WO2007043458A1 - 位置検出システム - Google Patents
位置検出システム Download PDFInfo
- Publication number
- WO2007043458A1 WO2007043458A1 PCT/JP2006/320062 JP2006320062W WO2007043458A1 WO 2007043458 A1 WO2007043458 A1 WO 2007043458A1 JP 2006320062 W JP2006320062 W JP 2006320062W WO 2007043458 A1 WO2007043458 A1 WO 2007043458A1
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- Prior art keywords
- magnetic field
- frequency
- position detection
- detection system
- coil
- Prior art date
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
- A61B2034/731—Arrangement of the coils or magnets
- A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7253—Details of waveform analysis characterised by using transforms
- A61B5/7257—Details of waveform analysis characterised by using transforms using Fourier transforms
Definitions
- the present invention relates to a position detection system.
- a capsule medical device is a swallowing device that allows a subject, such as a subject, to swallow it and pass it through a body lumen conduit to acquire an image within the body cavity conduit at a target position.
- This is a miniature medical device.
- the capsule medical device is configured to include an image sensor such as a CCD (Charge Coupled Device) capable of performing the above medical treatment, for example, capable of acquiring an image, and acquires an image at a target site in a body cavity duct. Is.
- CCD Charge Coupled Device
- the capsule medical device cannot reach the target position unless it is guided through the body cavity duct. It was necessary to detect whether or not.
- Patent Document 1 International Publication No. 2004Z014225 Pamphlet
- Patent Document 2 US Pat. No. 7026927
- a capsule medical device equipped with a magnetic field generation circuit including an LC resonance circuit connected to an AC power source is disposed outside the capsule medical device.
- a position detection technique for a capsule medical device using a detection device that detects a magnetic field generated from a magnetic field generation circuit is disclosed.
- the magnetic field generation circuit can generate a magnetic field toward the outside based on the AC power supplied from the AC power supply. The position of the capsule medical device can be detected by detecting the magnetic field by the detection device.
- the capsule medical device is A magnetic field generation circuit having an LC resonance circuit to which an AC power supply is connected is mounted. For this reason, there is a problem that it is difficult to realize a capsule medical device having a size that can be easily swallowed by subjects who are difficult to downsize the capsule medical device.
- the AC power supply is also downsized, thereby limiting the power that can be supplied to the magnetic field generating circuit. Then, there is a problem that the strength of the magnetic field generated from the magnetic field generation circuit becomes weak and it becomes difficult to detect the position of the capsule medical device.
- the life of the AC power supply is shortened, the life of the capsule medical device is also shortened.
- a capsule medical device having a built-in LC resonance circuit composed solely of a magnetic induction coil and a capacitor, a drive coil that is disposed outside the body and generates an induced electromotive force in the magnetic induction coil, Also known is a capsule medical device position detection technique using a plurality of magnetic field sensors that are arranged outside and detect an induced magnetic field.
- the magnetic induction coil of the LC resonance circuit generates an induced magnetic field by the induced electromotive force induced by the drive coil.
- the position of the capsule medical device can be detected by detecting the induced magnetic field generated by the magnetic field sensor.
- the drive coil applies an alternating magnetic field having two different frequencies around the resonance frequency of the LC resonance circuit to the LC resonance circuit.
- the magnetic field sensor simultaneously detects the drive magnetic field generated by the drive coil and the induction magnetic field formed by the magnetic induction coil. It was difficult to detect the position of the capsule medical device.
- the induced magnetic field can be calculated by subtracting the measured drive magnetic field from the simultaneously detected drive magnetic field and induced magnetic field. Note that the frequency of the driving magnetic field for the calibration measurement needs to be the same as the frequency of the driving magnetic field used for position detection of the capsule medical device.
- the above-described method has a problem in that it is necessary to perform a calibration measurement on the driving magnetic field to be used before detecting the position of the capsule medical device, and it takes time and effort to detect the position.
- the frequency of the driving magnetic field is determined based on the resonance frequency of the LC resonance circuit.
- This resonant frequency is affected by variations in the characteristics of the magnetic induction coil and capacitor that make up the LC resonant circuit. In other words, if the individual capsule medical device is different, the resonance frequency of the LC resonance circuit mounted on the capsule medical device will be different, and it was necessary to perform calibration measurement of the driving magnetic field for each individual capsule medical device.
- the positional relationship between the drive coil and the magnetic field sensor must be fixed. If the positional relationship between the drive coil and the magnetic field sensor changes, the capsule type There has been a problem that the position of a medical device or the like cannot be detected.
- Patent Document 2 For these problems, a technique of providing a period of two types of period for stopping the driving of the period and the driving coil for driving the drive coils have been proposed (e.g., see Patent Document 2.)
- Patent Document 2 only the induction magnetic field from the magnetic induction coil is detected by generating an induction magnetic field in the magnetic induction coil during the drive coil drive period and then stopping the drive coil, and no calibration measurement is performed.
- a technique for detecting the position is disclosed. According to this technique, when driving of the drive coil is stopped, the magnetic field created by the drive coil disappears. On the other hand, even if the drive of the drive coil is stopped, the induction ground by the magnetic induction coil is maintained for a while. The position of the magnetic induction coil can be detected by the magnetic field sensor detecting this magnetic field.
- the present invention has been made to solve the above-described problem, and it is possible to reduce the time and trouble of detecting a position and the like without having to perform calibration measurement in advance, thereby reducing the number of times of position detection.
- An object of the present invention is to provide a position detection system that does not occur. It is another object of the present invention to provide a position detection system that can detect the position of a capsule medical device or the like even if the positional relationship between the drive coil and the magnetic field sensor changes.
- the present invention provides the following means.
- the present invention relates to a device equipped with a magnetic induction coil, a drive coil that generates an alternating magnetic field, and an induction magnetic field that is disposed outside the operating range of the device and that is generated when the magnetic induction coil receives the alternating magnetic field.
- a plurality of magnetic field sensors to be detected; a frequency determining unit that obtains a position calculation frequency based on a resonance frequency of the magnetic induction coil; and an output from the plurality of magnetic field sensors to the alternating magnetic field at the position calculation frequency.
- At least one of an amplitude component that is substantially orthogonal to the amplitude component and an amplitude component that is substantially in phase with the alternating magnetic field, and at least one of the position and orientation of the device is calculated based on the amplitude component.
- a position detection system is used to detect the amplitude of the amplitude component.
- the amplitude component detection means detects the phase substantially orthogonal to the alternating magnetic field or the amplitude component in the same phase from the outputs of the magnetic field sensors obtained from the plurality of magnetic field sensor forces, and the amplitude component Based on the above, the position analyzing means can calculate at least one of the position and orientation of the device.
- the amplitude component detection means includes only information related to the position and orientation of the device from the output of the magnetic field sensor receiving the magnetic field of the driving coil and magnetic induction coil force without stopping the driving coil, and the position of the driving coil.
- the output of multiple magnetic field sensors when only the above alternating magnetic field is applied to multiple magnetic field sensors is measured (calibration measurement).
- the magnetic induction coil Since the magnetic induction coil generates an induction magnetic field by the alternating magnetic field, it is not necessary to add a power source to the magnetic induction coil. As a result, the number of components installed in the equipment can be reduced. Also, in order to generate a magnetic field used to detect the position of the equipment, Since the installed power supply is not used, the life of the equipment is not affected by the life of the power supply.
