradient of the magnetic field applied to the capsule medical device introduced into the liquid and the capsule medical device A reception unit that receives the image that has been received, and the information acquisition unit determines the timing of the capsule medical device to start floating or sink in the liquid based on the image received by the reception unit The physical information is calculated based on the magnetic gradient of the magnetic field detected by the magnetic field detection unit at the timing.

  The magnetic guidance system according to the present invention further includes a receiving unit that receives a transmission signal from the capsule medical device including the image captured by the capsule medical device and the physical information in the above invention. The capsule medical device stores the physical information in advance, transmits the image together with the stored physical information, and the information acquisition unit receives a transmission signal from the capsule medical device received by the receiving unit. The physical information is extracted from the inside.

  The magnetic induction system according to the present invention includes a storage unit that stores a magnetic field condition table in which the physical information and the magnetic field condition of the magnetic field are associated with each other in the above invention, and the control unit includes the magnetic field condition table The magnetic field condition corresponding to the physical information acquired by the information acquisition unit is selected from the above.

  In the magnetic guidance system according to the present invention as set forth in the invention described above, the physical information is at least one of a density and a gravity center position of the capsule medical device.

  In the magnetic guidance system according to the present invention, in the above invention, the magnetic field detection unit that detects the magnetic gradient of the magnetic field applied to the capsule medical device introduced into the liquid and the capsule medical device A reception unit that receives the image that has been received, and the information acquisition unit determines the timing of the capsule medical device to start floating or sink in the liquid based on the image received by the reception unit The magnetic field gradient detected by the magnetic field detector at the timing is acquired as the physical information.

  The magnetic guidance method according to the present invention includes an information acquisition step for acquiring physical information related to magnetic guidance of a capsule medical device, and the capsule medical device based on the physical information acquired by the information acquisition step. A condition setting step for setting a magnetic field condition of the magnetic field to be applied; and a magnetic field corresponding to the magnetic field condition set by the condition setting step is applied to the capsule medical device inside the subject, thereby magnetically encapsulating the capsule medical device. And a magnetic induction step for guiding.

  In the magnetic guidance method according to the present invention, in the above invention, the magnetic guidance method includes a reception step of receiving a signal including the physical information stored in advance in the capsule medical device from the capsule medical device, and the information acquisition step includes The physical information is extracted based on a signal from the capsule medical device received in the receiving step.

  In the magnetic guidance system according to the present invention, the magnetic field application unit applies a magnetic field to the capsule medical device to magnetically guide the capsule medical device, and the information acquisition unit performs physical information relating to the magnetic guidance of the capsule medical device. The control unit sets a magnetic field condition based on the physical information acquired by the information acquisition unit, and applies the magnetic field corresponding to the set magnetic field condition to the capsule medical device. The magnetic field application unit is controlled to control the magnetic guidance of the capsule medical device. Therefore, an optimal magnetic field condition can be set according to physical information such as the density or the position of the center of gravity of the capsule medical device. The capsule medical device in the subject can be magnetically guided with high accuracy by applying a magnetic field having the optimum magnetic field condition to the capsule medical device.

  In the magnetic guidance method according to the present invention, an information acquisition step of acquiring physical information related to magnetic guidance of the capsule medical device is executed, and the capsule medical device is based on the physical information acquired by the information acquisition step. Executing a condition setting step for setting a magnetic field condition of a magnetic field to be applied to the apparatus, applying a magnetic field corresponding to the magnetic field condition set in the condition setting step to the capsule medical device in a subject, and A magnetic guidance step for magnetically guiding the medical device is performed. For this reason, an optimum magnetic field condition can be set according to physical information such as the density or the position of the center of gravity of the capsule medical device, and the capsule inside the subject is applied by applying the magnetic field of the set optimum magnetic field condition to the capsule medical device. Type medical device can be magnetically guided with high accuracy.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a magnetic induction system and a magnetic induction method according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the present embodiment.

(Embodiment 1)
FIG. 1 is a block diagram schematically showing a configuration example of a magnetic guidance system according to the first exemplary embodiment of the present invention. The magnetic guidance system according to the first embodiment is a system for magnetically guiding a capsule medical device 10 introduced into an organ of a subject. As shown in FIG. 1, a magnetic guidance unit 2 and a reception unit 3 are provided. And an information acquisition unit 4, an input unit 5, a display unit 6, a storage unit 7, and a control unit 8.

  The magnetic guiding unit 2 is for magnetically guiding the capsule medical device 10 introduced into the organ of the subject, and supplies power to the magnetic field applying unit 2a that outputs a guiding magnetic field and the magnetic field applying unit 2a. Power supply unit 2b.

  The magnetic field application unit 2a is realized using an electromagnet such as a Helmholtz coil. The magnetic field application unit 2 a outputs a guidance magnetic field based on the power supplied from the power supply unit 2 b and applies this guidance magnetic field to the capsule medical device 10. The magnetic field application unit 2a magnetically guides the capsule medical device 10 by the action (magnetic attractive force, magnetic repulsive force, magnetic gradient, magnetic rotational force, etc.) of the guiding magnetic field.

  The power supply unit 2b supplies the magnetic field application unit 2a with electric power necessary for generating a guidance magnetic field to be applied to the capsule medical device 2. Specifically, the power supply unit 2b includes one or more current signal generation units (not shown) corresponding to the one or more electromagnets (coils) constituting the magnetic field application unit 2a. Based on the control of the control unit 8, the power supply unit 2b generates various patterns of current signals, applies the generated current signals to the magnetic field application unit 2a, and applies various patterns of alternating currents to the magnetic field application unit 2a. To supply. The magnetic field application unit 2a described above applies a magnetic field for guiding various output patterns to the capsule medical device 10 in accordance with the pattern of the current signal supplied from the power supply unit 2b.

  The receiving unit 3 receives an image captured by the capsule medical device 10. Specifically, the receiving unit 3 includes a plurality of receiving antennas 3a, and receives a radio signal from the capsule medical device 10 via at least one of the plurality of receiving antennas 3a. The receiving unit 3 performs predetermined communication processing such as demodulation processing on the radio signal from the capsule medical device 10 received in this manner, and thereby demodulates the radio signal into an image signal. The image signal includes at least image data captured by the capsule medical device 10. The reception unit 3 transmits the image signal from the capsule medical device 10 to the information acquisition unit 4 and the control unit 8.

  The information acquisition unit 4 acquires physical information related to magnetic guidance of the capsule medical device 10 based on the image received by the reception unit 3 from the capsule medical device 10. Specifically, the information acquisition unit 4 acquires the image signal demodulated by the reception unit 3 (that is, the image signal from the capsule medical device 10) from the reception unit 3. The information acquisition unit 4 performs predetermined image processing on the acquired image signal to generate an image by the capsule medical device 10. The information acquisition unit 4 calculates physical information related to magnetic guidance of the capsule medical device 10 based on the generated image by the capsule medical device 10. As a result, the information acquisition unit 4 acquires physical information related to magnetic guidance of the capsule medical device 10. The information acquisition unit 4 transmits the physical information acquired in this way to the control unit 8.

  Note that the physical information related to the magnetic guidance of the capsule medical device 10 is physical information related to the magnetic field condition of the guiding magnetic field applied to the capsule medical device 10 when the capsule medical device 10 is magnetically guided. The density of the capsule medical device 10, the position of the center of gravity, and the like.

  The input unit 5 is realized using an input device such as a mouse and a keyboard, and inputs various types of information to the control unit 8 in response to an input operation by the user. Specifically, the input unit 5 inputs instruction information to be instructed to the control unit 8, physical information necessary for calculation processing of physical information related to magnetic guidance of the capsule medical device 10, and the like. As physical information input by the input unit 5, for example, the volume and mass of the capsule medical device 10, the radius of curvature of the dome-shaped portion of the capsule medical device 10, and the capsule medical device 10 are introduced into the subject. The density of the liquid to be produced.

  The display unit 6 is realized by using a display device such as a CRT display or a liquid crystal display, and displays various types of information instructed to be displayed by the control unit 8. Based on the control of the control unit 8, the display unit 6 receives input information from the input unit 5, an image received by the capsule medical device 10 received by the reception unit 3, and physical information acquired by the information acquisition unit 4 (capsule medical device 10), information indicating the magnetic guidance status of the capsule medical device 10 and the like are displayed as appropriate.

  The storage unit 7 is realized by using various storage media that store information in a rewritable manner such as a RAM, an EEPROM, a flash memory, or a hard disk. The storage unit 7 stores various information instructed to be stored by the control unit 8, and transmits the information instructed to be read out by the control unit 8 from the stored various information to the control unit 8. Specifically, based on the control of the control unit 8, the storage unit 7 stores physical information input by the input unit 5, an image by the capsule medical device 10, physical information regarding magnetic guidance of the capsule medical device 10, and the like. Store or update as appropriate.

Further, the storage unit 7 stores in advance a magnetic field condition table 7a for setting the above-described magnetic field conditions for the guiding magnetic field. FIG. 2 is a schematic diagram showing a specific example of the magnetic field condition table. The magnetic field condition table 7a is a data table in which physical information related to magnetic guidance of the capsule medical device 10 is associated with the magnetic field conditions of the guiding magnetic field. Specifically, as shown in FIG. 2, the magnetic field information table 7a includes the density ranges R1 to Rn of the density ρ _CP of the capsule medical device 10 and the output patterns A1 to An as the magnetic field conditions for the guidance magnetic field. Including. In this case, the density range R1~Rn of density [rho _CP is associated respectively with each output pattern A1~An the guidance magnetic field. In addition, this density (rho) _CP is an example of the physical information regarding the magnetic guidance of the capsule medical device 10, and is calculated by the information acquisition part 4 mentioned above. In addition, the output patterns A1 to An associated with the density ranges R1 to Rn of the density ρ _CP are different optimum conditions (optimum output patterns) of the guidance magnetic field depending on the density range of the capsule medical device 10. is there.

  The control unit 8 controls the operations of the magnetic induction unit 2, the reception unit 3, the information acquisition unit 4, the input unit 5, the display unit 6, and the storage unit 7 that are components of the magnetic induction system 1. Controls signal input / output between components. Specifically, based on the instruction information input by the input unit 5, the control unit 8 receives the above-described reception operation of the reception unit 3, information acquisition operation of the information acquisition unit 4, display operation of the display unit 6, and storage unit 7 storage operation and the like are controlled. In this case, the control unit 8 stores various information such as the acquisition information of the information acquisition unit 4 (that is, physical information related to magnetic guidance of the capsule medical device 10) or the input information of the input unit 5 in the storage unit 7, and the various types Information is appropriately displayed on the display unit 6. In addition, the control unit 8 has an image processing function, and performs predetermined image processing on the image signal acquired from the reception unit 3 to generate an image by the capsule medical device 10. The control unit 8 displays the image generated in this way on the display unit 6 and stores it in the storage unit 7. In addition, the control part 8 reads the various information memorize | stored in this memory | storage part 7 as needed.

