JP2002159472A - Medical capsule device - Google Patents
Medical capsule deviceInfo
- Publication number
- JP2002159472A JP2002159472A JP2001303723A JP2001303723A JP2002159472A JP 2002159472 A JP2002159472 A JP 2002159472A JP 2001303723 A JP2001303723 A JP 2001303723A JP 2001303723 A JP2001303723 A JP 2001303723A JP 2002159472 A JP2002159472 A JP 2002159472A
- Authority
- JP
- Japan
- Prior art keywords
- capsule
- sensor
- medical
- medical capsule
- sensors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、体腔内の部位を
直接的に観察し、診断や治療を行う医療用カプセル装置
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical capsule device for directly observing a site in a body cavity and performing diagnosis and treatment.
【０００２】[0002]
【従来の技術】医療用カプセル装置は、患者の口腔から
体腔内に挿入する内視鏡とは異なり、患者が飲み込むこ
とにより、体外装置と無線的に接続されているため、患
者に与える苦痛を大きく軽減できることで注目されてい
る。2. Description of the Related Art Unlike an endoscope which is inserted into a body cavity from an oral cavity of a patient, a medical capsule device is wirelessly connected to an extracorporeal device by swallowing the patient, thereby reducing the pain given to the patient. It is noted that it can be greatly reduced.
【０００３】従来、特願平４−２２４１８０号に示すよ
うに、カプセル本体にセンサやマニピュレータを設け、
患部等を積極的にセンシング・処置することができるも
のも提案されている。Conventionally, as shown in Japanese Patent Application No. 4-224180, a sensor and a manipulator are provided on a capsule body,
There is also proposed a device capable of positively sensing and treating an affected part or the like.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、従来の
医療用カプセル装置において、カプセルに複数のセンサ
を搭載し高機能化したり、搭載した複数のセンサの信号
を効率的に体外に送信する工夫が無かった。However, in the conventional medical capsule device, there is no device for mounting a plurality of sensors on the capsule to enhance the function or efficiently transmit signals of the mounted sensors to the outside of the body. Was.
【０００５】この発明は、前記事情に着目してなされた
もので、その目的とするところは、複数のセンサを搭載
したとき、複数のセンサからの信号を効率良く送信でき
る医療用カプセル装置を提供することにある。The present invention has been made in view of the above circumstances, and an object thereof is to provide a medical capsule device capable of efficiently transmitting signals from a plurality of sensors when the sensors are mounted. Is to do.
【０００６】[0006]
【課題を解決するための手段】この発明は前記目的を達
成するために、体腔内を通過させて検査、治療又は処置
を行う医療用カプセル装置において、第一のセンサと、
第二のセンサと、上記複数のセンサからの検出信号を体
外に送信するための通信手段とを設け、上記通信手段
が、上記複数の検出信号を時分割多重あるいは周波数多
重して送信することを特徴とする。According to the present invention, there is provided a medical capsule apparatus for performing examination, treatment or treatment by passing through a body cavity to achieve the above object.
A second sensor and communication means for transmitting detection signals from the plurality of sensors to the outside of the body are provided, and the communication means transmits the plurality of detection signals by time division multiplexing or frequency multiplexing. Features.
【０００７】[0007]
【作用】複数のセンサをカプセルに搭載し、複数のセン
サからの信号を多重化して送信する多重送信手段を設け
ることにより、複数のセンサからの信号を効率的に送る
ことができる。また、このことにより、例えばカプセル
を使って正確で見易い画像を得るとともに、カプセルの
位置を簡易に得ることができるようになる。A plurality of sensors are mounted on a capsule and multiplex transmission means for multiplexing and transmitting signals from the plurality of sensors is provided, so that signals from the plurality of sensors can be transmitted efficiently. In addition, this makes it possible to obtain an accurate and easy-to-view image using a capsule, for example, and to easily obtain the position of the capsule.
【０００８】[0008]
【発明の実施の形態】以下、この発明の各実施の形態を
図面に基づいて説明する。Embodiments of the present invention will be described below with reference to the drawings.
【０００９】図１〜図３は第１の実施形態を示し、図１
は医療用カプセル装置の全体図を示す。医療用カプセル
装置は、第１のカプセル１と第２のカプセル２および両
カプセル１，２を弾性的に結合する結合手段としての結
合部材３とから構成されている。1 to 3 show a first embodiment, and FIG.