- the amplitude component detection means can detect the amplitude component having the same phase as the alternating magnetic field from the output of the magnetic field sensor, and the position analysis means can calculate the position of the device based on the amplitude component.
- the frequency determination unit determines the position calculation frequency by acquiring information on the resonance frequency in advance.
- the position calculation frequency determination unit acquires the resonance frequency in advance, it is not necessary to sweep the frequency of the alternating magnetic field over the frequency band including the position calculation frequency, and at least one of the position and orientation of the device is eliminated.
- the time required for the calculation can be shortened.
- the frequency determination unit detects a change in the resonance frequency and determines the position calculation frequency based on the change.
- the position calculation frequency determination unit can detect a change in the resonance frequency of the magnetic induction coil, the relationship between the resonance frequency and the position calculation frequency can always be kept constant. For example, even when the resonance frequency changes due to a change in the temperature of the magnetic induction coil, the position calculation frequency determination unit can detect a change in the resonance frequency. Therefore, at least one of the position and orientation of the device is always used at the resonance frequency. Can be calculated.
- the Fourier transform is started. It is desirable to perform the Fourier transform with a constant shift between the timing and the phase of the alternating magnetic field generated by the drive coil. According to the present invention, the Fourier transform is used to detect the amplitude component in the amplitude component detecting means. As a result, the amplitude component can be detected more quickly and accurately.
- the drive coil and the magnetic field sensor are configured separately.
- the drive coil and the magnetic field sensor are configured separately, the drive coil and the magnetic field sensor can be moved separately.
- the plurality of magnetic field sensors be integrally arranged.
- the relative positional relationship between the magnetic field sensors is fixed.
- a drive coil driver that changes at least one of the direction and the strength of the alternating magnetic field generated by the drive coil in accordance with the relative position of the drive coil and the magnetic induction coil. It is desirable.
- the drive coil driver changes at least one of the direction and strength of the alternating magnetic field generated by the drive coil in accordance with the relative position between the drive coil and the magnetic induction coil, the magnetic induction coil force is also induced.
- a magnetic field can be generated reliably.
- the drive coil and the magnetic field sensor are fixed to the subject, for example, even if the subject moves, it is possible to continue to detect at least one of the position and orientation of the device.
- the resonance frequency of the magnetic induction coil mounted on each device is set to be different.
- the present invention since a plurality of devices are provided and the resonance frequency of the magnetic induction coil mounted on each device is different, the positions and orientations of the plurality of devices are detected simultaneously. can do.
- the present invention provides the position detection system of the present invention, a guiding magnet mounted on the device, a guiding magnetic field generating means for generating a guiding magnetic field to be applied to the guiding magnet, And a guidance magnetic field direction control means for controlling a direction of the guidance magnetic field.
- the position of the device can be obtained by the position detection system of the present invention, and the device can be guided to a predetermined position by the guiding magnetic field generating means and the guiding magnetic field direction control means.
- the guiding magnetic field generating means includes three pairs of electromagnets arranged to face each other in a direction orthogonal to each other, and a space in which the subject can be placed is provided inside the electromagnet.
- the drive coil and the magnetic field sensor are arranged around a space in which the subject can be arranged.
- the position of the device inserted into the subject is detected and guided to a predetermined position.
- the outer surface of the device is provided with a spiral portion that converts a rotational force around the longitudinal axis of the device into a propulsive force in a longitudinal direction.
- the device rotates around its longitudinal axis and advances in the longitudinal axis direction by the action of the spiral.
- the device is preferably a capsule medical device.
- the device since it is a device-capsule medical device, the device can be inserted into the body of the subject and a medical action can be performed in the body.
- the present invention includes a device equipped with a magnetic induction coil, a drive coil that generates an alternating magnetic field, a plurality of magnetic field sensors that detect an induced magnetic field generated by the magnetic induction coil receiving the alternating magnetic field, A frequency determination unit for obtaining a position calculation frequency based on a resonance frequency of the magnetic induction coil; and an output of the magnetic field sensor when the alternating magnetic field and the induction magnetic field are applied at a second frequency separated from the position calculation frequency force Based on the above, a measurement reference value calculation means for obtaining a measurement reference value at the position calculation frequency, and when the alternating magnetic field and the induction magnetic field are applied at the position calculation frequency.
- a position detection system comprising: position analysis means for calculating at least one of the position and orientation of the device based on the difference between the output of the magnetic field sensor and the measurement reference value.
- the measurement reference value calculation means obtains the measurement reference value at the position calculation frequency based on the output value of the magnetic field sensor at the position calculation frequency and the second frequency
- the position analysis means includes At least one of the position and orientation of the device can be calculated based on the difference between the magnetic field sensor output value when the alternating magnetic field and the induced magnetic field act on the magnetic field sensor and the measurement reference value.
- the magnetic field sensor output value force when the alternating magnetic field and the induced magnetic field act on the magnetic field sensor can also extract the output value related to the induced magnetic field.
- at least one of the directions can be calculated.
- the magnetic induction coil Since the magnetic induction coil generates an induction magnetic field by the alternating magnetic field, it is not necessary to add a power source to the magnetic induction coil. As a result, the number of components installed in the equipment can be reduced. In addition, since the power source installed in the device is not used to generate the magnetic field used to detect the position of the device, the life of the device is not affected by the life of the power source.
- the position calculation frequency is two different frequencies.
- the first frequency is two position calculation frequencies having different frequencies
- the output value of the magnetic field sensor including the amplitude component in these two position calculation frequencies Compared to the case of using output values, errors in measured values can be canceled, and the accuracy of the calculated device position and the like can be improved.
- the position calculating frequency determining unit determines the position calculating frequency by acquiring information on a resonance frequency of the magnetic induction coil in advance. . According to the present invention, since the position calculating frequency determination unit acquires the resonance frequency in advance, it is possible to easily determine the position calculating frequency.
- the position calculating frequency determining unit detects a change in the resonance frequency of the magnetic induction coil, and determines the position calculating frequency based on the change. Is desirable.
- the position calculation frequency determination unit can detect a change in the resonance frequency of the magnetic induction coil, the relationship between the resonance frequency and the position calculation frequency can always be kept constant.
- the drive coil and the magnetic sensor are configured separately, the drive coil and the magnetic sensor can be moved separately.
- the relative positional relationship between the magnetic sensors is fixed.
- the positions and orientations of the plurality of devices can be detected simultaneously.
- the device is a capsule medical device.
- the device since it is a device-capsule medical device, the device can be inserted into the body of the subject and a medical action can be performed in the body.
- the amplitude component detection means detects the amplitude component, and based on the amplitude component, the position analysis means can calculate at least one of the position and orientation of the device. Therefore, only the alternating magnetic field acts on multiple magnetic field sensors. It is possible to calculate at least one of the position and orientation of the device without measuring (calibration measurement) the output of a plurality of magnetic field sensors at the time, and it is possible to reduce the trouble of detecting the position and the like.
- the measurement reference value calculation means obtains the measurement reference value at the position calculation frequency, and the position analysis means applies an alternating magnetic field and an induced magnetic field to the magnetic field sensor. At least one of the position and orientation of the device can be calculated based on the difference between the output value of the magnetic field sensor and the measurement reference value. Therefore, it is possible to calculate at least one of the position and orientation of the device without measuring (calibration measurement) the output of the multiple magnetic field sensors when only the alternating magnetic field is applied to the multiple magnetic field sensors. There is an effect that the time and effort of detection can be reduced.