  In addition, the control unit 8 includes a magnetic field condition setting unit 8a that sets the magnetic field condition of the guidance magnetic field. The magnetic field condition setting unit 8a acquires the acquisition information of the information acquisition unit 4 described above, that is, physical information related to the magnetic guidance of the capsule medical device 10 from the information acquisition unit 4, and uses the acquired physical information for guidance. Sets the magnetic field conditions for the magnetic field. In this case, the magnetic field condition setting unit 8a selects the magnetic field condition corresponding to the acquired physical information from the magnetic field condition table 7a stored in the storage unit 7, and uses the selected magnetic field condition as the magnetic field of the guidance magnetic field. Set as a condition. The control unit 8 controls the magnetic guiding unit 2 so as to apply a guiding magnetic field corresponding to the set magnetic field condition to the capsule medical device 10, thereby magnetically guiding the capsule medical device 10. In this case, the control unit 8 controls the power supply unit 2b so as to apply a current signal having a pattern corresponding to the magnetic field condition to the magnetic field application unit 2a, and the induction of the magnetic field application unit 2a through the control of the power supply unit 2b. Controls magnetic field generation operation. Thereafter, the control unit 8 uses the set magnetic field condition as an initial condition of the guidance magnetic field, and controls the current signal of the power supply unit 2b applied to the magnetic field application unit 2a based on the instruction information input by the input unit 5. Then, the guidance magnetic field generation operation of the magnetic field application unit 2a is controlled through the control of the current signal. Thereby, the control unit 8 controls the magnetic guidance of the capsule medical device 10 continuously from the magnetic guidance state of the capsule medical device 10 following the guidance magnetic field of the initial condition.

  Next, the configuration of the capsule medical device 10 that is a magnetic guidance target will be described. FIG. 3 is a schematic cross-sectional view illustrating a configuration example of a capsule medical device that is a magnetic induction target. As shown in FIG. 3, the capsule medical device 10 illuminates subjects in different directions with a capsule housing 11 that is an exterior formed in a size that can be easily introduced into an organ of a subject such as a patient. Illumination units 12 and 13 and imaging units 14 and 15 that capture images of subjects in different directions. The capsule medical device 10 includes a wireless communication unit 16 that wirelessly transmits each image captured by the imaging units 14 and 15, a control unit 17 that controls each component of the capsule medical device 10, and a capsule And a power supply unit 18 that supplies power to each component of the medical device 10. Furthermore, the capsule medical device 10 includes a magnet 19 for operating following the guidance magnetic field applied by the magnetic field application unit 2a.

  The capsule-type casing 11 is an outer case formed to have a size that can be introduced into an organ of a subject such as a patient. The capsule casing 11 is closed at both ends of the cylindrical casing 11a with dome-shaped casings 11b and 11c. Realized. The dome-shaped casings 11 b and 11 c are dome-shaped optical members that are transparent to illumination light such as visible light emitted by the illumination units 12 and 13. The cylindrical casing 11a is a colored casing that is substantially opaque to visible light. As shown in FIG. 3, the capsule-type casing 11 formed by the cylindrical casing 11a and the dome-shaped casings 11b and 11c includes illumination units 12 and 13, imaging units 14 and 15, a wireless communication unit 16, and a control unit. The part 17, the power supply part 18 and the magnet 19 are contained in a liquid-tight manner.

  The illuminating units 12 and 13 are realized by using light emitting elements such as LEDs, and illuminate the imaging visual fields D1 and D2 of the imaging units 14 and 15 that capture images in different directions. Specifically, the illuminating unit 12 illuminates the subject of the imaging unit 14 through the dome-shaped casing 11b by irradiating the imaging field of view D1 of the imaging unit 14 with illumination light. The illumination unit 13 irradiates the imaging field of view D2 of the imaging unit 15 with illumination light, and illuminates the subject of the imaging unit 15 through the dome-shaped casing 11c.

  The imaging units 14 and 15 capture images in different directions. Specifically, the imaging unit 14 includes a solid-state imaging device 14a such as a CMOS image sensor or a CCD, and an optical system 14b such as a lens that forms a subject image in the imaging field D1 on the light receiving surface of the solid-state imaging device 14a. . The imaging unit 14 captures an image of the subject in the imaging field D1 illuminated by the illumination unit 12. On the other hand, the imaging unit 15 includes a solid-state imaging device 15a such as a CMOS image sensor or a CCD, and an optical system 15b such as a lens that forms a subject image in the imaging field of view D2 on the light receiving surface of the solid-state imaging device 15a. The imaging unit 15 captures an image of the subject in the imaging field D2 illuminated by the illumination unit 13.

  When the capsule medical device 10 is a two-lens capsule type medical device that images the front and rear in the long axis direction as shown in FIG. 3, each optical axis of the imaging units 14 and 15 is a capsule type. It is substantially parallel or substantially coincident with the long axis CL, which is the central axis in the longitudinal direction of the housing 11. Further, the directions of the imaging visual fields D1 and D2 of the imaging units 14 and 15 are opposite to each other.

  The wireless communication unit 16 includes an antenna 16a, and sequentially wirelessly transmits each image captured by the imaging units 14 and 15 to the outside via the antenna 16a. Specifically, the wireless communication unit 16 acquires an image signal of an image captured by the image capturing unit 14 or the image capturing unit 15 from the control unit 17, performs a modulation process on the acquired image signal, and the like. A radio signal obtained by modulating the signal is generated. The wireless communication unit 16 transmits the wireless signal to the external receiving unit 3 (see FIG. 1) via the antenna 16a.

  The control unit 17 controls the illumination units 12 and 13, the imaging units 14 and 15, and the wireless communication unit 16 described above, and controls input / output of signals between the respective components. Specifically, the control unit 17 causes the imaging unit 14 to capture an image of the subject in the imaging field D1 illuminated by the illumination unit 12, and captures an image of the subject in the imaging field D2 illuminated by the illumination unit 13 to the imaging unit 15. Let In addition, the control unit 17 causes the wireless communication unit 16 to wirelessly transmit each image captured by the imaging units 14 and 15 in time series.

  Further, the control unit 17 includes a signal processing unit 17a. The signal processing unit 17a acquires image data of the imaging visual field D1 from the imaging unit 14, and performs predetermined signal processing on the image data each time to generate an image signal including the image data of the imaging visual field D1. . Similarly, the signal processing unit 17a acquires the image data of the imaging visual field D2 from the imaging unit 15, and performs predetermined signal processing on the image data each time to include the image data of the imaging visual field D2. An image signal is generated. Each image signal generated by the signal processing unit 17a is sequentially transmitted to the wireless communication unit 16 described above.

  The power supply unit 18 includes a power storage unit such as a button-type battery or a capacitor, and a switch unit such as a magnetic switch. The power supply unit 18 switches the power on / off state by a magnetic field applied from the outside, and in the on state, the power of the power storage unit is supplied to each component of the capsule medical device 10 (the illumination units 12 and 13, the imaging unit 14, 15 and appropriately supplied to the wireless communication unit 16 and the control unit 17). Moreover, the power supply part 18 stops the electric power supply to each structure part of this capsule type medical device 10, when it is an OFF state.

  The magnet 19 is for enabling magnetic induction of the capsule medical device 10 by a magnetic field applied from the outside. Specifically, the magnet 19 is disposed at a predetermined position inside the capsule casing 11 and forms a magnetic field in a predetermined direction (for example, the major axis direction or the radial direction of the capsule casing 11). The magnet 19 operates following the magnetic field from the outside of the capsule housing 11, that is, the guiding magnetic field applied by the magnetic field applying unit 2a shown in FIG. 1, and as a result, the capsule medical device 10 is magnetized. Induce. In this case, the capsule medical device 10 performs at least one of the posture changing operation and the displacement operation by the action of the magnet 19. Alternatively, the capsule medical device 10 maintains a state stopped at a predetermined position by the action of the magnet 19.

  Next, the operation of the magnetic induction system 1 according to the first exemplary embodiment of the present invention will be described. FIG. 4 is a flowchart showing an example of the magnetic induction method according to the first embodiment of the present invention. The magnetic guidance system 1 according to the first embodiment performs magnetic guidance of the capsule medical device 10 along the processing procedure shown in FIG.

  That is, as shown in FIG. 4, the control unit 8 of the magnetic guidance system 1 determines whether there is an instruction to set a magnetic field condition when magnetically guiding the capsule medical device 10 (step S <b> 101). In step S101, when the instruction information for instructing the setting of the magnetic field condition is input by the input unit 5, the control unit 8 determines that there is an instruction to set the magnetic field condition based on the instruction information, and inputs the instruction information. If not, it is determined that there is no instruction to set the magnetic field condition.

  When the control unit 8 determines in step S101 that there is an instruction to set the magnetic field condition (step S101, Yes), the control unit 8 acquires physical information related to the magnetic guidance of the capsule medical device 10 that is the magnetic guidance target (step S102). In step S <b> 102, the control unit 8 controls the receiving unit 3 so as to receive an image captured by the capsule medical device 10 that is floating or sinking in the liquid. In addition, the control unit 8 controls the information acquisition unit 4 so as to calculate physical information related to the magnetic guidance of the capsule medical device 10 based on the image of the capsule medical device 10 received by the receiving unit 3. Based on the control of the control unit 8, the information acquisition unit 4 calculates physical information related to magnetic guidance of the capsule medical device 10, and transmits the calculated physical information to the control unit 8. In this way, the control unit 8 acquires physical information related to the magnetic guidance of the capsule medical device 10.

  Next, the control unit 8 sets a magnetic field condition during magnetic induction of the capsule medical device 10 based on the physical information acquired in step S102 (step S103). In step S <b> 103, the magnetic field condition setting unit 8 a sets the magnetic field condition at the time of magnetic guidance of the capsule medical device 10 based on the physical information regarding the magnetic guidance of the capsule medical device 10 acquired from the information acquisition unit 4. To do.

Specifically, when the physical information is the density ρ _CP of the capsule medical device 10, the magnetic field condition setting unit 8a reads the magnetic field condition table 7a from the storage unit 7, and refers to the magnetic field condition table 7a, Magnetic field conditions suitable for the capsule medical device 10 having this density ρ _CP are set. In this case, the magnetic field condition setting unit 8a determines whether the density ρ _CP is within the density range R1 to Rn in the magnetic field condition table 7a, and is associated with the determined density range. A magnetic field output pattern (any one of output patterns A1 to An) is selected as a magnetic field condition. For example, when the magnetic field condition setting unit 8a determines whether the density ρ _CP is within the density range R1, the magnetic field condition setting unit 8a selects the output pattern A1 as the magnetic field condition, and the density ρ _CP is within the density range Rn. If it is determined that there is, the output pattern An is selected as the magnetic field condition.

  On the other hand, when the physical information is the position of the center of gravity of the capsule medical device 10, the magnetic field condition setting unit 8a sets a magnetic field condition suitable for the capsule medical device 10 having the position of the center of gravity. In this case, the magnetic field condition setting unit 8a applies the magnetic field applied to the capsule medical device 1 based on the relative shift amount and shift direction of the center of gravity position from the major axis CL of the capsule medical device 10 shown in FIG. Set the initial magnetic field direction and magnetic field strength. Note that the capsule medical device 10 to which the guidance magnetic field having the initial magnetic field direction and the magnetic field strength set as described above is applied can be used in the liquid even when the center of gravity is shifted from the long axis CL. It takes an upright posture (a posture in which the long axis CL of the capsule medical device 10 and the vertical direction are substantially parallel).

  As described above, after setting the magnetic field condition at the time of magnetic guidance of the capsule medical device 10 in step 103, the control unit 8 determines whether there is a magnetic guidance instruction of the capsule medical device 10 (step S104). In step S104, when the instruction information for instructing the magnetic guidance of the capsule medical device 10 is input by the input unit 5, the control unit 8 determines that there is a magnetic guidance instruction based on the instruction information, and the instruction information Is not entered, it is determined that there is no magnetic guidance instruction.