Shows an overall view of the medical capsule device. The medical capsule device comprises a first capsule 1, a second capsule 2, and a coupling member 3 as a coupling means for elastically coupling the capsules 1 and 2.
【００１０】第１のカプセル１は、略球状で、その前部
には前方を観察するための観察手段としての観察光学系
４および生体組織の把持、切開、切除を行うためのマニ
ピュレ一夕５が設けられている。The first capsule 1 has a substantially spherical shape, and its front portion has an observation optical system 4 as an observation means for observing the front, and a manipulator 5 for grasping, incising, and resecting a living tissue. Is provided.
【００１１】さらに、第１のカプセル１の後部には生体
内の温度、ｐＨを測定するセンサ６が設けられている。
第２のカプセル２も略球状で、内部には体外通信手段
（図示しない）と交信するための通信手段７が設けられ
ている。Further, a sensor 6 for measuring the temperature and pH in the living body is provided at the rear of the first capsule 1.
The second capsule 2 is also substantially spherical, and internally has a communication means 7 for communicating with an extracorporeal communication means (not shown).
【００１２】前記結合部材３は、弾性を有する合成樹脂
材料等からなる棒状体で、その中間部には位置検知手段
としての歪ゲージ８が取付けられ、結合部材３が屈曲さ
れたときの弾性歪を検知することにより、第１と第２の
カプセル１，２の相対的位置関係を知ることができるよ
うになっている。The coupling member 3 is a rod-shaped body made of an elastic synthetic resin material or the like, and a strain gauge 8 as a position detecting means is attached to an intermediate portion thereof. Is detected, the relative positional relationship between the first and second capsules 1 and 2 can be known.
【００１３】したがって、前述のように構成された医療
用カプセル装置を口腔から飲み込むことにより、体腔
内、例えば管腔９を図１に示すように、第１のカプセル
１が前部に、第２のカプセル２が後部になって管腔９内
を進行する。この進行途中で、観察光学系４による観察
像、センサ６による温度、ｐＨの測定データおよび歪ゲ
ージ８による歪情報は、通信手段７によって体外通信手
段へ送信される。また、体外通信手段から送信された信
号を通信手段７によって受信し、この信号に従ってマニ
ピュレータ５を動作させることができ、生体組織の把
持、切開、切除等を行うことができる。Therefore, by swallowing the medical capsule device configured as described above from the oral cavity, the first capsule 1 is placed in the front part, and the second capsule is placed in the second part, as shown in FIG. Of the capsule 2 goes rearward and advances inside the lumen 9. During this progress, the observation image by the observation optical system 4, the measurement data of the temperature and pH by the sensor 6, and the strain information by the strain gauge 8 are transmitted to the extracorporeal communication means by the communication means 7. In addition, a signal transmitted from the extracorporeal communication means is received by the communication means 7, and the manipulator 5 can be operated in accordance with the signal, so that a living tissue can be gripped, incised, excised, and the like.
【００１４】次に、医療用カプセル装置の作用について
説明する。図２に示すように、第１のカプセル１、第２
のカプセル２の順に口腔から飲み込むことにより、第１
のカプセル１が前部に、第２のカプセル２が後部になっ
て管腔９内を進行する。このとき、第１のカプセル１と
第２のカプセル２が結合部材３によって連結されている
ため、自由な回転は、第１、第２のカプセル１，２を結
ぶカプセル中心軸の軸練回り（矢印）だけであり、常に
管腔９の中心軸とカプセル中心軸は概ね一致しており、
第１のカプセル１の前部は常に進行方向に向いている。Next, the operation of the medical capsule device will be described. As shown in FIG. 2, the first capsule 1, the second capsule
By swallowing from the oral cavity in the order of the capsules 2, the first
The first capsule 1 moves forward in the lumen 9 and the second capsule 2 moves rearward. At this time, since the first capsule 1 and the second capsule 2 are connected by the coupling member 3, free rotation is performed around the axis of the capsule central axis connecting the first and second capsules 1 and 2 ( Arrow) only, the center axis of the lumen 9 always coincides with the center axis of the capsule,
The front of the first capsule 1 always faces the direction of travel.