- FIG. 1 is a schematic diagram illustrating the overall configuration of a position detection system according to a first embodiment of the present invention.
- FIG. 2 is a perspective view showing an appearance of the position detection system of FIG.
- FIG. 3 is a schematic view showing a cross section of the capsule endoscope system of FIG. 1.
- FIG. 4 is a schematic diagram showing a circuit configuration of the sense coil receiving circuit of FIG. 1.
- FIG. 5 is a schematic view showing the configuration of the capsule endoscope of FIG.
- FIG. 6 is a block diagram for explaining the outline of the position detection device of FIG.
- FIG. 7 is a diagram showing the relationship between the real part and the imaginary part of the AC voltage separated by the amplitude component detection part of FIG.
- FIG. 8 is a diagram showing a relative positional relationship between the drive coil, the LC resonance circuit, and the sense coil in FIG.
- FIG. 9 is a diagram showing a relative positional relationship among the drive coil, the LC resonance circuit, and the sense coil in FIG.
- FIG. 10 is a diagram showing a relative positional relationship among the drive coil, the LC resonance circuit, and the sense coil in FIG.
- FIG. 11 is a block diagram showing an outline of a position detection system in a second embodiment of the present invention.
- FIG. 12 is a diagram for explaining the positional relationship between a drive coil unit including the drive coil of FIG. 11 and a sense coil.
- FIG. 13 is a diagram for explaining the outline of the configuration of the drive coil unit of FIG.
- FIG. 14 is a diagram for explaining another example of arrangement of drive coils and sense coils.
- FIG. 15 is a block diagram showing an outline of a position detection system according to a third embodiment of the present invention.
- FIG. 16 is a schematic diagram illustrating the configuration of the position detection system of FIG.
- FIG. 16 is a schematic diagram illustrating the magnetic induction device of FIG.
- FIG. 18A is a schematic diagram illustrating the configuration of the position detection system of FIG.
- FIG. 16 is a schematic diagram illustrating an overall configuration for explaining the position detection system of FIG.
- FIG. 18C is a diagram illustrating a configuration of the capsule endoscope of FIG.
- FIG. 19 is a block diagram showing an outline of a position detection system in a fourth embodiment of the present invention.
- FIG. 20 is a schematic diagram illustrating the configuration of the position detection system of FIG.
- ⁇ 21 A diagram illustrating the overall configuration of a position detection system according to a fifth embodiment of the present invention.
- FIG. 22 is a block diagram illustrating a configuration in the position detection device of FIG. 21.
- FIG. 23 is a graph showing the frequency characteristics of the AC voltage output from the sense coil of FIG.
- FIG. 24 is a graph showing AC voltage frequency characteristics of the sense coil when only an alternating magnetic field acts on the sense coil of FIG.
- FIG. 25 is a graph showing the AC voltage frequency characteristics of the sense coil when only induction magnetism acts on the sense coil of FIG.
- FIG. 26 is a diagram illustrating an overall configuration of a position detection system according to a modification of the fifth embodiment.
- FIG. 27 is a diagram illustrating a circuit configuration of the sense coil receiving circuit of FIG.
- FIG. 27 is a block diagram illustrating an outline of the position detection device of FIG.
- Capsule endoscope (equipment, capsule medical device)
- Position detection device amplitude component detection means, position calculation frequency determination means, position analysis means, drive coil driver
- Reference value calculation frequency determination unit (reference value calculation frequency determination means)
- Measurement reference value calculation unit Measurement reference value calculation means
- Electromagnet Induction magnetic field generation means
- FIG. 1 is a schematic diagram illustrating the overall configuration of the position detection system according to the present embodiment.
- FIG. 2 is a perspective view showing an appearance of the position detection system of FIG.
- the position detection system 10 is a capsule medical device in which the mouth or anus force of the subject 1 is also injected into the body cavity, and the inner wall surface of the body cavity duct is optically detected.
- Capsule endoscope devices, capsule medical Device
- a position detection device amplitude component detection means, position analysis means 50 for detecting the position of the capsule endoscope 20 and the like.
- Capsule-type medical devices are not limited to the above-mentioned capsule-type endoscopes. Capsule-type medical devices that disperse drugs at predetermined positions in body cavities, obtain samples of body fluids, or biological information, etc. It doesn't matter! /
- the position detection device 50 includes a drive coil (driving coil) 51 that generates an induction magnetic field in a magnetic induction coil (to be described later) in the capsule endoscope 20, and a magnetic induction coil.
- a sense coil (magnetic field sensor) 52 that detects the generated induced magnetic field is electrically connected. The position detection device 50 calculates the position of the capsule endoscope 20 based on the induced magnetic field detected by the sense coil 52 and controls the alternating magnetic field formed by the drive coil 51.
- the position detection device 50 includes an imaginary part of an AC voltage, which is an amplitude component substantially orthogonal to the AC voltage output from the sense coil 52 (magnetic field sensor output), and an amplitude component whose phase is substantially in phase.
- Amplitude component detection unit (amplitude component detection means) 50A that detects the amplitude component by separating at least one real part of an AC voltage and position calculation that determines the frequency for calculating the position of the capsule endoscope 20
- Frequency determination unit (position calculation frequency determination means) 50B and a position analysis unit (position analysis means) 50C that calculates at least one of the position and orientation of the capsule endoscope 20 based on the amplitude component. It has been.
- a sine wave generation circuit 53 that generates an alternating current based on the output from the position detection device 50 and a sine wave generation based on the output from the position detection device 50
- a drive coil driver 54 that amplifies the alternating current input from the circuit 53 and a drive coil selector 55 that supplies an alternating current to the drive coil 51 selected based on the output from the position detection device 50 are arranged.
- a sense coil selector 56 and a sense coil receiving circuit 57 are arranged between the sense coil 52 and the position detection device 50.
- the sense coil selector 56 is based on the output from the position detection device 50, and includes an alternating current including position information of the capsule endoscope 20 output from the specific sense coil 52 among the plurality of sense coils 52. Select.
- the sense coil receiving circuit 57 receives the AC current that has passed through the sense coil selector 56. Then, the amplitude value of the AC voltage is extracted and output to the position detection device 50.
- FIG. 3 is a schematic view showing a cross section of the capsule endoscope system of FIG.
- the drive coil 51 is disposed obliquely at the four corners above (in the positive direction side of the Z axis) the substantially rectangular parallelepiped working space in which the subject 1 lies. ing.
- the drive coil 51 is formed as a substantially triangular coil. In this way, by arranging the drive coil 51 upward, interference between the drive coil 51 and the subject 1 can be prevented.
- the drive coil 51 may be a substantially triangular coil as described above, or may be a coil having various shapes such as a circular shape.
- the sense coil 52 is formed as an air-core coil, and is disposed at a position facing the drive coil 51 via the working space of the capsule endoscope 20 and a position facing each other in the Y-axis direction.
- the three planar coil support portions 58 are supported.
- Nine sense coils 52 are arranged in a matrix on one coil support 58, and the entire position detection device 50 is provided with 27 sense coils 52.
- FIG. 4 is a schematic diagram showing a circuit configuration of the sense coil receiving circuit 57 of FIG.