  When determining that there is a magnetic guidance instruction in Step S104 (Yes in Step S104), the control unit 8 controls the magnetic guidance unit 2 so as to output a guidance magnetic field to the capsule medical device 10 that is a magnetic guidance target. (Step S105). In step S105, the control unit 8 applies a magnetic field for guidance corresponding to the magnetic field conditions (output pattern, magnetic field strength, magnetic field direction, etc.) set in step S103 described above to the capsule medical device 10. 2a and current supply unit 2b are controlled. As a result, the capsule medical device 10 in the liquid is initially magnetically guided following the guiding magnetic field. Subsequently, the control unit 8 applies the magnetic field for guidance based on the instruction information input by the input unit 5 to the magnetic field application unit 2a and the current supply unit so as to further apply to the capsule medical device 10 in the initial magnetic induction state. 2b is controlled. Thus, the control unit 8 controls the magnetic guidance of the capsule medical device 10 continuously from the initial magnetic guidance state of the capsule medical device 10.

  Thereafter, the control unit 8 determines whether or not to terminate the magnetic guidance control process of the capsule medical device 10 (step S106). In step S106, when the instruction information for the end of the process is input by the input unit 5, the control unit 8 determines that the process is ended based on the instruction information (step S106, Yes), and ends the present process. On the other hand, the control unit 8 determines that the process is not finished when the process end instruction information is not inputted (step S106, No), returns to step S101, and repeats the process procedure after step S101.

  If the control unit 8 determines in step S101 described above that there is no instruction to set the magnetic field condition (No in step S101), the control unit 8 proceeds to step S104 without executing steps S102 and S103, and the processing procedure after step S104. repeat. Further, when the control unit 8 determines in step S104 that there is no magnetic guidance instruction (No in step S104), the control unit 8 returns to step S101 and repeats the processing procedure after step S101.

Next, the case where the physical information related to the magnetic guidance of the capsule medical device 10 is at least one of the density ρ _CP and the center of gravity position GP of the capsule medical device 10 is exemplified, and the magnetism when executing the above-described step S102. The operation of the guidance system 1 will be specifically described.

First, acquisition of the density ρ _CP of the capsule medical device 10 in the case where the capsule medical device 10 can float on the liquid surface with the imaging field of view vertically upward will be described in detail. FIG. 5 is a schematic view illustrating the capsule medical device in a state where the imaging visual field is directed vertically upward and is floated on the liquid. FIG. 6 is a schematic diagram illustrating an example of an image captured by the capsule medical device in a state where the imaging visual field is directed vertically upward and is floated on the liquid.

As shown in FIG. 5, gravity Mg acting on the capsule medical device 10 acts on the capsule medical device 10 from the liquid 100 in a state where the capsule medical device 10 floats on the liquid surface 100 a of the liquid 100. It is balanced with buoyancy f. That is, gravity Mg = buoyancy f. Here, this gravity Mg is calculated by the product of the density ρ _CP and the volume V _CP of the capsule medical device 10. On the other hand, the buoyancy f is calculated by the product of the density ρ _{Liq of the} liquid 100 and the volume V _{B of the} portion of the capsule medical device 10 that has sunk under the liquid surface 100a. Therefore, the following expression (1) is established.

Density ρ _CP = (Volume V _B / Volume V _CP ) × Density ρ _Liq (1)

On the other hand, the volume V _B of the portion of the capsule medical device 10 in the state of floating in the liquid 100 that sinks below the liquid surface 100a is from the entire volume V _CP of the capsule medical device 10 from the liquid surface 100a. It is calculated by subtracting the volume V _A of the protruding portion 10a (shaded portion shown in FIG. 5). That is, the following formula (2) is established.

Volume V _B = Volume V _CP -Volume V _A (2)

Further, the volume _VA of the protruding portion 10a can be calculated by the formula shown in the following equation (3).

Volume V _A = 1/3 × π × projection amount X _A ² × (3 × curvature radius r−projection amount X _A ) (3)

In this equation (3), the protruding amount X _A is the height from the liquid surface 100a to the apex P of the dome-shaped protruding portion 10a, as shown in FIG. 5, and the capsule type medical treatment from the liquid surface 100a. This corresponds to the protruding amount of the device 10. On the other hand, the radius of curvature r is a radius of curvature of both end portions (dome-shaped casings 11b and 11c shown in FIG. 3) forming a dome shape in the exterior of the capsule medical device 10. The curvature radius r is input by the input unit 5 as one piece of physical information of the capsule medical device 10.

  On the other hand, the capsule medical device 10 in the state of floating in the liquid 100 captures an image 101 as shown in FIG. The image 101 captured by the capsule medical device 10 includes a boundary B between the liquid surface 100a of the liquid 100 and the exterior of the capsule medical device 10 as a subject. When the capsule medical device 10 in a state where it floats on the liquid 100 as shown in FIG. 5 takes an upright posture as shown in FIG. 5, the boundary B becomes circular as shown in FIG. Note that the boundary B in the image 101 is more clearly drawn when the liquid 100 is colored.

The information acquisition unit 4 acquires the image signal of the image 101 by the capsule medical device 10 from the reception unit 3. And the information acquisition part 4 calculates density (rho) _CP which is an example of the physical information regarding the magnetic guidance of the capsule medical device 10 based on this acquired image 101. FIG. In this case, the information acquisition unit 4 first calculates the radius r _A of the boundary B in the image 101 based on a preset scale corresponding to one pixel. Next, the information acquisition unit 4 uses the calculated radius r _A of the boundary portion B and the curvature radius r of the capsule medical device 10 to project the projection amount X _A of the capsule medical device 10 from the liquid surface 100a. Is calculated. Specifically, as shown in FIG. 5, the information acquisition unit 4 uses the radius r _A and the curvature radius r of the boundary B, and based on the three-square theorem, the difference between the curvature radius r and the protrusion amount X _A. (R−X _A ) is calculated, and the protrusion amount X _A is calculated by subtracting the difference (r−X _A ) from the radius of curvature r. The information acquisition unit 4 uses the projection amount X _A calculated in this way, the volume V _{CP of} the capsule medical device 10 and the density ρ _{LIQ of the} liquid 100 input in advance by the input unit 5, and the above-described equation (1). Based on (3), the density ρ _CP of the capsule medical device 10 is calculated. The information acquisition unit 4 acquires the density ρ _CP of the capsule medical device 10 calculated as described above as physical information regarding the magnetic guidance of the capsule medical device 10.

Note that the information acquisition unit 4 employs such a density calculation method of the capsule medical device 10 so that either the capsule medical device 10 is introduced into the organ of the subject or after the capsule medical device 10 is introduced. Even in this case, it is possible to obtain the density ρ _CP that is physical information related to the magnetic guidance of the capsule medical device 10.

Specifically, when the density ρ _CP of the capsule medical device 10 is acquired before the capsule medical device 10 is introduced into the organ of the subject, the capsule medical device 10 and an appropriate amount of liquid are contained in a predetermined container. 100 is introduced, and the capsule medical device 10 is floated on the liquid surface 100a of the liquid 100 in the container. In this state, the receiving unit 3 receives the image 101 captured by the capsule medical device 10 that is floating in the liquid 100 in the container. The information acquisition unit 4 calculates the density ρ _CP of the capsule medical device 10 based on the image 101 received by the reception unit 3 as described above. Thereafter, the liquid 100 and the capsule medical device 10 are introduced into the organ of the subject.

  In the density calculation method of the capsule medical device 10, the container has an inner diameter that is larger than the outer diameter of the capsule medical device 10 and the length of the capsule medical device 10 in the long axis direction. This is a hollow container having a depth greater than that. Further, the liquid 100 is a liquid having a density higher than that of the capsule medical device 10, and is, for example, a liquid that is harmless to the human body such as water or physiological saline that floats the capsule medical device 10 inside the organ of the subject. It is.

On the other hand, when the density ρ _CP of the capsule medical device 10 is acquired after the capsule medical device 10 is introduced into the organ of the subject, the capsule medical device 10 and an appropriate amount of the capsule medical device 10 inside the organ of the subject by oral ingestion or the like. The liquid 100 is introduced, and the capsule medical device 10 floats on the liquid surface 100a of the liquid 100 inside the organ of the subject. In this state, the receiving unit 3 receives the image 101 captured by the capsule medical device 10 in a state of floating in the liquid 100 inside the organ. The information acquisition unit 4 calculates the density ρ _CP of the capsule medical device 10 based on the image 101 received by the reception unit 3 as described above.

Next, acquisition of the density ρ _CP of the capsule medical device 10 in the case where the capsule medical device 10 can float on the liquid surface with the imaging visual field directed vertically downward will be described in detail. FIG. 7 is a schematic view showing an example of a container for floating a capsule medical device on the liquid surface. FIG. 8 is a schematic view showing a state in which the capsule medical device floats on the liquid in the container with the imaging visual field directed vertically downward. FIG. 9 is a schematic diagram illustrating an example of an image captured by the capsule medical device in a state where the imaging visual field is directed vertically downward and floated on the liquid.

  As shown in FIG. 7, the container 110 is, for example, a cylindrical hollow container, has an inner diameter that is larger than the outer diameter of the capsule medical device 10, and is in the long axis direction of the capsule medical device 10. It has a depth greater than the length of. In addition, an indicator 111 is provided on the bottom of the container 110. The index 111 is a combination of a plurality of concentric circles as shown in FIG. Note that the number of concentric circles constituting the index 111 is not limited to three as long as it is plural.

  The capsule medical device 10 and an appropriate amount of liquid 100 are introduced into the container 110. In this case, as shown in FIG. 8, the capsule medical device 10 in the container 110 is in a state of floating on the liquid surface of the liquid 100 with the imaging visual field facing vertically downward. The amount of liquid 100 introduced into the container 110 is such that the liquid level of the liquid 100 (the distance from the bottom surface of the container 110 to the liquid surface of the liquid 100) when the capsule medical device 10 is floated on the liquid surface is constant. It is adjusted to become.

  The capsule medical device 10 in the state of floating in the liquid 100 captures the image 102 as shown in FIG. 9 by capturing the bottom surface of the container 110 within the imaging field of view. The image 102 captured by the capsule medical device 10 includes an index 111 provided on the bottom surface of the container 110 as a subject. Note that the index 111 in the image 102 is more clearly drawn when the liquid 100 is colorless and transparent.

The receiving unit 3 receives an image signal of the image 102 captured by the capsule medical device 10 in a state of floating on the liquid 100 in the container 110. The information acquisition unit 4 acquires an image signal of the image 102 by the capsule medical device 10 from the reception unit 3, and is an example of physical information regarding magnetic guidance of the capsule medical device 10 based on the acquired image 102. A certain density ρ _CP is calculated. In this case, the information acquisition unit 4 calculates the density ρ _CP based on the imaging state of the index 111 in the image 102.

Here, the floating position of the capsule medical device 10 in the liquid 100 rises and falls according to the density ρ _CP of the capsule medical device 10. Therefore, the range of the index 111 captured in the imaging field of view of the capsule medical device 10 (hereinafter referred to as the imageable range of the index 111) is the capsule medical device when the angle of view of the capsule medical device 10 is constant. 10 floating positions, that is, the density ρ _CP of the capsule medical device 10 changes. Specifically, the imaging range of such indicators 111, decreases with increasing density [rho _CP of the capsule medical device 10, increases with a decrease in the density [rho _CP of the capsule medical device 10. The imaging state of the index 111 in the image 102 by the capsule medical device 10 changes as the imaging range of the index 111 changes.