【００１５】次に、カプセルの経路の算出について図
３、数１に基づき説明する。結合部材３には歪ゲージ８
が設けられているため、歪ゲージ８によって第１と第２
のカプセル１，２の相対位置関係が測定できるため、１
日の測定ｔｎ時間に２点のカプセル位置を求めることが
できる。したがって、ｔ１〜ｔ５時間での位置情報を基
に多項式の係数ベクトルを求める式は１０本作ることが
可能であり、このため９次の多項式の係数ベクトルを算
出できる。したがって、従来のカプセルよりも同じ時間
計測によって、より高次の精度の多項式により次時間の
カプセルの位置を高い精度で予測することができる。Next, the calculation of the capsule path will be described with reference to FIG. Strain gauge 8 is used for connecting member 3
Provided, the first and second strain gauges 8
Since the relative positional relationship between the capsules 1 and 2 can be measured,
Two capsule positions can be determined at the time tn of the day measurement. Therefore, it is possible to create ten equations for obtaining the coefficient vector of the polynomial based on the position information from time t1 to time t5, and thus it is possible to calculate the coefficient vector of the ninth-order polynomial. Therefore, the position of the capsule at the next time can be predicted with higher accuracy by a polynomial with higher accuracy by the same time measurement as that of the conventional capsule.
【００１６】[0016]
【数１】 (Equation 1)
【００１７】この結果、診断、治療をより正確に行うこ
とができる。また、カプセルの前部が常に管腔の前方を
向いているために観察像のオリエンテーションがつけ易
く、また所望の箇所でのアンビュレーションを容易に行
うことができる。As a result, diagnosis and treatment can be performed more accurately. In addition, since the front portion of the capsule always faces the front of the lumen, the observation image can be easily oriented, and ambiguation at a desired location can be easily performed.
【００１８】図４〜図６は第２の実施形態を示し、図４
は腸１０内を医療用カプセル装置が進行している状態を
示し、図５は、第１の実施形態における第１、第２のカ
プセル１，２の一方の内部構造を示し、以下、単にカプ
セル１１という。このカプセル１１の内部における一側
部には液体を収容した室に超音波振動子１２が設けら
れ、この超音波振動子１２はラジアル走査を行う超音波
モータ１３によって支持されている。さらにカプセル１
１の内部における中央部には超音波の送受波を行うため
の送受波回路１４、超音波画像信号を体外に伝送する送
信回路１５が設けられ、カプセル１１の内部における他
側部にはカプセル駆動用の電池１６が設けられている。FIGS. 4 to 6 show a second embodiment.
Shows a state in which the medical capsule device is traveling in the intestine 10, and FIG. 5 shows the internal structure of one of the first and second capsules 1 and 2 in the first embodiment. It is called 11. On one side inside the capsule 11, an ultrasonic vibrator 12 is provided in a chamber containing a liquid, and the ultrasonic vibrator 12 is supported by an ultrasonic motor 13 for performing radial scanning. More capsule 1
A transmission / reception circuit 14 for transmitting / receiving ultrasonic waves and a transmission circuit 15 for transmitting an ultrasonic image signal to the outside of the body are provided at a central portion inside the capsule 1, and a capsule drive inside the capsule 11 is provided on the other side. Battery 16 is provided.
【００１９】カプセル１１は消化管腔の蠕動により体腔
内を進行し、逐次体腔内の超音波断層像を体外に送信す
る。体外では図６に示す、体外通信手段としての体外受
信装置１７によりカプセル１１からの信号を受信して超
音波画像を表示する。体外受信装置１７は超音波信号を
受信するアンテナ１８、受信回路１９、受信信号を断層
像に変換する超音波画像生成回路２０、得られた超音波
断層像を３次元画像に構築する３次元超音波画像構築回
路２１および画像表示ディスプレイ２２からなり、体腔
内より伝送されてくる超音波断層像を３次元画像に構築
して表示する。The capsule 11 advances in the body cavity by peristalsis of the digestive tract cavity, and sequentially transmits ultrasonic tomographic images in the body cavity to the outside of the body. Outside the body, a signal from the capsule 11 is received by an extracorporeal receiving device 17 as extracorporeal communication means shown in FIG. 6 to display an ultrasonic image. The extracorporeal receiving device 17 includes an antenna 18 for receiving an ultrasonic signal, a receiving circuit 19, an ultrasonic image generating circuit 20 for converting the received signal into a tomographic image, and a three-dimensional ultrasonic that constructs the obtained ultrasonic tomographic image into a three-dimensional image. It comprises a sound wave image construction circuit 21 and an image display 22 and constructs and displays an ultrasonic tomographic image transmitted from a body cavity into a three-dimensional image.