- the sense coil receiving circuit 57 includes a band-pass filter (BPF) 61 that removes high-frequency components and low-frequency components included in the AC voltage including the positional information of the capsule endoscope 20 that is input, Amplifier (AMP) 62 that amplifies the AC voltage from which high-frequency components and low-frequency components have been removed, AZD conversion that converts the AC voltage into a digital signal, and memory that temporarily stores the digitized amplitude value 65 It is composed of
- the bandpass filter 61 is disposed on each of a pair of wirings 66A extending from the sense coil 52, and the AC voltage output from the bandpass filter 61 is input to one amplifier 62. .
- the memory 65 temporarily stores the amplitude values obtained from the nine sense coils 52 and outputs the stored amplitude values to the position detection device 50.
- FIG. 5 is a schematic diagram showing a configuration of the capsule endoscope 20 of FIG.
- the capsule endoscope 20 includes an external device 21 that houses various devices therein, an imaging unit 30 that images the inner wall surface of the body cavity of the subject, and an imaging unit.
- a battery 39 for driving 30, an induction magnetic field generation unit 40 for generating an induction magnetic field by the drive coil 51 described above, and a force are roughly configured.
- the exterior 21 includes a cylindrical capsule body (hereinafter simply abbreviated as a main body) 22 that transmits infrared rays with the rotation axis (longitudinal axis) R of the capsule endoscope 20 as a central axis, A transparent hemispherical front end portion 23 covering the front end and a hemispherical rear end portion 24 covering the rear end of the main body are formed to form a capsule container sealed with a watertight structure.
- a cylindrical capsule body hereinafter simply abbreviated as a main body 22 that transmits infrared rays with the rotation axis (longitudinal axis) R of the capsule endoscope 20 as a central axis
- a transparent hemispherical front end portion 23 covering the front end and a hemispherical rear end portion 24 covering the rear end of the main body are formed to form a capsule container sealed with a watertight structure.
- the imaging unit 30 includes a substrate 36A disposed substantially perpendicular to the rotation axis R, an image sensor 31 disposed on a surface of the substrate 36A on the distal end portion 23 side, and a body lumen passage of the subject.
- the lens group 32 that forms an image of the inner wall surface of the image sensor 31 on the image sensor 31, the LED (Light Emitting Diode) 33 that illuminates the inner wall surface of the body cavity duct, and the rear end 24 side surface of the substrate 36A
- the signal processing unit 34 and the wireless element 35 that transmits an image signal to the image display device 80 are roughly configured.
- the signal processing unit 34 is electrically connected to the battery 39 via the substrates 36A, 36B, 36C, 36D and the flexible substrates 37A, 37B, 37C, and the image sensor 31 via the substrate 36A. And is electrically connected to the LED 33 through the substrate 36A, the flexible substrate 37A, and the support member 38. Further, the signal processing unit 34 compresses and temporarily stores (memory) the image signal acquired by the image sensor 31, transmits the compressed image signal from the wireless element 35 to the outside, and switches the switch unit 46 described later. The image sensor 31 and the LED 33 are controlled on and off based on the signal from.
- the image sensor 31 converts an image formed through the tip portion 23 and the lens group 32 into an electric signal (image signal) and outputs it to the signal processing unit 34.
- CMOS complementary metal oxide semiconductor
- CCD complementary metal oxide semiconductor
- a plurality of LEDs 33 are arranged on the support member 38 arranged on the distal end portion 23 side from the substrate 36A at intervals in the circumferential direction around the rotation axis R.
- a switch unit 46 is disposed on the substrate 36B.
- a battery 39 is disposed between the substrates 36C and 36D.
- the wireless element 35 is disposed on the substrate 36D.
- the switch unit 46 includes an infrared sensor 47, and is electrically connected to the signal processing unit 34 via the substrates 36A and 36B and the flexible substrate 37A, and is also connected to the substrates 36B, 36C and 36D and the flexible substrates 37B and 37C. It is electrically connected to the battery 39 via Further, a plurality of switch portions 46 are arranged at equal intervals in the circumferential direction around the rotation axis R, and the infrared sensor 47 is arranged so as to face the outside in the diameter direction. In the present embodiment, the number of force switch portions 46 for explaining an example in which four switch portions 46 are arranged is not limited to four, and may be any number.
- the induction magnetic field generation unit 40 is disposed on the rear end 24 side of the wireless element 35.
- the induction magnetic field generation unit 40 includes a core member 41 made of ferrite formed in a cylindrical shape whose central axis substantially coincides with the rotation axis R, a magnetic induction coil 42 disposed on the outer periphery of the core member 41, and a magnetic induction coil 42 and a capacitor (not shown) electrically connected.
- the magnetic induction coil 42 and the capacitor form an LC resonance circuit (circuit) 43.
- the core member 41 may be made of a material such as iron, permalloy, or nickel in addition to the ferrite described above.
- the capsule endoscope 20 is inserted into a body cavity such as the mouth or anus of the subject 1 lying on the position detection device 50.
- the position of the inserted capsule endoscope 20 is detected by the position detection device 50.
- the capsule endoscope 20 images the inner wall surface of the body cavity conduit in the vicinity of the affected area, and the imaged data on the inner wall surface of the body cavity conduit and the data in the vicinity of the affected area are displayed on an image display device (not shown).
- Send the image display device
- the sine wave generation circuit 53 generates an alternating current based on the output from the position detection device 50, and the alternating current is output to the drive coil driver 54.
- the frequency of the generated alternating current ranges from several kHz to 100 kHz. It is a frequency within the range, and the frequency is swept within the above-mentioned range according to time so as to include a resonance frequency described later.
- the sweep range is not limited to the above-described range, and may be a narrower range or a wider range, and is not particularly limited.
- the measurement frequency may be determined by performing the sweep first, and then the measurement may be performed with the frequency fixed to the measurement frequency. This can improve the measurement speed. Furthermore, the measurement frequency may be determined again by periodically sweeping. As a result, it is possible to cope with changes in resonance frequency due to temperature characteristics.
- the alternating current is amplified based on an instruction from the position detection device 50 in the drive coil driver 54 and output to the drive coil selector 55.
- the amplified alternating current is supplied to the drive coil 51 selected by the position detection device 50 in the drive coil selector 55.
- the alternating current supplied to the drive coil 51 forms an alternating magnetic field in the working space of the capsule endoscope 20.
- Inductive electromotive force is generated by the alternating magnetic field in the magnetic induction coil 42 of the capsule endoscope 20 located in the alternating magnetic field, and an induced current flows.
- an induced current flows through the magnetic induction coil 42, an induced magnetic field is formed by the induced current.
- the magnetic induction coil 42 forms an LC resonance circuit 43 together with a capacitor, when the period of the alternating magnetic field coincides with the resonance frequency of the LC resonance circuit 43, the induction flowing into the LC resonance circuit 43 (magnetic induction coil 42). The current increases and the induced magnetic field formed also increases.
- the core member 41 made of dielectric ferrite is disposed at the center of the magnetic induction coil 42, the induction magnetic field that is immediately formed when the induced magnetic field is collected on the core member 41 is further increased.
- dielectric ferrite can be substituted with a magnetic material such as iron, nickel, and cobalt, and an alloy or flight thereof can also be used.
- the induced magnetic field generates an induced electromotive force in the sense coil 52, and an alternating voltage (magnetic information) including position information of the capsule endoscope 20 is generated in the sense coil 52.
- This alternating voltage is input to the sense coil receiving circuit 57 via the sense coil selector 56 and converted into a digital signal.
- the AC voltage input to the sense coil receiving circuit 57 is first amplified by the amplifier 62 after the high-frequency component and low-frequency component are removed by the band-pass filter 61.