The information acquisition unit 4 determines the density of the capsule medical device 10 based on the imaging state of the index 111 in the image 102 by the capsule medical device 10, for example, the concentric circle quantity or the concentric circle size of the index 111 included in the image 102. ρ _CP is calculated. The information acquisition unit 4 employs such a density calculation method of the capsule medical device 10 so that the magnetic property of the capsule medical device 10 is introduced before the capsule medical device 10 is introduced into the organ of the subject. Density ρ _CP which is physical information related to guidance can be acquired.

When the capsule medical device 10 sinks below the liquid 100, the information acquisition unit 4 calculates the density ρ _CP of the capsule medical device 10 based on the physical information input by the input unit 5. To do. Specifically, the input unit 5 inputs the mass W1 of the capsule medical device 10 in the air, the mass W2 of the capsule medical device 10 in the liquid 100, and the density ρ _{LIQ of the} liquid 100 to the control unit 8. To do. The control unit 8 transmits each physical information input by the input unit 5 to the information acquisition unit 4 and controls the information acquisition unit 4 to calculate the density ρ _CP of the capsule medical device 10. The information acquisition unit 4 acquires the physical information from the control unit 8 and calculates the density ρ _CP of the capsule medical device 10 based on the control of the control unit 8. In this case, the information acquisition unit 4 uses the acquired masses W1 and W2 of the capsule medical device 10 and the density ρ _{LIQ of the} liquid 100 to _calculate the density of the capsule medical device 10 based on the following equation (4). ρ _CP is calculated.

Density ρ _CP = density ρ _LIQ × mass W1 / (mass W1−mass W2) (4)

The information acquisition unit 4 employs the density calculation method of the capsule medical device 10 based on the equation (4), so that the capsule medical device 10 is introduced before the capsule medical device 10 is introduced into the organ of the subject. The density ρ _CP which is physical information related to the magnetic induction of the device 10 can be acquired.

  Next, acquisition of the center-of-gravity position GP of the capsule medical device 10 when the capsule medical device 10 can float on the liquid surface with the imaging field of view vertically upward will be described in detail. FIG. 10 is a schematic view illustrating the capsule medical device in a state where it floats in a liquid while taking an inclined posture. FIG. 11 is a schematic diagram illustrating an example of an image captured by the capsule medical device in a liquid state while taking an inclined posture.

  In the capsule medical device 10 that can float on the liquid 100, when the center of gravity position GP is deviated from the major axis CL in the radial direction, the capsule medical device 10 in the center of gravity state has the liquid 100 as shown in FIG. An inclined posture is taken in a state of floating on the liquid surface 100a. The inclined posture of the capsule medical device 10 here is a posture in which the long axis CL of the capsule medical device 10 is inclined with respect to the vertical direction.

  In this way, the capsule medical device 10 in a floating state in the liquid 100 takes an image 101 as shown in FIG. 11, for example, with the imaging field of view directed vertically upward. The image 101 captured by the capsule medical device 10 in such an inclined posture includes a boundary B between the liquid surface 100a of the liquid 100 and the exterior of the capsule medical device 10 as a subject. In this case, the center C2 of the boundary portion B in the image 101 deviates from the center C1 of the image 101 as shown in FIG. Note that the amount of deviation of the center C2 of the boundary portion B relative to the center C1 of the image 101 changes corresponding to the amount of inclination of the capsule medical device 10 with respect to the vertically upward direction. Further, the shift direction of the center C2 of the boundary portion B relative to the center C1 of the image 101 changes in accordance with the tilt direction of the capsule medical device 10 with respect to the vertically upward direction.

  Here, the receiving unit 3 receives an image signal of the image 101 captured by the capsule medical device 10 in such an inclined posture. The information acquisition unit 4 acquires an image signal of the image 101 by the capsule medical device 10 in such an inclined posture from the reception unit 3, and based on the acquired image 101, physical information relating to magnetic guidance of the capsule medical device 10. The gravity center position GP which is an example of is acquired. In this case, the information acquisition unit 4 calculates a shift vector E (see FIG. 11) that connects the center C1 of the image 101 and the center C2 of the boundary B. The shift vector E is a vector indicating the shift amount and the shift direction of the center C2 of the boundary B relative to the center C1 of the image 101. The information acquisition unit 4 transmits the vector component information of the shift vector E to the control unit 8 as information indicating the relative shift amount and shift direction of the center of gravity position GP from the long axis CL of the capsule medical device 10. .

  Note that the information acquisition unit 4 employs such a center-of-gravity position calculation method of the capsule medical device 10 so that either the capsule medical device 10 is introduced into the organ of the subject before or after the capsule medical device 10 is introduced. Even in this case, the center-of-gravity position GP that is physical information related to magnetic guidance of the capsule medical device 10 can be acquired.

  Specifically, when acquiring the center of gravity position GP of the capsule medical device 10 before the capsule medical device 10 is introduced into the organ of the subject, the capsule medical device 10 and an appropriate amount of liquid are contained in a predetermined container. 100 is introduced, and the capsule medical device 10 is floated on the liquid surface 100a of the liquid 100 in the container. In this state, the receiving unit 3 receives the image 101 captured by the capsule medical device 10 that is floating in the liquid 100 in the container. The information acquisition unit 4 calculates the shift vector E of the boundary B based on the image 101 received by the reception unit 3 as described above. Thereafter, the liquid 100 and the capsule medical device 10 are introduced into the organ of the subject.

  In the center of gravity calculation method of the capsule medical device 10, the container is larger than the outer diameter of the capsule medical device 10 as in the case of the density calculation method of the capsule medical device 10 described above. This is a hollow container having an inner diameter and a depth larger than the length of the capsule medical device 10 in the long axis direction.

  On the other hand, when the center of gravity position GP of the capsule medical device 10 is acquired after the capsule medical device 10 is introduced into the organ of the subject, the capsule medical device 10 and an appropriate amount of the capsule medical device 10 inside the organ of the subject by oral ingestion or the like. The liquid 100 is introduced, and the capsule medical device 10 floats on the liquid surface 100a of the liquid 100 inside the organ of the subject. In this state, the receiving unit 3 receives the image 101 captured by the capsule medical device 10 in a state of floating in the liquid 100 inside the organ. The information acquisition unit 4 calculates the shift vector E of the boundary B based on the image 101 received by the reception unit 3 as described above.

  Note that, when the capsule medical device 10 in such an inclined posture directs the imaging field of view vertically downward, the receiving unit 3 captures the image 102 captured by the capsule medical device 10 in a state of floating on the liquid 100 in the container 110 described above. Receive. In this case, the information acquisition unit 4 uses the shift vector of the index 111 in the image 102 (the shift amount and shift of the center of the index 111 relative to the center of the image 102) instead of the shift vector E of the boundary B described above. A vector indicating the direction) is calculated. The information acquisition unit 4 transmits the vector component information of the calculated shift vector to the control unit 8 as information indicating the relative shift amount and shift direction of the center of gravity position GP from the major axis CL of the capsule medical device 10. do it.

In addition, the information acquisition unit 4 described above combines the density calculation method and the gravity center position calculation method described above to obtain the density ρ of the capsule medical device 10 based on the image 101 or the image 102 by the capsule medical device 10. _{Both the CP} and the gravity center position GP (specifically, vector component information of the deviation vector) can be calculated together. The information acquisition unit 4 can transmit the density ρ _CP and the gravity center position GP of the capsule medical device 10 to the control unit 8 as physical information related to the magnetic guidance of the capsule medical device 10.

  Next, the magnetic guidance of the capsule medical device 10 based on the magnetic field condition set by the magnetic field condition setting unit 8a described above will be specifically described. FIG. 12 is a schematic view illustrating a state in which the capsule medical device introduced into the subject is magnetically guided. As shown in FIG. 12, the capsule medical device 10 introduced into the organ of the subject 120 floats in the liquid 100 introduced into the organ. In this case, for example, the capsule medical apparatus 10 directs the imaging field of the imaging unit 14 to the vertically upper side and the imaging field of the imaging unit 15 to the vertically lower side. Images are taken sequentially.

The magnetic field condition setting unit 8a, based on the density ρ _CP and the gravity center position GP of the capsule medical device 10 acquired by the information acquisition unit 4 as described above, generates a guidance magnetic field to be applied to the capsule medical device 10. Set the magnetic field conditions. The control unit 8 applies the magnetic field for guidance under the set magnetic field conditions (magnetic field strength, magnetic field direction, magnetic gradient, etc.) to the capsule medical device 10 inside the subject 120, and the magnetic field applying unit 2a and the power supply unit 2b. To control. The magnetic field application unit 2 a applies a guidance magnetic field corresponding to the magnetic field condition to the capsule medical device 10 inside the subject 120 based on the control of the control unit 8.

Specifically, as shown in FIG. 12, the magnetic field application unit 2 a applies a cancel magnetic field H to the magnet 19 of the capsule medical device 10 inside the subject 120. Here, the cancel magnetic field H is an example of a guidance magnetic field corresponding to the magnetic field condition set by the magnetic field condition setting unit 8a described above, and acts on the capsule medical device 10 in the liquid 100 as shown in FIG. It is a magnetic field of magnetic force PW (magnetic attractive force or magnetic repulsive force) that gradients in a direction that cancels the difference between gravity and buoyancy. In FIG. 12, the cancel magnetic field H is a magnetic field that forms a vertical magnetic gradient that compensates for insufficient buoyancy acting on the capsule medical device 10. The magnetic field condition setting unit 8 a sets the magnitude of the magnetic gradient of the cancel magnetic field H based on the density ρ _CP of the capsule medical device 10.

  The magnetic field application unit 2a applies a cancel magnetic field H to the capsule medical device 10 inside the subject 120 in a state where the magnetic guidance instruction information is not input by the input unit 5, and thereby the capsule medical device. The difference between gravity and buoyancy acting on 10 is deleted. As a result, the capsule medical device 10 inside the subject 120 is free from gravity and buoyancy in the liquid 100. The magnetic field application unit 2a applies the cancel magnetic field H to the capsule medical device 10 inside the subject 120 in a state where the magnetic guidance instruction information is input by the input unit 5, and further, based on the instruction information. A guidance magnetic field is applied to the capsule medical device 10. As a result, the magnetic field application unit 2a can magnetically guide the capsule medical device 10 inside the subject 120 from a free state with respect to gravity and buoyancy. The capsule medical device 10 that is magnetically guided in this manner can move slowly in the liquid 100 following the guiding magnetic field. As a result, the user can more easily operate the magnetic guidance of the capsule medical device 10 by the input operation of the input unit 5.

  As described above, the magnetic guidance system and the magnetic guidance method according to the first exemplary embodiment of the present invention relate to the magnetic guidance of the capsule medical device based on the image captured by the capsule medical device in the liquid. The physical information is acquired, a magnetic field condition matching the acquired physical information is set, a guidance magnetic field corresponding to the set magnetic field condition is applied to the capsule medical device in the liquid, and the capsule medical device is It was configured to be magnetically induced. For this reason, the optimum magnetic field condition can be set according to the physical information such as the density or the center of gravity position of the capsule medical device, and the guidance magnetic field output control is performed in accordance with the set optimum magnetic field condition. The magnetic guidance of the capsule medical device can be controlled. As a result, it is possible to magnetically guide the capsule medical device inside the subject with high accuracy by applying a magnetic field under optimum conditions to the capsule medical device.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. In the first embodiment described above, physical information (density ρ _CP , center of gravity position GP, etc.) regarding magnetic induction of the capsule medical device 10 is acquired based on the image captured by the capsule medical device 10 in the liquid. However, in the second embodiment, the density ρ _CP of the capsule medical device 10 is acquired based on the temperature of the liquid 100 at the timing when the capsule medical device 10 in the liquid 100 starts to float or sink. Yes.