【００２０】このようにカプセル１１から伝送される体
腔内の超音波断層信号を体外にて３次元超音波画像に構
築、表示することにより、超音波プローブ、内視鏡等で
は到達し得ない体深部（小腸等）も含め、消化管すべて
に亘って３次元断層像が得られ、生理学的研究の有用な
データ獲得や病変の診断を行うことができる。By constructing and displaying an ultrasonic tomographic signal in the body cavity transmitted from the capsule 11 into a three-dimensional ultrasonic image outside the body in this manner, a body that cannot be reached by an ultrasonic probe, an endoscope, or the like. A three-dimensional tomogram can be obtained over the entire digestive tract, including the deep part (small intestine, etc.), and useful data acquisition for physiological research and diagnosis of lesions can be performed.
【００２１】図７は第３の実施形態を示し、カプセル１
１と体外受信装置１７のブロック図であり、カプセル１
１には第２の実施形態に加えて例えば圧電素子で構成さ
れている加速度センサ２３が内蔵されている。この加速
度センサ２３の検出信号は送信回路１４に入力され、超
音波受波信号とともに時分割多重もしくは周波数多重さ
れ、体外に送信される。FIG. 7 shows a third embodiment, in which a capsule 1 is used.
FIG. 2 is a block diagram of an external receiving device 17 and a capsule 1;
In the first embodiment, in addition to the second embodiment, an acceleration sensor 23 composed of, for example, a piezoelectric element is incorporated. The detection signal of the acceleration sensor 23 is input to the transmission circuit 14, time-division multiplexed or frequency-multiplexed with the ultrasonic wave reception signal, and transmitted outside the body.
【００２２】体外受信装置１７では受信回路にて超音波
受波信号と加速度信号を分離する。加速度信号は位置・
速度検出回路２４に入力され、カプセル１１の位置・速
度を検出する。速度データは３次元超音波画像構築回路
２１に入力され、カプセル１１の速度変化に対応して３
次元画像構築を行うことにより正確で見易い３次元画像
が得られる。また、位置データによりＸ線等を使用せず
に体腔内でのカプセル１１の位置を知ることができる。In the extracorporeal receiving device 17, the receiving circuit separates the ultrasonic wave receiving signal and the acceleration signal. The acceleration signal is
The position and speed of the capsule 11 are input to the speed detection circuit 24 and detected. The velocity data is input to the three-dimensional ultrasonic image construction circuit 21 and the three-dimensional ultrasonic image
By constructing a three-dimensional image, an accurate and easy-to-view three-dimensional image can be obtained. Further, the position of the capsule 11 in the body cavity can be known from the position data without using X-rays or the like.
【００２３】このように、カプセル１１に加速度センサ
２３を設けたことにより、カプセル１１の速度データに
よって３次元超音波画像構築の補正を行い、カプセル１
１の速度変化があった場合でも正確で見易い画像を得る
ことができる。また、位置データにより体腔内のカプセ
ル１１の位置を簡易に得ることができる。As described above, the provision of the acceleration sensor 23 on the capsule 11 corrects the construction of the three-dimensional ultrasonic image based on the velocity data of the capsule 11, and
An accurate and easy-to-view image can be obtained even when there is a speed change of 1. Further, the position of the capsule 11 in the body cavity can be easily obtained from the position data.
【００２４】[0024]
【発明の効果】以上説明したように、この発明によれ
ば、複数のセンサをカプセルに搭載し、複数のセンサ信
号によって検知した情報を多重化送信手段によって効率
的に体外受信手段へ送信することにより、例えば正確で
見易い画像を得ることができると共に、カプセルの位置
を簡易に得ることができるようになる。As described above, according to the present invention, a plurality of sensors are mounted on a capsule, and information detected by a plurality of sensor signals is efficiently transmitted to an extracorporeal receiving means by a multiplex transmitting means. Thereby, for example, an accurate and easy-to-view image can be obtained, and the position of the capsule can be easily obtained.
【図１】この発明の第１の実施形態を示し、医療用カプ
セル装置の管腔内の進行状態を示す斜視図。FIG. 1 is a perspective view showing a first embodiment of the present invention and showing a state of progress in a lumen of a medical capsule device.
【図２】同実施形態の作用説明図。FIG. 2 is an operation explanatory view of the embodiment.