- the AC voltage from which unnecessary components are removed in this way is converted into a digital signal by the AZD converter 64 and stored in the memory 65.
- the memory 65 stores amplitude values corresponding to one cycle obtained by sweeping the sine wave signal generated by the sine wave generation circuit 53 around the resonance frequency of the LC resonance circuit 43, and summarizes the amplitude values for one cycle. Output to the position detection device 50.
- FIG. 6 is a block diagram illustrating an outline of the position detection device 50 of FIG.
- the AC voltage input to the position detection device 50 is input to the amplitude component detection unit 50A as shown in FIG.
- the amplitude component detection unit 50A separates the real part of the alternating voltage having the same phase as the alternating magnetic field and the imaginary part of the alternating voltage substantially orthogonal to the alternating magnetic field. At least one of the imaginary part and the real part of the separated AC voltage is input from the amplitude component detection unit 50A to the position calculation frequency determination unit 50B and the position analysis unit 50C.
- the amplitude component detector 50A may be provided with at least one of a phase detector and a lock-in amplifier instead of the Fourier transform. Since at least one of the phase detector and the lock-in amplifier is provided in the amplitude component detection unit 50A, the amplitude component detection unit 50A determines the imaginary part of the alternating magnetic field from the outputs of the magnetic field sensors obtained from the plurality of sense coils 52. And at least one of the real part can be easily detected.
- FIG. 7 is a diagram showing the relationship between the real part and the imaginary part of the AC voltage separated by the amplitude component detection unit 50A.
- the horizontal axis represents the frequency of the alternating magnetic field
- the vertical axis represents the gain change (dBm) and phase change (degree) of the AC voltage flowing through the resonance circuit 43.
- FIG. 9 and FIG. 10 are diagrams showing the relative positional relationship of the drive coil 51, the LC resonance circuit 43 and the sense coil 52 in FIG.
- the output value curves Rl, R2, R3 of the real part of the AC voltage and the output value curves Iml, Im2, Im3 of the imaginary part are the drive coil 51, the LC resonance circuit 43, and the sense coil, respectively.
- 52 Relative Positional Forces The real part output value curve and imaginary part output value curve when the positional relations shown in Figs.
- the output value curves Rl, R2, and R3 in the real part are offset to the large output side according to the distance between the drive coil 51 and the LC resonance circuit 43 and the sense coil 52, and the maximum and minimum values are near the resonance frequency. Takes a value. The difference between the maximum value and the minimum value also varies depending on the distance between the drive coil 51 and the LC resonance circuit 43 and the sense coil 52.
- the output value curves Iml, Im2, Im3 of the imaginary part are not offset regardless of the distance between the drive coil 51 and the LC resonance circuit 43 and the sense coil 52. Further, the output value curves Iml, Im2, Im3 of the imaginary part are minimized at the resonance frequency, and the amplitude thereof changes according to the distance between the drive coil 51 and the LC resonance circuit 43 and the sense coil 52.
- the position calculation frequency determination unit 50B detects the resonance frequency in the LC resonance circuit 43 by detecting the minimum value of the output curve Iml, Im2, Im3 of the imaginary part of the input AC voltage.
- the resonance frequency is determined as the position calculation frequency.
- the position analysis unit 50C detects each amplitude value at the resonance frequency of the imaginary part output value curve Iml, Im2, Im3 input from each sense coil 52, and the LC resonance circuit 43 based on each detected amplitude value. Calculate and estimate the position and orientation of (capsule endoscope 20).
- the position calculation frequency determination unit 50B detects the frequency at which the output curves Rl, R2, and R3 of the real part of the input AC voltage are maximum and minimum values, and determines the frequency as the position calculation frequency. May be.
- the position analysis unit 50C detects each amplitude value at the position calculation frequency of the output value curves Rl, R2, and R3 of the real part input from each sense coil 52, and based on each detected amplitude value Calculate and estimate the position and orientation of the LC resonance circuit 43 (capsule endoscope 20).
- the position and the like of the capsule endoscope 20 are determined based on the position calculation frequency determined by the position calculation frequency determining unit 50B. Is estimated. Specifically, an alternating current having a frequency for position calculation is supplied to the drive coil 51, an alternating magnetic field having the frequency is generated, and the position of the capsule endoscope 20 is estimated.
- the amplitude component detection unit 50A detects at least one of the amplitude component whose phase is substantially orthogonal to the alternating magnetic field and the phase whose phase is substantially equal to each other, and the position analysis unit 50C.
- the position of the capsule endoscope 20 can be calculated based on the amplitude component.
- the amplitude component detection unit 50A includes only information related to the position of the capsule endoscope 20 from the output of the sense coil 52 that has received the magnetic field formed by the drive coil 51 and the LC resonance circuit 43, and drives Since the amplitude component can be separated without including information on the position of the coil 51, at least one of the position and orientation of the capsule endoscope 20 without performing calibration measurement can be calculated.
- the LC resonance circuit 43 Since the LC resonance circuit 43 generates an induction magnetic field by the alternating magnetic field, it is not necessary to add a power source to the LC resonance circuit 43. Therefore, the number of components mounted inside the capsule endoscope 20 can be reduced. In addition, since the induction magnetic field used for detecting the position of the capsule endoscope 20 is generated, the power source mounted in the capsule endoscope 20 is not used, so that the life of the capsule endoscope 20 is the life of the power source. Not affected.
- the capsule endoscope 20 when obtaining the frequency of the alternating magnetic field (position calculation frequency) using at least one of the position and orientation of the capsule endoscope 20 for calculation, the capsule endoscope 20 At the same time as obtaining the position and orientation, the frequency of the alternating magnetic field may be swept to obtain the position calculating frequency, or the position calculating frequency may be obtained in advance before measuring the position and orientation, or The position calculation frequency obtained in advance may be described in the capsule endoscope 20 or the like, and the described position calculation frequency may be used.
- the position calculation frequency determination unit 50B acquires the resonance frequency in advance, it is not necessary to sweep the frequency of the alternating magnetic field over the frequency band including the position calculation frequency, and the position and frequency of the device can be reduced. The time required to calculate at least one of the orientations can be reduced.
- the position calculation frequency to be used for one capsule endoscope 20 may continue to be used, or the LC resonance circuit 43 The resonance frequency is monitored, and if the resonance frequency changes, a new position calculation frequency may be determined based on the changed resonance frequency!
- the position calculation frequency determination unit 50B can detect a change in the resonance frequency, so that the resonance frequency is always changed. At least one of the position and orientation of the device can be calculated. As a result, the accuracy of the calculated position and orientation of the device can be maintained.
- FIGS. 11 to 13 The basic configuration of the position detection system of this embodiment is the same as that of the first embodiment, but the configuration of the position detection device is different from that of the first embodiment. Therefore, in the present embodiment, only the periphery of the position detection device will be described using FIGS. 11 to 13, and the description of the capsule endoscope and the like will be omitted.
- FIG. 11 is a block diagram showing an outline of the position detection system in the present embodiment.
- the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
- the position detection system 110 includes a capsule endoscope 20 that optically images an inner wall surface of a body cavity duct and transmits an image signal wirelessly, and a capsule endoscope.
- a position detection device 150 for detecting 20 positions amplitude component detection means, position calculation frequency determination means, position analysis means, drive coil dryer, and force are roughly configured.
- the position detection device 150 includes a drive coil 51 that generates an induction magnetic field in a magnetic induction coil (to be described later) in the capsule endoscope 20, and an induction magnetic field generated by the magnetic induction coil.