  FIG. 13 is a block diagram schematically illustrating a configuration example of the magnetic guidance system according to the second exemplary embodiment of the present invention. As illustrated in FIG. 13, the magnetic guidance system 21 according to the second embodiment includes an information acquisition unit 24 instead of the information acquisition unit 4 of the magnetic guidance system 1 according to the first embodiment described above, and includes a control unit 8. Instead of this, a control unit 28 is provided. The magnetic guidance system 21 includes a container 25 into which the capsule medical device 10 and the liquid 100 are introduced, a liquid temperature adjusting unit 22 that adjusts the temperature of the liquid 100 in the container 25, and an adjustment by the liquid temperature adjusting unit 22. And a temperature measuring unit 23 for measuring the temperature of the liquid 100. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The container 25 is for floating or sinking the capsule medical device 10 in the liquid 100. Specifically, the container 25 has an inner diameter that is greater than the outer diameter of the capsule medical device 10 and a depth that is greater than the length of the capsule medical device 10 in the major axis direction. Have. In the container 25, the above-described capsule medical device 10 and an appropriate amount of liquid 100 are introduced.

  The liquid temperature adjusting unit 22 is realized using at least one of a heating device and a cooling device, and is disposed in the container 25. The liquid temperature adjusting unit 22 heats or cools the liquid 100 in the container 25 based on the control of the control unit 28, thereby adjusting the temperature of the liquid 100.

  The liquid temperature measurement unit 23 is realized by using a temperature sensor or the like, and is disposed in the container 25. The liquid temperature measurement unit 23 measures the temperature of the liquid 100 in the container 25 based on the control of the control unit 28, and transmits the temperature measurement value of the liquid 100 to the information acquisition unit 24.

The information acquisition unit 24 is one piece of physical information related to the magnetic guidance of the capsule medical device 10 based on the temperature of the liquid 100 at the timing when the capsule medical device 10 in the liquid 100 starts to float or sinks. The density ρ _CP is measured. Specifically, the information acquisition unit 24 sequentially acquires images of the capsule medical device 10 in the liquid 100 from the reception unit 3 based on the control of the control unit 28, and the temperature measurement value of the liquid 100 Are sequentially obtained from the liquid temperature measurement unit 23. The information acquisition unit 24 determines the timing at which the capsule medical device 10 starts to float or sink in the liquid 100 based on each image by the capsule medical device 10. Subsequently, the information acquisition unit 24 determines the density of the capsule medical device 10 based on the temperature measurement value of the liquid 100 measured by the temperature measurement unit 23 at the timing when the capsule medical device 10 starts to float or sink. ρ Measure _CP . Here, at the timing when the capsule medical device 10 in the liquid 100 starts to float or sink as the temperature of the liquid 100 changes, the density ρ _CP of the capsule medical device 10 is substantially _equal to the density ρ _{Liq of the} liquid 100. Equivalent. Based on this, the information acquisition unit 24 converts the temperature measurement value of the liquid 100 at such timing into the density ρ _CP of the capsule medical device 10 that is substantially the same value as the density ρ _{Liq of the} liquid 100, and thereby the density Get ρ _CP . The information acquisition unit 24 has the same function as the information acquisition unit 4 of the magnetic guidance system 1 according to the first embodiment described above, except for the density measurement function of the capsule medical device 10.

The control unit 28 controls each operation of the liquid temperature adjusting unit 22, the liquid temperature measuring unit 23, and the information acquiring unit 24 based on the instruction information input by the input unit 5, and measures the liquid temperature. Signal input / output between the unit 23 and the information acquisition unit 24 is controlled. In this case, the control unit 28 controls the liquid temperature adjusting unit 22 so as to adjust the temperature of the liquid 100 in the container 25 by a heating process or a cooling process. Further, the control unit 28 controls the liquid temperature measurement unit 23 so as to measure the temperature of the liquid 100 adjusted by the liquid temperature adjustment unit 22 and sequentially transmit the temperature measurement value of the liquid 100 to the information acquisition unit 24. . Further, as described above, the control unit 28 performs information so as to measure the density ρ _CP of the capsule medical device 10 using each image by the capsule medical device 10 and the temperature measurement result of the liquid 100 by the temperature measuring unit 23. The acquisition unit 24 is controlled. The control unit 28 acquires physical information related to the magnetic guidance of the capsule medical device 10 such as the density ρ _CP from the information acquisition unit 24. The control unit 28 has the same functions as the control unit 8 of the magnetic induction system 1 according to the first embodiment described above, except for the control functions of the liquid temperature adjustment unit 22, the liquid temperature measurement unit 23, and the information acquisition unit 24. Have

Next, the operation of the magnetic guidance system 21 according to the second embodiment of the present invention will be described. The magnetic guiding system 21 according to the second embodiment is the same as the magnetic guiding system 1 according to the first embodiment except for the operation when acquiring the density ρ _CP which is one of the physical information on the magnetic guiding of the capsule medical device 10. Works as well. That is, the control unit 28 of the magnetic guidance system 21 executes a processing procedure substantially similar to steps S101 to S106 shown in FIG. In this case, the control unit 28 acquires the density ρ _CP of the capsule medical device 10 by a method different from that of the control unit 8 in the first embodiment in step S102.

  Specifically, in step S102 described above, the control unit 28 controls the receiving unit 3 so as to receive an image captured by the capsule medical device 10 in the liquid 100. Further, the control unit 28 controls the temperature adjusting unit 22 so as to change the temperature of the liquid 100 into which the capsule medical device 10 is introduced. At that time, when the capsule medical device 10 is stable in a state of floating in the liquid 100, the control unit 28 controls the temperature adjusting unit 22 so that the temperature of the liquid 100 is gradually increased by heat treatment. To do. On the other hand, when the capsule medical device 10 is stable in a state where it is submerged in the liquid 100, the control unit 28 controls the temperature adjusting unit 22 so that the temperature of the liquid 100 is gradually lowered by the cooling process. . Further, the control unit 28 controls the liquid temperature measurement unit 23 so as to sequentially measure the temperature of the liquid 100 adjusted by the temperature adjustment unit 22 and sequentially transmit the temperature measurement value of the liquid 100 to the information acquisition unit 24. .

In addition, the control unit 28 appropriately uses each image received by the capsule medical device 10 received by the receiving unit 3 and the temperature measurement value of the liquid 100 by the liquid temperature measurement unit 23 to relate to the magnetic guidance of the capsule medical device 10. The information acquisition unit 24 is controlled to acquire physical information. Based on the control of the control unit 28, the information acquisition unit 24 acquires physical information on the magnetic guidance of the capsule medical device 10 such as the density ρ _CP and transmits the acquired physical information to the control unit 28.

Specifically, the information acquisition unit 24 sequentially acquires each image by the capsule medical device 10 from the reception unit 3 and calculates a motion vector between these images. The information acquisition unit 24 determines the timing at which the capsule medical device 10 in the liquid 100 starts to float or sink based on the calculated motion vector between the images. In addition, the information acquisition unit 24 has a data table indicating the density conversion data of the liquid 100 at each temperature in advance, and the temperature measurement value of the liquid 100 acquired from the temperature measurement unit 23 at the timing of the start of floating or sinking, and this Based on the data table, the density ρ _CP of the capsule medical device 10 is measured.

Here, when the capsule medical device 10 in the liquid 100 is stable in a floating state, the capsule medical device 10 in the floating state has a density ρ _Liq of the liquid 100 due to the temperature rise of the liquid 100. It begins to sink as it decreases. At the timing when the capsule medical device 10 starts to sink, the density ρ _CP of the capsule medical device 10 becomes substantially equal to the density ρ _{Liq of the} liquid 100. On the other hand, when the capsule medical device 10 in the liquid 100 is stable in the submerged state, the submerged capsule medical device 10 increases the density ρ _Liq of the liquid 100 due to the temperature drop of the liquid 100. It begins to float with. At the timing when the capsule medical device 10 starts to float, the density ρ _CP of the capsule medical device 10 becomes substantially the same as the density ρ _{Liq of the} liquid 100.

Based on the relationship between the density ρ _{Liq of the} liquid 100 and the density ρ _CP of the capsule medical device 10, the information acquisition unit 24 uses the above-described density-converted data table of the liquid 100 and uses the capsule medical device 10. The temperature measurement value of the liquid 100 at the timing of starting to float or sinking is converted into the density ρ _CP of the capsule medical device 10 that is substantially the same value as the density ρ _{Liq of the} liquid 100. As a result, the information acquisition unit 24 acquires the density ρ _CP that is one piece of physical information regarding the magnetic guidance of the capsule medical device 10. In addition, about the other physical information regarding the magnetic guidance of the capsule medical device 10 such as the center of gravity position GP of the capsule medical device 10, the information acquisition unit 24 acquires the same as the information acquisition unit 4 in the first embodiment described above. To do.

In the second embodiment, when the density ρ _CP of the capsule medical device 10 floating in the liquid 100 is measured, a sheet-like member is floated on the liquid 100 and acts on the capsule medical device 10 in the floating state. The surface tension to be removed may be excluded. FIG. 14 is a schematic view illustrating a state in which a sheet-like member is provided on the liquid level in the container. As shown in FIG. 14, the sheet-like member 26 is disposed on the liquid surface 100 a of the liquid 100 in the container 25. The sheet-like member 26 floats on the liquid surface 100a and prevents the capsule medical device 10 in the liquid 100 from protruding above the liquid surface 100a. Thereby, the sheet-like member 26 can eliminate the influence of the surface tension on the capsule medical device 10. That is, the capsule medical device 10 in the liquid 100 can start to sink with the decrease in the density ρ _Liq caused by the temperature rise of the liquid 100 without being affected by the surface tension on the liquid surface 100a. As a result, the temperature measurement unit 23 can accurately measure the temperature of the liquid 100 when the density ρ _CP of the capsule medical device 10 and the density ρ _{Liq of the} liquid 100 are substantially the same value. The information acquisition unit 24 can measure the density ρ _CP of the capsule medical device 10 with high accuracy by using the accurate temperature measurement value of the liquid 100.

  As described above, the magnetic guidance system and the magnetic guidance method according to the second exemplary embodiment of the present invention adjust the temperature of the liquid into which the capsule medical device is introduced to change the density of the liquid, thereby The capsule medical device is floated or submerged in the liquid, and the temperature of the liquid is measured at the timing when the capsule medical device starts to float or sink in the liquid. Based on the measured temperature of the liquid, In addition, the density of the capsule medical device was measured, and the others were configured in the same manner as in the first embodiment. For this reason, while enjoying the effect similar to the case of Embodiment 1 mentioned above, the density of a capsule type medical device can be measured with high precision, and magnetic field conditions are based on the density of such a high precision capsule type medical apparatus. And the capsule medical device can be magnetically guided with higher accuracy.

(Embodiment 3)
Next, a third embodiment of the present invention will be described. In the first embodiment described above, physical information (density ρ _CP , center of gravity position GP, etc.) regarding magnetic induction of the capsule medical device 10 is acquired based on the image captured by the capsule medical device 10 in the liquid. However, in the third embodiment, a gradient magnetic field is applied to the capsule medical device 10 in the liquid 100 and applied when the capsule medical device 10 in the liquid 100 starts to float or sink. Based on the magnetic force of the gradient magnetic field, the density ρ _CP of the capsule medical device 10 is acquired.