【図３】同実施形態のカプセルの経路の算出についての
説明図。FIG. 3 is an explanatory diagram regarding calculation of a capsule route according to the embodiment;
【図４】この発明の第２の実施形態を示し、医療用カプ
セル装置の腸内の進行状態を示す正面図。FIG. 4 is a front view showing the second embodiment of the present invention and showing a progress state of the medical capsule device in the intestine.
【図５】同実施形態のカプセルの縦断側面図。FIG. 5 is a vertical sectional side view of the capsule of the embodiment.
【図６】同実施形態のカプセルと体外受信装置のブロッ
ク図。FIG. 6 is a block diagram of the capsule and the extracorporeal receiving device of the embodiment.
【図７】この発明の第３の実施形態を示し、カプセルと
体外受信装置のブロック図。FIG. 7 is a block diagram showing a capsule and an extracorporeal receiver according to a third embodiment of the present invention.
【符号の説明】 １…第１のカプセル ２…第２のカプセル ３…結合部材 ６…センサ ７…通信手段 ８…歪ゲージ １２…超音波振動子 ２３…加速度センサ[Description of Signs] 1 ... First capsule 2 ... Second capsule 3 ... Coupling member 6 ... Sensor 7 ... Communication means 8 ... Strain gauge 12 ... Ultrasonic transducer 23 ... Acceleration sensor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 工藤 正宏 東京都渋谷区幡ヶ谷２丁目43番２号 オリ ンパス光学工業株式会社内 Ｆターム(参考） 4C038 CC00 CC03 CC06 CC09 4C061 CC06 FF50 UU06 WW15 WW16 4C301 BB03 EE11 FF01 GA03 GA12 GD01 JA04 KK16 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Masahiro Kudo 2-43-2 Hatagaya, Shibuya-ku, Tokyo F-term in Olympus Optical Industry Co., Ltd. 4C038 CC00 CC03 CC06 CC09 4C061 CC06 FF50 UU06 WW15 WW03 4C301 BB03 EE11 FF01 GA03 GA12 GD01 JA04 KK16
Claims (3)
を行う医療用カプセル装置において、 第一のセンサと、第二のセンサと、上記複数のセンサか
らの検出信号を体外に送信するための通信手段とを設
け、上記通信手段が、上記複数の検出信号を時分割多重
あるいは周波数多重して送信することを特徴とする医療
用カプセル装置。1. A medical capsule device for performing examination, treatment or treatment by passing through a body cavity, for transmitting detection signals from a first sensor, a second sensor, and the plurality of sensors to the outside of the body. And a communication means for transmitting the plurality of detection signals by time division multiplexing or frequency multiplexing.
子であることを特徴とする請求項１の医療用カプセル装
置。2. The medical capsule device according to claim 1, wherein one of said plurality of sensors is an ultrasonic transducer.
サであることを特徴とする請求項１の医療用カプセル装
置。3. The medical capsule device according to claim 1, wherein one of said plurality of sensors is an acceleration sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001303723A JP3568500B2 (en) | 2001-09-28 | 2001-09-28 | Medical capsule device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001303723A JP3568500B2 (en) | 2001-09-28 | 2001-09-28 | Medical capsule device |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25988293A Division JP3279409B2 (en) | 1993-10-18 | 1993-10-18 | Medical capsule device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002159472A true JP2002159472A (en) | 2002-06-04 |
| JP3568500B2 JP3568500B2 (en) | 2004-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| JP2001303723A Expired - Fee Related JP3568500B2 (en) | 2001-09-28 | 2001-09-28 | Medical capsule device |
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| JP (1) | JP3568500B2 (en) |
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| WO2004028373A1 (en) * | 2002-09-27 | 2004-04-08 | Olympus Corporation | Ultrasonic diagnosing system |
| WO2004105590A1 (en) * | 2003-05-29 | 2004-12-09 | Olympus Corporation | Capsulized medical device |
| WO2005067781A1 (en) * | 2004-01-14 | 2005-07-28 | Olympus Corporation | Encapsulated endoscope |
| JP2007519440A (en) * | 2003-12-31 | 2007-07-19 | ギブン・イメージング・リミテツド | System and method for displaying an image stream |
| JP2008504860A (en) * | 2004-06-30 | 2008-02-21 | ギブン・イメージング・リミテツド | System and method for determining path length through a body lumen |
| KR100851607B1 (en) | 2007-07-13 | 2008-08-12 | 아이쓰리시스템 주식회사 | Capsule-type endoscope having sensor and communication method thereof |
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