- a sense coil 52 to be detected a relative position changing unit 161 that changes the relative positions of the drive coil 51 and the sense coil 52, and a relative position measuring unit 162 that measures the relative position are electrically connected.
- the position detection device 150 calculates the position of the capsule endoscope 20 and the like based on the induced magnetic field detected by the sense coil 52, and generates an alternating magnetic field formed by the drive coil 51. To control.
- a signal generation circuit 53 that generates an alternating current based on an output from the position detection device 150, and a signal generation circuit 53 based on an output from the position detection device 150.
- a drive coil driver 54 for amplifying the alternating current input from the.
- a relative position changing unit 161 is arranged between the position detecting device 150 and the drive coil 51, and a relative position measuring unit 162 is arranged between the relative position changing unit 161 and the position detecting device 150.
- the output of the position detection device 150 is arranged to be input to a drive coil unit described later via a relative position changing unit 161.
- the relative position information between the drive coil 51 and the sense coil 52 is acquired from the drive coil unit via the relative position changing unit 161 to the relative position measuring unit 162, and the acquired information is input to the position detecting device 150. It is composed of
- FIG. 12 is a diagram for explaining the positional relationship between the drive coil unit including the drive coil 51 of FIG. 11 and the sense coil 52.
- the position detector 150 includes a frame portion 171 having a substantially spherical outer frame 171A and an inner frame 171B, a drive coil unit 151 movably disposed between the outer frame 171A and the inner frame 171B, The sense coil 52 arranged on the inner surface of the inner frame 171B is arranged as shown in FIG.
- FIG. 13 is a diagram for explaining an outline of the configuration of the drive coil unit 151 of FIG.
- the drive coil unit 151 includes a substantially rectangular parallelepiped casing 152, and spherical portions 153 disposed at the four corners of each surface of the casing 152 facing the outer frame 171A and the inner frame 171B.
- the direction changing section 155 is composed of a drive unit 157 that protrudes from a surface facing the outer frame 171A, a motor 158 that controls the rotation of the drive unit 157, and a motor 158.
- the motor circuit 159 for controlling the drive is roughly configured.
- the method for detecting the position of the capsule endoscope 20 and the like in the position detection system 110 having the above-described constitutional power is the same as that in the first embodiment, and a description thereof will be omitted.
- the position detection unit 150 When the amplitude of the AC voltage output from the sense coil 52 decreases, the position detection unit 150 outputs a signal for changing the position of the drive coil unit 151 to the relative position change unit 161.
- the relative position changing unit 161 outputs a control signal to the direction changing unit 155 to move the drive coil unit 151 in a predetermined direction.
- the drive coil 51 and the sense coil 52 are configured separately, and the drive coil 51 is mounted on the drive coil unit 151! The coil 52 can be moved separately.
- the position detection device 150 moves the drive coil 51 based on the output from the sense coil 52 that changes according to the relative position between the drive coil 51 and the LC resonance circuit 43, and the drive coil 51 and the sense coil 52. Can be controlled to an optimum relative positional relationship.
- the position detection device 150 causes the drive coil 51 to have a position where the induction magnetic field generated from the LC resonance circuit 43 is the largest, that is, the center axis of the magnetic induction coil 42 and the alternating magnetic field entering the magnetic induction coil 42. Control is performed so that the direction of the magnetic flux substantially matches.
- the amplitude component detection means provided in the position detection device 150 detects the amplitude component by separating the imaginary part (amplitude component) of the AC voltage, so even if the alternating magnetic field changes.
- the position of the capsule endoscope 20 and the like can be estimated without performing calibration measurement.
- the position detection device 150 may change the direction of the alternating magnetic field generated by the drive coil 51 by controlling the position of the drive coil 51, or the strength of the alternating magnetic field. It is also possible to change the direction and strength of the alternating magnetic field.
- the drive coil 51 is provided in the drive coil unit 151, and a drive coil 51 is provided.
- the drive coil 51 may be moved, or a plurality of drive coils 51 may be fixed and the drive coil 51 to be driven may be selected.
- the drive coil 51 is configured to move with respect to the LC resonance circuit 43! /, But the sense coil 52 moves with respect to the LC resonance circuit 43. It may be configured to do so.
- the induction magnetic field generated from the LC resonance circuit 43 can be detected more efficiently by the sense coil 52.
- FIG. 14 is a diagram illustrating another arrangement example of the drive coil and the sense coil.
- the sense coil 52 is fixedly disposed on the inner frame 171B as described above, and the force for detecting the induced magnetic field generated from the LC resonance circuit 43 is detected.
- the drive coil 51 may be fixedly arranged on the subject 1 while being fixed to the fixing member 52 a and fixed to the subject 1.
- the sense coil 52 and the drive coil 51 are configured separately.
- FIGS. 15 to 18C The basic configuration of the position detection system of the present embodiment is the same as that of the first embodiment, but is different from the first embodiment in that a magnetic induction device is added to the position detection system. Therefore, in the present embodiment, only the periphery of the magnetic induction device will be described using FIGS. 15 to 18, and the description of the position detection system and the like will be omitted.
- FIG. 15 is a block diagram showing an outline of the position detection system in the present embodiment.
- FIG. 16 is a schematic diagram illustrating the configuration of the position detection system of FIG. Figure 17 is the same as Figure 15 It is the schematic explaining the magnetic induction apparatus.
- the position detection system 210 includes a capsule endoscope 220 that optically images an inner wall surface of a body cavity conduit and wirelessly transmits an image signal, and a capsule type Position detection device 250 for detecting the position of the endoscope 220 (amplitude component detection means, position calculation frequency determination means, position analysis means, drive coil dryer, and magnetic induction device for guiding the capsule endoscope 220 270.
- FIG. 18C is a diagram illustrating the configuration of the capsule endoscope of FIG.
- the capsule endoscope 220 includes an exterior 21 that houses various devices therein, an imaging unit 30 that images an inner wall surface of a body cavity of a subject, and an imaging unit.
- the imaging unit 30 and the induction magnetic field generation unit 40 are the same as those in the first embodiment, the description of the configuration, operation, and effect is omitted.
- the outer peripheral surface of the main body of the outer casing 21 is provided with a spiral portion 25 in which a wire having a circular cross section around the rotation axis R is spirally provided.
- a magnet 45 is disposed on the rear end 24 side of the signal processing unit 34, and a switch unit 46 is disposed on the substrate 36B on the rear end 24 side of the magnet 45.
- the magnetic guidance device 270 is disposed on the lower side of the subject 1, and the magnetic guidance device 270 is provided on the lower side of the subject 1 independently of the position detection device 250. Is arranged to be movable in the front-rear and left-right directions.
- the magnetic induction device 270 is generally composed of a plurality of electromagnets 701, 702, 703, 704, 705.
- the electromagnets 701 and 702 are arranged to face each other with the electromagnet 705 interposed therebetween, and generate a magnetic field in the X-axis direction above the electromagnetic stone 705.
- the electromagnets 703 and 704 are arranged to face each other with the electromagnet 705 interposed therebetween, and generate a magnetic field in the Y-axis direction above the electromagnet 705.
- the electromagnet 705 is placed so as to be surrounded by the electromagnets 701, 702, 703, 704, and is magnetized in the Z-axis direction. Create a field.
- the magnetic induction device 270 can form a uniform magnetic field in a cylindrical region on the electromagnet 705.