  FIG. 15 is a block diagram schematically illustrating a configuration example of the magnetic guidance system according to the third embodiment of the present invention. As shown in FIG. 15, the magnetic guidance system 31 according to the third embodiment includes an information acquisition unit 34 instead of the information acquisition unit 4 of the magnetic guidance system 1 according to the first embodiment described above, and includes a control unit 8. Instead of this, a control unit 38 is provided. The magnetic guidance system 31 further includes a magnetic field detection unit 32 that detects a gradient magnetic field applied to the capsule medical device 10 in the liquid 100. In the third embodiment, the capsule medical device 10 and the liquid 100 are introduced into the container 25 as in the second embodiment described above. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The magnetic field detection unit 32 is realized using a plurality of detection coils and the like, and detects the magnetic gradient of the gradient magnetic field applied to the capsule medical device 10 in the liquid 100. The magnetic field detection unit 32 transmits the detected magnetic gradient of the gradient magnetic field to the information acquisition unit 34. The gradient magnetic field detected by the magnetic field detection unit 32 is applied to the capsule medical device 10 in the liquid 100 by the magnetic field application unit 2a described above. The magnetic field application unit 2 a applies a gradient magnetic field to the capsule medical device 10 in the liquid 100 while gradually changing the magnetic gradient based on the control of the control unit 38.

The information acquisition unit 34 uses the capsule-type medical device 10 in the liquid 100 based on the magnetic gradient of the gradient magnetic field at the timing when the capsule medical device 10 starts to float following the gradient magnetic field by the magnetic field application unit 2a or begins to sink. The density ρ _CP which is one of the physical information related to the magnetic induction of the medical device 10 is acquired. Specifically, the information acquisition unit 34 sequentially acquires images of the capsule medical device 10 in the liquid 100 from the reception unit 3 based on the control of the control unit 38, and the capsule medical device 10 stores the images. The magnetic gradient of the applied gradient magnetic field is sequentially acquired from the magnetic field detector 32. The information acquisition unit 34 determines the timing at which the capsule medical device 10 starts to float or sink in the liquid 100 based on each image by the capsule medical device 10. The information acquisition unit 34 acquires the magnetic gradient of the gradient magnetic field detected by the magnetic field detection unit 32 at the timing when the capsule medical device 10 starts to float or sink, and uses the acquired magnetic gradient as the magnetic field of the gradient magnetic field at this timing. Convert to. The information acquisition unit 34 uses the mass W1 of the capsule medical device 10 and the density ρ _{Liq of the} liquid 100 and the magnetic force of the gradient magnetic field, which are input in advance by the input unit 5, and the density ρ _CP of the capsule medical device 10. Is calculated. The information acquisition unit 34 has the same function as the information acquisition unit 4 of the magnetic guidance system 1 according to the first embodiment described above, except for the density measurement function of the capsule medical device 10.

The control unit 38 controls the information acquisition unit 34 instead of the information acquisition unit 4 described above. In this case, as described above, the control unit 38 calculates the density ρ _CP of the capsule medical device 10 using each image by the capsule medical device 10 and the magnetic gradient detection result of the gradient magnetic field by the magnetic field detection unit 32. The information acquisition unit 34 is controlled. The control unit 38 acquires physical information related to the magnetic guidance of the capsule medical device 10 such as the density ρ _CP from the information acquisition unit 34. The control unit 38 controls the power supply unit 2b based on the instruction information input by the input unit 5, and controls the gradient magnetic field generation operation of the magnetic field application unit 2a through the control of the power supply unit 2b. In this case, the control unit 38 controls the magnetic field application unit 2a so as to apply a gradient magnetic field to the capsule medical device 10 in the liquid 100 while gradually changing the magnetic gradient. The control unit 38 has the same functions as the control unit 8 of the magnetic guidance system 1 according to the first embodiment described above, except for the control functions of the magnetic field application unit 2a and the information acquisition unit 34.

Next, the operation of the magnetic guidance system 31 according to the third embodiment of the present invention will be described. The magnetic guidance system 31 according to the third embodiment is the same as the magnetic guidance system 1 according to the first embodiment except for the operation when acquiring the density ρ _CP which is one of the physical information regarding the magnetic guidance of the capsule medical device 10. Works as well. That is, the control unit 38 of the magnetic guidance system 31 executes a processing procedure substantially the same as steps S101 to S106 shown in FIG. In this case, the control unit 38 acquires the density ρ _CP of the capsule medical device 10 by a method different from the control unit 8 in the first embodiment in step S102.

  Specifically, in step S102 described above, the control unit 38 controls the receiving unit 3 so as to receive an image captured by the capsule medical device 10 in the liquid 100. Further, the control unit 38 controls the magnetic field applying unit 2a so as to apply a gradient magnetic field to the capsule medical device 10 in the liquid 100 while changing the magnetic gradient. At this time, when the capsule medical device 10 is stable in a state of floating in the liquid 100, the control unit 38 uses the magnetic field applying unit 2a to gradually sink the floating capsule medical device 10. Control changes in the magnetic gradient of the gradient magnetic field. On the other hand, when the capsule medical device 10 is stable in the state where the capsule medical device 10 is submerged in the liquid 100, the control unit 38 is inclined by the magnetic field applying unit 2a so as to gradually float the submerged capsule medical device 10. Control changes in the magnetic gradient of the magnetic field.

Further, the control unit 38 appropriately uses each image received by the capsule medical device 10 received by the receiving unit 3 and the magnetic gradient detection result of the gradient magnetic field detected by the magnetic field detection unit 32 to relate to the magnetic guidance of the capsule medical device 10. The information acquisition unit 34 is controlled to acquire physical information. Based on the control of the control unit 38, the information acquisition unit 34 acquires physical information related to magnetic guidance of the capsule medical device 10 such as the density ρ _CP and transmits the acquired physical information to the control unit 38.

  Specifically, the information acquisition unit 34 sequentially acquires each image by the capsule medical device 10 from the reception unit 3 and calculates a motion vector between these images. The information acquisition unit 34 determines the timing at which the capsule medical device 10 in the liquid 100 starts to float or sink based on the calculated motion vector between the images.

Further, the information acquisition unit 34 acquires the magnetic gradient of the gradient magnetic field detected by the magnetic field detection unit 32 at the timing when the capsule medical device 10 starts to float or sink, and uses the acquired magnetic gradient as the magnetic force of the gradient magnetic field. Convert to (magnetic attraction or magnetic repulsion). Based on the magnetic force of the gradient magnetic field obtained by this conversion process and the mass W1 of the capsule medical device 10 in the air, the information acquisition unit 34 calculates the buoyancy f acting on the capsule medical device 10 in the liquid 100. calculate. The information acquisition unit 34 divides the calculated buoyancy f by the density ρ _{Liq of the} liquid 100 to calculate the volume V _CP of the capsule medical device 10. Information acquisition unit 34, the mass W1 of the capsule medical device 10 is divided by the volume V _CP, it calculates the density [rho _CP of the capsule medical device 10. As a result, the information acquisition unit 34 acquires the density ρ _CP which is one piece of physical information related to the magnetic guidance of the capsule medical device 10.

On the other hand, for other physical information related to magnetic guidance of the capsule medical device 10 such as the gravity center position GP of the capsule medical device 10, the information acquisition unit 34 acquires the same as the information acquisition unit 4 in the first embodiment described above. To do. The mass W1 of the capsule medical device 10 and the density ρ _{Liq of the} liquid 100 used for the density calculation process of the capsule medical device 10 by the information acquisition unit 34 are input by the input unit 5 in advance.

In the third embodiment, when the density ρ _CP of the capsule medical device 10 levitated in the liquid 100 is measured, the liquid level of the liquid 100 in the container 25 is measured as in the second embodiment. The sheet-like member 26 may be floated to eliminate the surface tension acting on the floating capsule medical device 10. Thereby, the capsule medical device 10 in the liquid 100 can start to sink following the gradient magnetic field by the magnetic field applying unit 2a without being affected by the surface tension on the liquid surface 100a. As a result, the magnetic field detection unit 32 can detect the magnetic gradient of the minimum gradient magnetic field necessary for the capsule medical device 10 in the liquid 100 to begin to sink. The information acquisition unit 34 can measure the density ρ _CP of the capsule medical device 10 with high accuracy by using the magnetic gradient of the minimum necessary gradient magnetic field. In addition, by keeping the temperature of the liquid 100 in the container 25 constant, the information acquisition unit 34 can more accurately measure the density ρ _CP of the capsule medical device 10.

Further, in the third embodiment, the information acquisition unit 34 performs physical information such as the density ρ _CP of the capsule medical device 10 in the container 25 before the capsule medical device 10 is introduced into the organ of the subject. However, after the capsule medical device 10 is introduced into the organ of the subject, physical information such as the density ρ _CP of the capsule medical device 10 inside the subject may be obtained. In this case, the capsule medical device 10 and an appropriate amount of liquid 100 are introduced into the organ of the subject by oral ingestion or the like, and the capsule medical device 10 floats or sinks in the liquid 100 inside the organ of the subject. To. In this state, the magnetic field application unit 2a applies a gradient magnetic field to the capsule medical device 10 inside the subject, and the reception unit 3 receives an image captured by the capsule medical device 10 inside the subject. The magnetic field detector 32 detects the magnetic gradient of the gradient magnetic field applied by the magnetic field application unit 2a to the capsule medical device 10 inside the subject. As in the case before the capsule medical device 10 is introduced into the subject, the information acquisition device 34 receives each image received by the capsule medical device 10 received by the receiving unit 3 and the gradient magnetic field generated by the magnetic field detection unit 32. Using the magnetic gradient detection result as appropriate, physical information related to magnetic guidance of the capsule medical device 10 such as the density ρ _CP is acquired.

  As described above, the magnetic guidance system and the magnetic guidance method according to the third embodiment of the present invention apply a gradient magnetic field to the capsule medical device in the liquid, and follow the applied gradient magnetic field. The magnetic gradient of the gradient magnetic field is detected when the capsule medical device begins to float or sinks, and the density of the capsule medical device is calculated based on the detected magnetic gradient. Others were configured in the same manner as in the first embodiment. For this reason, while enjoying the effect similar to the case of Embodiment 1 mentioned above, the density of a capsule type medical device can be calculated with high precision, and magnetic field conditions are based on the density of such a high precision capsule type medical apparatus. And the capsule medical device can be magnetically guided with higher accuracy.

(Embodiment 4)
Next, a fourth embodiment of the present invention will be described. In the above-described third embodiment, the density of the capsule medical device 10 is based on the magnetic gradient of the gradient magnetic field detected by the magnetic field detection unit 32 at the timing when the capsule medical device 10 starts to float or sink in the liquid 100. had been calculated [rho _CP, in the fourth embodiment, the magnetic gradient of the gradient magnetic field the magnetic field detector 32 detects the floating beginning or sinking the beginning timing of the capsule medical apparatus 10 in 100 the liquid, capsule It is acquired as one piece of physical information related to magnetic guidance of the medical device 10.

  FIG. 16 is a block diagram schematically illustrating a configuration example of a magnetic guidance system according to the fourth embodiment of the present invention. As shown in FIG. 16, the magnetic guidance system 41 according to the fourth embodiment includes an information acquisition unit 44 instead of the information acquisition unit 34 of the magnetic guidance system 31 according to the third embodiment described above, and includes a control unit 38. Instead of this, a control unit 48 is provided. The control unit 48 includes a magnetic field condition setting unit 48a instead of the magnetic field condition setting unit 8a described above. In the fourth embodiment, the storage unit 7 does not hold the magnetic field condition table 7a described above. Other configurations are the same as those of the third embodiment, and the same components are denoted by the same reference numerals.

  The information acquisition unit 44 relates the magnetic gradient of the gradient magnetic field at the timing when the capsule medical device 10 in the liquid 100 starts to float following the gradient magnetic field or starts to sink, to the magnetic guidance of the capsule medical device 10. Obtained as physical information. Specifically, based on the control of the control unit 48, the information acquisition unit 44 sequentially acquires images by the capsule medical device 10 in the liquid 100 from the reception unit 3, and stores the images in the capsule medical device 10. The magnetic gradient of the applied gradient magnetic field is sequentially acquired from the magnetic field detector 32. The information acquisition unit 44 determines the timing at which the capsule medical device 10 starts to float or sink in the liquid 100 based on each image by the capsule medical device 10. The information acquisition unit 44 acquires the magnetic gradient of the gradient magnetic field detected by the magnetic field detection unit 32 at the timing when the capsule medical device 10 starts to float or sink as physical information regarding the magnetic guidance of the capsule medical device 10. The information acquisition unit 44 transmits the magnetic gradient of the gradient magnetic field acquired in this way to the control unit 48. As a result, the magnetic gradient of the gradient magnetic field is fed back to the control unit 48 as physical information related to the magnetic guidance of the capsule medical device 10.

  The control unit 48 controls the information acquisition unit 44 instead of the information acquisition unit 34 described above. In this case, as described above, the control unit 48 uses the magnetic gradient of the gradient magnetic field detected by the magnetic field detection unit 32 at the timing when the capsule medical device 10 starts to float or sink as the physical information regarding the magnetic guidance of the capsule medical device 10. The information acquisition unit 44 is controlled so as to acquire as follows. The control unit 48 acquires the magnetic gradient of the gradient magnetic field, which is physical information related to the magnetic guidance of the capsule medical device 10, from the information acquisition unit 44.

  In addition, the control unit 48 includes a magnetic field condition setting unit 48a. The magnetic field condition setting unit 48 a sets the magnetic gradient acquired by the information acquisition unit 44 as physical information regarding the magnetic guidance of the capsule medical device 10 as the magnetic field condition of the guiding magnetic field applied to the capsule medical device 10. That is, the magnetic field condition setting unit 48a sets the magnetic gradient of the gradient magnetic field fed back by the information acquisition unit 44 as the magnetic field condition for the guidance magnetic field. The control unit 48 has the same functions as the control unit 38 of the magnetic guidance system 31 according to the third embodiment described above, except for the control function of the information acquisition unit 44 and the magnetic field condition setting function.

  Next, the operation of the magnetic guidance system 41 according to the fourth embodiment of the present invention will be described. The magnetic guidance system 41 according to the fourth embodiment is the same as the magnetic guidance system according to the third embodiment except for the operation for acquiring physical information related to the magnetic guidance of the capsule medical device 10 and the operation for setting the magnetic field condition. The operation is the same as 31. That is, the control unit 48 of the magnetic guidance system 41 executes a processing procedure substantially similar to steps S101 to S106 shown in FIG. In this case, the control unit 48 acquires physical information related to magnetic guidance of the capsule medical device 10 by a method different from that of the control unit 38 in the third embodiment in step S102, and in step S103, the control unit 38 in the third embodiment Magnetic field conditions for magnetic induction of the capsule medical device 10 are set by different methods.

  Specifically, in step S102 described above, the control unit 48 controls the reception operation of the reception unit 3 and the gradient magnetic field generation operation of the magnetic field application unit 2a as in the case of the third embodiment. Further, the control unit 48 uses the images received by the capsule medical device 10 received by the receiving unit 3 and the magnetic gradient detection result of the gradient magnetic field by the magnetic field detection unit 32 to perform physical guidance related to the magnetic guidance of the capsule medical device 10. The information acquisition unit 44 is controlled to acquire information. The information acquisition unit 44 acquires physical information related to the magnetic guidance of the capsule medical device 10 based on the control of the control unit 48 and transmits the acquired physical information to the control unit 48.

  Specifically, the information acquisition unit 44 floats the capsule medical device 10 in the liquid 100 based on the motion vector between the images by the capsule medical device 10 as in the case of the third embodiment described above. Determine when to start or sink. In addition, the information acquisition unit 44 detects the gradient magnetic field detected by the magnetic field detection unit 32 at the timing when the capsule medical device 10 starts to float or sink among the magnetic gradients of the gradient magnetic field sequentially detected by the magnetic field detection unit 32. The magnetic gradient is acquired as physical information related to magnetic guidance of the capsule medical device 10. The information acquisition unit 44 transmits the magnetic gradient of the gradient magnetic field at this timing to the control unit 48 as physical information related to the magnetic guidance of the capsule medical device 10.

  On the other hand, in step S <b> 103 described above, the control unit 48 acquires the magnetic gradient of the gradient magnetic field as physical information regarding the magnetic guidance of the capsule medical device 10 from the information acquisition unit 44. The magnetic field condition setting unit 48 a sets the magnetic gradient from the information acquisition unit 44 as the magnetic field condition for the magnetic induction magnetic field applied to the capsule medical device 10.

  In the fourth embodiment, when the magnetic gradient of the gradient magnetic field that starts to sink the capsule medical device 10 in the floating state is acquired, the liquid 100 in the container 25 is obtained as in the second embodiment. The sheet-like member 26 may be floated on the liquid surface, and the surface tension acting on the floating capsule medical device 10 may be eliminated. Thereby, the capsule medical device 10 in the liquid 100 can start to sink following the gradient magnetic field by the magnetic field applying unit 2a without being affected by the surface tension on the liquid surface 100a. As a result, the magnetic field detection unit 32 can accurately detect the magnetic gradient of the gradient magnetic field necessary for starting to sink the capsule medical device 10 in the liquid 100. As a result, the information acquisition unit 44 can acquire an accurate magnetic gradient as physical information related to magnetic guidance of the capsule medical device 10.

  In the fourth embodiment, the information acquisition unit 44 acquires physical information related to magnetic induction of the capsule medical device 10 in the container 25 before the capsule medical device 10 is introduced into the organ of the subject. However, after the capsule medical device 10 is introduced into the organ of the subject, physical information regarding magnetic induction of the capsule medical device 10 inside the subject may be acquired. In this case, the capsule medical device 10 and an appropriate amount of liquid 100 are introduced into the organ of the subject by oral ingestion or the like, and the capsule medical device 10 floats or sinks in the liquid 100 inside the organ of the subject. To. In this state, the magnetic field application unit 2a applies a gradient magnetic field to the capsule medical device 10 inside the subject, and the reception unit 3 receives an image captured by the capsule medical device 10 inside the subject. The magnetic field detector 32 detects the magnetic gradient of the gradient magnetic field applied by the magnetic field application unit 2a to the capsule medical device 10 inside the subject. As in the case before the capsule medical device 10 is introduced into the subject, the information acquisition device 44 is detected by the magnetic field detection unit 32 at the timing when the capsule medical device 10 inside the subject starts to float or sink. The magnetic gradient of the gradient magnetic field obtained is acquired as physical information related to the magnetic guidance of the capsule medical device 10.

  As described above, the magnetic guidance system and the magnetic guidance method according to the fourth exemplary embodiment of the present invention apply a gradient magnetic field to the capsule medical device in the liquid, and follow the applied gradient magnetic field. The magnetic gradient of the gradient magnetic field is detected at the timing when the capsule medical device starts to float or sink, and the detected magnetic gradient is acquired as physical information regarding the magnetic guidance of the capsule medical device. The acquired physical information (magnetic gradient) is set as a magnetic field condition for magnetic induction of the capsule medical device, and the others are configured in the same manner as in the third embodiment. For this reason, while enjoying the same effect as the case of Embodiment 3 mentioned above, the magnetic gradient of the gradient magnetic field which magnetically induced the capsule medical device in the liquid can be fed back to the magnetic induction control system. More practically, the magnetic guidance of the capsule medical device can be controlled.

(Embodiment 5)
Next, a fifth embodiment of the present invention will be described. In the first embodiment described above, physical information (density ρ _CP , center of gravity position GP, etc.) regarding magnetic induction of the capsule medical device 10 is calculated based on the image captured by the capsule medical device 10 in the liquid. However, in the fifth embodiment, physical information relating to magnetic guidance of the capsule medical device 10 is stored in advance in the capsule medical device 10 after manufacture, and the capsule medical device 10 wirelessly transmits the image together with the image. This physical information is acquired.

FIG. 17 is a block diagram schematically illustrating a configuration example of a magnetic guidance system according to the fifth exemplary embodiment of the present invention. As shown in FIG. 17, the magnetic guidance system 51 according to the fifth embodiment includes an information acquisition unit 54 instead of the information acquisition unit 4 of the magnetic guidance system 1 according to the first embodiment described above, and includes a control unit 8. Instead of this, a control unit 58 is provided. In the fifth embodiment, physical information relating to the magnetic guidance of the capsule medical device 10 such as the density ρ _CP and the gravity center position GP is stored in advance in an internal memory (not shown) of the capsule medical device 10. Yes. The capsule medical device 10 wirelessly transmits the stored physical information together with the captured image to the outside. Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same components.

  The information acquisition unit 54 acquires physical information related to magnetic guidance of the capsule medical device 10 via the reception unit 3. Specifically, the receiving unit 3 receives an image signal including image data by the capsule medical device 10 in the liquid 100 and physical information related to magnetic guidance of the capsule medical device 10 based on the control of the control unit 58. To do. The reception unit 3 transmits the image signal from the capsule medical device 10 to the information acquisition unit 54 and the control unit 58. The information acquisition unit 54 acquires the image signal from the capsule medical device 10 from the reception unit 3 based on the control of the control unit 58, and magnetically guides the capsule medical device 10 from the acquired image signal. Extract physical information about. In this way, the information acquisition unit 54 acquires physical information related to the magnetic guidance of the capsule medical device 10 and transmits the acquired physical information to the control unit 58.

  Here, the capsule medical device 10 includes a control unit 17 as shown in FIG. The control unit 17 is realized using a CPU that executes a processing program and a memory that stores various types of information. After the capsule medical device 10 is manufactured, the memory of the control unit 17 stores physical information related to the magnetic guidance of the capsule medical device 10. The control unit 17 performs wireless communication so as to wirelessly transmit an image signal including image data captured by the imaging units 14 and 15 and physical information in the memory (physical information related to magnetic guidance of the capsule medical device 10) to the outside. The unit 16 is controlled. The image signal wirelessly transmitted by the wireless communication unit 16 is received by the receiving unit 3 as described above.

The control unit 58 controls the operation of the information acquisition unit 54 described above based on the instruction information input by the input unit 5. In this case, the control unit 58 controls the information acquisition unit 54 to extract physical information related to magnetic guidance of the capsule medical device 10 from the image signal from the capsule medical device 10 received by the reception unit 3. The control unit 58 acquires physical information related to the magnetic guidance of the capsule medical device 10 such as the density ρ _CP from the information acquisition unit 54. The control unit 58 has the same function as the control unit 8 of the magnetic guidance system 1 according to the first embodiment described above, except for the control function of the information acquisition unit 58.