- the supplied current is controlled by the position detection device 250, and the intensity and direction of the magnetic field formed by the electromagnetic stones 701, 702, 703, 704, 705 are controlled.
- the device 270 is controlled to move in the front-rear and left-right directions below the subject 1 by the position detection device 250.
- FIG. 18A is a schematic diagram illustrating a configuration of the position detection system of FIG.
- FIG. 18B is a schematic diagram illustrating an overall configuration for describing the position detection system of FIG.
- the electromagnets 701, 702, 703, 704, and 705 are used as described above!
- the configuration of the force electromagnet applied to the position detection system 210 is not limited to this. Is not something
- a position detection system using a three-axis Helmholtz coil unit (magnetic field generating means, electromagnet) 281 in which three Helmholtz coils that generate parallel magnetic fields are generated by facing a pair of coils 280 It doesn't matter.
- a position detection system 280 using three sets of substantially square coils 281X and 281 ⁇ opposed to each other, coils 281Y and 281Y, and coils 281Z and 281Z may be used. Further, as long as a desired magnetic field can be obtained in the target space, the coil interval may be appropriately changed with respect to the coil diameter.
- any configuration of magnetic field may be used as long as a desired magnetic field can be obtained by using only opposing coils.
- the position detection device 250 has the capsule endoscope 220 positioned in the cylindrical region.
- the magnetic guidance device 270 is controlled to move in the front-rear and left-right directions.
- the magnetic induction device 270 is controlled by a position detection device (guidance magnetic field direction control means) 250 with a current supplied to an electromagnet (guidance magnetic field generation means) 701, 702, 703, 704, 705.
- a position detection device guidance magnetic field direction control means
- electromagnet guidance magnetic field generation means
- control is performed so that a rotating magnetic field acts on the capsule endoscope 220.
- the capsule endoscope 220 rotates around its central axis R by the action of a rotating magnetic field, and advances in the direction of the central axis R by the action of the spiral portion 25.
- the magnetic guidance device 270 controls the direction of the central axis R of the capsule endoscope 220 by controlling the direction of the rotation axis of the rotating magnetic field to be formed, and the direction of travel of the capsule endoscope 220 is controlled. To do.
- the position detection system 210 obtains the position of the capsule endoscope 220 and the like, and the magnetic guidance device 270 guides the capsule endoscope 220 to a predetermined position. be able to.
- the magnetic field formed by the magnetic induction device 270 also acts on the sense coil 52, and the AC voltage output from the sense coil 52 includes the AC voltage related to the magnetic field. If such an output is separated from the imaginary part of the AC voltage in the amplitude component detection unit 250A of the position detection device 250, only the AC voltage related to the LC resonance circuit 43 can be detected. Therefore, the position detection system 210 can calculate the position and the like of the capsule endoscope 220 without performing calibration measurement even when the magnetic guidance device 270 is added.
- the position detection device 250 can detect only the AC voltage related to the LC resonance circuit 43 without being affected by the change in the AC voltage. Therefore, the position detection system 250 can calculate the position and the like of the capsule endoscope 220 without performing the calibration measurement even when the magnetic guidance device 270 is added.
- FIG. 19 and FIG. 20 The basic configuration of the position detection system of the present embodiment is the same as that of the first embodiment, but differs from the first embodiment in that a plurality of capsule endoscopes and the like are used. Therefore In the present embodiment, only the point that a plurality of capsule endoscopes and the like are used will be described with reference to FIGS. 19 and 20, and description of other components will be omitted.
- FIG. 19 is a block diagram showing an outline of the position detection system in the present embodiment.
- FIG. 20 is a schematic diagram illustrating the configuration of the position detection system of FIG.
- the position detection system 310 includes a capsule endoscope 20 that optically images an inner wall surface of a body cavity conduit and transmits an image signal wirelessly, and a body cavity tube Capsule type medical device 320 for spraying drugs on the road, obtaining samples, etc., position detection device 50 for detecting the position of capsule endoscope 20 and capsule type medical device 320, force It is roughly structured.
- the capsule medical device 320 includes a battery 39 that drives internal devices, an induced magnetic field generating unit 40 that generates an induced magnetic field, and a medical device unit (such as a medicine sprayer). Forces (not shown) are also schematically configured (see FIG. 5).
- the resonance frequency of the induced magnetic field generation unit 40 in the capsule endoscope 20 and the resonance frequency of the induction magnetic field generation unit 40 in the capsule medical device 320 are set to be different frequencies.
- the inner wall or the like of the body lumen duct of the subject 1 is imaged by the capsule endoscope 20, and the inner wall or the like is observed.
- a lesion or the like is discovered by the observation, and it may be necessary to administer a drug to the lesion or obtain a sample.
- an additional capsule medical device 320 having a medicine spraying function, a sample acquisition function, and the like is added to the subject 1.
- the capsule endoscope 20 and the capsule medical device 320 are present in the body cavity duct of the subject 1.
- the position detection unit 50 uses the resonance frequency of the LC resonance circuit 43 in the capsule endoscope 20 and the resonance frequency of the LC resonance circuit 43 in the capsule medical device 320 to generate force. The positions of the psel endoscope 20 and the capsule medical device 320 are calculated.
- the amplitude component detection unit 5 OA in the position detection unit 50 detects the LC in the capsule endoscope 20 from the AC voltage output from the sense coil 52.
- the imaginary part of the AC voltage related to the resonance circuit 43 and the imaginary part of the AC voltage related to the LC resonance circuit 43 in the capsule medical device 320 can be separated.
- the position and the like of the capsule medical device 320 without performing calibration measurement can be calculated in the same manner as in the capsule endoscope 20.
- FIGS. 21 to 25 The basic configuration of the position detection system of this embodiment is the same as that of the first embodiment, but the processing in the position detection device is different from that of the first embodiment. Therefore, in the present embodiment, only the processing in the position detection device will be described using FIGS. 21 to 25, and description of other capsule endoscopes and the like will be omitted.
- FIG. 21 is a diagram illustrating the overall configuration of the position detection system according to the present embodiment.
- the position detection system 410 includes a capsule endoscope 20 and a position detection device that detects the position of the capsule endoscope 20 (position determination frequency determination unit, reference value calculation frequency determination). , 450, measurement reference value calculation means, position analysis means).
- the position detection device 450 includes a drive coil 51 that generates an induced magnetic field in a magnetic induction coil (to be described later) in the capsule endoscope 20, and an induced magnetic field generated by the magnetic induction coil.
- Sense coil 52, etc. for detecting the noise is electrically connected.
- the position detection device 450 calculates the position of the capsule endoscope 20 based on the induced magnetic field detected by the sense coil 52 and controls the alternating magnetic field formed by the drive coil 51.
- FIG. 22 is a block diagram illustrating the configuration within the position detection device of FIG.
- the position detection device 450 includes an alternating magnetic field detector 450a that detects the amplitude value of the alternating magnetic field from the alternating voltage (output of the magnetic field sensor) output from the sense coil 52, and a capsule type endoscope. Position calculation frequency (first frequency) used to calculate the position of mirror 20 etc.
- Position calculation frequency determination unit 451 reference value calculation frequency determination unit (reference frequency calculation frequency determination means) 452 for determining reference value calculation frequency (second frequency) f used for calculating the reference value, and position calculation Sense coil at frequency f, f and reference value calculation frequency f
- LC resonance circuit of capsule endoscope 20 by generating an alternating magnetic field from drive coil 51 4
- the induction magnetic field from 3 (see FIG. 5) is detected by the sense coil 52 and the AC voltage that is the output of the sense coil 52 is input to the position detection device 450, it is the same as in the first embodiment. The description is omitted.