  Next, the operation of the magnetic guidance system 51 according to the fifth embodiment of the present invention will be described. The magnetic guidance system 51 according to the fifth embodiment operates in the same manner as the magnetic guidance system 1 according to the first embodiment, except for the operation when acquiring physical information related to the magnetic guidance of the capsule medical device 10. That is, the control unit 58 of the magnetic guidance system 51 executes a processing procedure substantially similar to steps S101 to S106 shown in FIG. In this case, the control unit 58 acquires physical information related to magnetic guidance of the capsule medical device 10 by a method different from that of the control unit 8 in the first embodiment in step S102.

  Specifically, in step S102 described above, the control unit 58 controls the reception unit 3 so as to receive an image signal from the capsule medical device 10 in the liquid 100. In addition, the control unit 58 controls the information acquisition unit 54 so as to acquire the image signal from the capsule medical device 10 from the reception unit 3, and the magnetic guidance of the capsule medical device 10 included in the acquired image signal. The information acquisition unit 54 is controlled so as to acquire the physical information regarding.

  Based on the control of the control unit 58, the information acquisition unit 54 acquires an image signal from the capsule medical device 10 from the reception unit 3, and relates to magnetic guidance of the capsule medical device 10 from the acquired image signal. Extract physical information. In this way, the information acquisition unit 54 acquires physical information related to magnetic guidance of the capsule medical device 10 and transmits the acquired physical information to the control unit 58.

  It should be noted that the information acquisition unit 54 in the fifth embodiment is not limited to the capsule medical device 10 before or after the capsule medical device 10 is introduced into the organ of the subject. It is possible to acquire physical information related to magnetic induction. Specifically, the reception unit 3 receives an image signal from the capsule medical device 10 before introduction into the organ of the subject, and the information acquisition unit 54 captures capsules from the image signals received by the reception unit 3. The physical information related to the magnetic guidance of the medical device 10 is extracted. Alternatively, the reception unit 3 receives an image signal from the capsule medical device 10 after introduction into the organ of the subject, and the information acquisition unit 54 selects the capsule medical device from the image signals received by the reception unit 3. Extract physical information about 10 magnetic inductions.

  As described above, in the magnetic guidance system and the magnetic guidance method according to the fifth embodiment of the present invention, the physical information related to the magnetic guidance of the capsule medical device is stored in advance in the internal memory of the capsule medical device, The stored physical information is included in an image signal by the capsule medical device and wirelessly transmitted. The image signal from the capsule medical device is received, and the capsule image is received from the received image signal. The physical information related to the magnetic guidance of the medical device is extracted, and the others are configured in the same manner as in the first embodiment. For this reason, while enjoying the same operation effect as the case of Embodiment 1 mentioned above, it is a capsule type medical device in any case before or after introducing a capsule type medical device into an organ of a subject. It is possible to easily obtain physical information related to magnetic induction.

  In Embodiments 2 to 4 described above, the capsule medical device 10 starts to float or sinks in the liquid 100 based on the motion vectors between the images sequentially captured by the capsule medical device 10 in the liquid 100. Although the start timing is determined, the present invention is not limited to this. Based on the position information of the capsule medical device 10 in the liquid 100, the timing of the start of the capsule medical device 10 to start or sink is determined. Also good. In this case, the magnetic guidance system according to the second to fourth embodiments described above is further provided with a position detection unit that detects the position of the capsule medical device 10 in the liquid 100, and the information acquisition unit described above includes the position detection unit. The timing at which the capsule medical device 10 starts to float or sink in the liquid 100 may be determined based on the position information of the capsule medical device 10 detected by the above. The position detection unit detects the position of the capsule medical device 10 based on the received electric field strengths of the plurality of reception antennas 3a when the reception unit 3 receives image signals from the capsule medical device 10. Alternatively, the position of the capsule medical device 10 may be detected based on the strength of the magnetic field generated by the magnet 19 built in the capsule medical device 10, or the position of the capsule medical device 10 may be determined by other methods. It may be detected.

  Moreover, in Embodiment 1-5 mentioned above, although the physical information regarding the magnetic guidance of a capsule type medical device was acquired by the information acquisition part, not only this but the physical information regarding the magnetic guidance of a capsule type medical device is input You may input by part.

  Further, in the first embodiment described above, a plurality of concentric indicators 111 are provided on the bottom of the container 110. However, the indicator provided on the bottom of the container 110 is not limited to this, and may be elliptical or rectangular. It may be of a desired shape, may be scaled at predetermined intervals, may be colored in a different color at predetermined intervals, or may be predetermined The line type may be changed at every interval. Or the parameter | index which combined 2 or more selected from these may be sufficient.

  Moreover, in Embodiment 1-5 mentioned above, although the 2 eyes type capsule medical device 10 which incorporates two imaging parts was illustrated, it is not restricted to this but is magnetically guided by the magnetic guidance system concerning this invention. The capsule medical device may be a monocular capsule medical device incorporating a single imaging unit, or may be a compound eye type capsule medical device incorporating three or more imaging units. Note that the imaging direction of such a binocular or compound eye type capsule medical device may be the direction of the long axis CL of the capsule medical device as described above, or the radial direction of the capsule housing 11. Alternatively, the direction may be inclined with respect to the long axis CL.

1 is a block diagram schematically showing a configuration example of a magnetic induction system according to a first exemplary embodiment of the present invention. It is a schematic diagram which shows one specific example of a magnetic field condition table. It is a cross-sectional schematic diagram which shows one structural example of the capsule type medical device which is a magnetic guidance object. It is a flowchart which shows an example of the magnetic induction method concerning Embodiment 1 of this invention. It is a schematic diagram which illustrates the capsule type medical device of the state which floated in the liquid with the imaging visual field facing vertically upward. It is a schematic diagram which shows an example of the image which the capsule type medical device of the state which floated in the liquid turned the imaging visual field upwards. It is a schematic diagram which shows an example of the container for floating a capsule type medical device on the liquid level. It is a schematic diagram which shows the state which the capsule type medical device floats on the liquid in a container with an imaging visual field facing vertically downward. It is a schematic diagram which shows an example of the image which the capsule type medical device of the state which floated on the liquid turned the imaging visual field downward vertically. It is a schematic diagram which illustrates the capsule type medical device of the state which floated in the liquid, taking the inclination attitude | position. It is a schematic diagram which shows an example of the image which the capsule type medical device of the state which floated in the liquid taking the inclination attitude | position. It is a schematic diagram which illustrates the state which carries out magnetic guidance of the capsule type medical device introduced into the inside of a subject. It is a block diagram which shows typically the example of 1 structure of the magnetic guidance system concerning Embodiment 2 of this invention. It is a schematic diagram which illustrates the state which provided the sheet-like member in the liquid level in a container. It is a block diagram which shows typically the example of 1 structure of the magnetic guidance system concerning Embodiment 3 of this invention. It is a block diagram which shows typically the example of 1 structure of the magnetic guidance system concerning Embodiment 4 of this invention. It is a block diagram which shows typically the example of 1 structure of the magnetic guidance system concerning Embodiment 5 of this invention.

Explanation of symbols

1, 21, 31, 41, 51 Magnetic induction system 2 Magnetic induction unit 2a Magnetic field application unit 2b Power supply unit 3 Reception unit 3a Reception antenna 4, 24, 34, 44, 54 Information acquisition unit 5 Input unit 6 Display unit 7 Storage Part 7a Magnetic field condition table 8, 28, 38, 48, 58 Control part 8a, 48a Magnetic field condition setting part 10 Capsule type medical device 10a Protruding part 11 Capsule type casing 11a Cylindrical case 11b, 11c Dome shape case 12, DESCRIPTION OF SYMBOLS 13 Illumination part 14,15 Imaging part 14a, 15a Solid-state image sensor 14b, 15b Optical system 16 Wireless communication part 16a Antenna 17 Control part 17a Signal processing part 18 Power supply part 19 Magnet 22 Liquid temperature adjustment part 23 Liquid temperature measurement part 25,110 Container 26 Sheet-shaped member 32 Magnetic field detection unit 100 Liquid 100a Liquid surface 101, 102 Image 111 Index 1 0 subject B boundary portion D1, D2 imaging field GP centroid position

Claims (10)

A magnetic field application unit that magnetically induces the capsule medical device by applying a magnetic field to the capsule medical device;
An information acquisition unit for acquiring physical information including at least the density of the capsule medical device;
A magnetic field condition is set based on the physical information acquired by the information acquisition unit, and the magnetic field application unit is controlled to apply the magnetic field corresponding to the set magnetic field condition to the capsule medical device. A control unit for controlling magnetic induction of the capsule medical device;
A magnetic induction system comprising: A receiving unit that receives an image captured by the capsule medical device;
The magnetic guidance system according to claim 1, wherein the information acquisition unit calculates the physical information based on the image received by the reception unit. An indicator is provided at the bottom, and includes the capsule medical device and a container for storing a liquid,
The capsule medical device in the liquid captures the image including the bottom as a subject,
The magnetic information system according to claim 2, wherein the information acquisition unit calculates the physical information based on an imaging state of the index in the image. A container containing the capsule medical device and a liquid;
A liquid temperature adjusting unit for adjusting the temperature of the liquid in the container;
A temperature measuring unit for measuring the temperature of the liquid adjusted by the liquid temperature adjusting unit;
A receiving unit for receiving an image captured by the capsule medical device;
With
The information acquisition unit determines a timing at which the capsule medical device starts to float or sink in the liquid based on the image received by the reception unit, and the temperature measurement unit measures the timing at the timing The magnetic induction system according to claim 1, wherein the physical information is measured based on a temperature of the liquid. A magnetic field detector for detecting a magnetic gradient of the magnetic field applied to the capsule medical device introduced into the liquid;
A receiving unit for receiving an image captured by the capsule medical device;
With
The information acquisition unit determines a timing at which the capsule medical device starts to float or sink in the liquid based on the image received by the reception unit, and the magnetic field detection unit detects the timing at the timing. The magnetic guidance system according to claim 1, wherein the physical information is calculated based on a magnetic gradient of a magnetic field. A receiving unit for receiving a transmission signal from the capsule medical device including an image captured by the capsule medical device and the physical information;
The capsule medical device stores the physical information in advance, transmits the image together with the stored physical information,
The magnetic guidance system according to claim 1, wherein the information acquisition unit extracts the physical information from a transmission signal from the capsule medical device received by the reception unit. A storage unit that stores a magnetic field condition table that associates the physical information with the magnetic field condition of the magnetic field;
The magnetic field according to claim 1, wherein the control unit selects a magnetic field condition corresponding to the physical information acquired by the information acquisition unit from the magnetic field condition table. Guidance system. The magnetic guidance system according to claim 1, wherein the information acquisition unit further acquires a gravity center position of the capsule medical device as the physical information . An information acquisition step in which an information acquisition unit acquires physical information including at least the density of the capsule medical device; and
On the basis of the physical information acquired by the information acquisition step, the control unit sets a magnetic field condition of a magnetic field to be applied to the capsule medical device; and
A magnetic induction step in which a magnetic field applying unit applies a magnetic field corresponding to the magnetic field condition set in the condition setting step to the capsule medical device inside a subject to magnetically guide the capsule medical device;
A method of operating a magnetic guidance system comprising: The receiving unit includes a receiving step of receiving a signal including the physical information stored in advance in the capsule medical device from the capsule medical device;
11. The magnetic guidance system according to claim 10, wherein the information acquisition step extracts the physical information based on a signal from the capsule medical device received by the information acquisition unit by the reception step. Actuation method.

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