- FIG. 23 is a graph showing the frequency characteristics of the AC voltage output from the sense coil 52 of FIG.
- the AC voltage input to the position detector 450 is input to the alternating magnetic field detector 450a as shown in FIG.
- the alternating magnetic field detector 450a detects the amplitude value of the alternating magnetic field by Fourier transformation.
- the detected amplitude value of the alternating magnetic field is input to the position calculation frequency determination unit 451.
- the position calculation frequency determination unit 451 performs the above alternating current in the region near the resonance frequency f of the LC resonance circuit 43 of the capsule endoscope 20.
- the frequency at which the voltage shows the maximum value and the minimum value is detected.
- the frequencies indicating these local maximum and local minimum values are used for standing-up calculation frequencies f and f, respectively.
- one of the position calculation frequencies f and f is on the lower frequency side than the resonance frequency f.
- the other is on the high frequency side.
- the reference value calculation frequency determination unit 452 has a frequency characteristic curve of an alternating voltage by an induced magnetic field obtained by the position analysis unit 454 described later, with respect to the resonance frequency f. Inflection point P on the low frequency side
- the frequency is determined to be the frequency f for the reference value calculation, and the frequency is higher than the commercial power supply frequency (60 Hz or 50 Hz).
- FIG. 24 is a graph showing the AC voltage frequency characteristics of the sense coil 52 when only the alternating magnetic field acts on the sense coil 52 of FIG.
- the measurement reference value calculation unit 453 includes the position calculation frequency f and f and the reference value calculation frequency f.
- the value of the AC voltage output from the sense coil 52 in FIG. Specifically, the alternating current output from the sense coil 52 at the frequency f for position calculation, f.
- the voltage value is obtained, and the average value of these values is obtained.
- the position calculation frequencies f and f are obtained, and the position calculation frequencies f and f
- the reference value is obtained based on the point determined from the intermediate value and the average value, and the reference value calculation frequency f and the point where the value of the AC voltage is determined.
- a method of obtaining the reference value an approximation method using the least square method can be used.
- the reference value obtained in this way can be represented as a graph showing a predetermined frequency characteristic, as shown in FIG.
- the reference value is a value that can be regarded as an AC voltage output from the sense coil 51 by the alternating magnetic field formed by the drive coil 51.
- the reference value may be approximated based on two points, or the reference value may be approximated based on more measurement points.
- FIG. 25 is a graph showing the AC voltage frequency characteristics of the sense coil 52 when only the induction magnetic field acts on the sense coil 52 of FIG.
- the position analysis unit 454 performs an operation for subtracting the above-described measurement reference value from the frequency characteristic curve of the AC voltage output from the sense coil 52, and the frequency characteristic curve of the AC voltage due to the induced magnetic field as shown in FIG. Get. Then, the position analysis unit, based on the obtained frequency characteristic curve, for each sense coil 52, the AC voltage at the position calculation frequencies f 1 and f 2 is calculated.
- the pressure difference that is, the amplitude is calculated.
- the amplitude values in the sense coils 52 are obtained, the position of the capsule endoscope 20 and the like are calculated based on these values.
- the measurement reference value calculation unit 453 is based on the output value of the sense coil 52 at the position detection frequencies f, f and the reference value calculation frequency f.
- the position of the capsule endoscope 20 and the like can be calculated based on the difference between the output value of the sense coil 52 and the measurement reference value when the induced magnetic field acts on the magnetic field sensor. That is, the output value of the output value force induced magnetic field of the sense coil 52 is extracted by subtracting the output value of the sense coil 52 when the alternating magnetic field and the induced magnetic field act on the sense coil 52 and the measurement reference value.
- the position of the capsule endoscope 20 can be calculated.
- the position detection system 410 can calculate the position and the like of the capsule endoscope 20 without performing calibration measurement.
- the LC resonance circuit 43 of the capsule endoscope 20 Since the LC resonance circuit 43 of the capsule endoscope 20 generates an induction magnetic field by the alternating magnetic field, it is not necessary to add a power source to the LC resonance circuit 43. As a result, the number of components mounted inside the capsule endoscope 20 can be reduced. In addition, since the induction magnetic field used to detect the position of the capsule endoscope 20 is generated and the power source mounted inside the capsule endoscope 20 is not used, the life of the capsule endoscope 20 is affected by the life of the power source. It is not received.
- Measurement related to the calculation of the position of the mirror 20 and measurement for obtaining the measurement reference value can be performed at the same time, and the time required for calculating the position of the capsule endoscope 20 can be reduced.
- the error of the measurement value can be canceled, and the accuracy of the position of the capsule endoscope 20 to be calculated can be improved.
- the alternating magnetic field detector 450a may include at least one of a phase detector and a lock-in amplifier instead of Fourier transform. Since at least one of the phase detector and the lock-in amplifier is provided in the alternating magnetic field detection unit 450a, the alternating magnetic field detection unit 450a determines the imaginary part of the alternating magnetic field from the outputs of the magnetic field sensors obtained from the plurality of sense coils 52. And at least one of the real part can be easily detected.
- the reference value calculation frequency f may be a predetermined frequency higher than the commercial power supply frequency, or the reference value calculation frequency f may be zero.
- the reference value calculation frequency Since the output of the sense coil 52 at the time of frequency force ⁇ is always 0, the reference value calculation frequency The measurement in the number ⁇ can be omitted, and the labor involved in calculating the position of the capsule endoscope 20 can be omitted.
- the reference value calculation frequency f is inflection point P with respect to the resonance frequency f.
- a predetermined frequency higher than the commercial power supply frequency may be set on the lower frequency side than 1 C L, or higher than the inflection point P on the higher frequency side with respect to the resonance frequency f and the sense coil.
- a predetermined frequency f lower than the resonance frequency of 52 may be used.
- the basic configuration of the position detection system of the present embodiment is the same as that of the fifth embodiment, but differs from the fifth embodiment in the configuration of the position detection device and the sense coil receiving circuit. Therefore, in the present embodiment, only the configuration of the position detection device and the sense coil receiving circuit will be described with reference to FIGS. 26 to 28, and description of other capsule endoscopes and the like will be omitted.
- FIG. 26 is a diagram illustrating the overall configuration of a position detection system according to a modification of the present embodiment.
- the position detection system 510 includes a capsule endoscope 20 and a position detection device that detects the position of the capsule endoscope 20 (position calculation frequency determination unit, reference value calculation). Frequency determination means, measurement reference value calculation means, position analysis means) 550.
- the position detection device 550 includes a drive coil 51 that generates an induction magnetic field in a magnetic induction coil (to be described later) in the capsule endoscope 20, and an induction magnetic field generated by the magnetic induction coil.
- Sense coil 52, etc. for detecting the noise is electrically connected.
- the position detection device 550 calculates the position of the capsule endoscope 20 based on the induced magnetic field detected by the sense coil 52 and controls the alternating magnetic field formed by the drive coil 51.
- FIG. 27 is a diagram for explaining the circuit configuration of the sense coil receiving circuit 557 of FIG. As shown in FIG.
- the sense coil receiving circuit 557 is a band-pass filter (BPF) 61 that removes high-frequency components and low-frequency components contained in the input AC voltage including the position information of the capsule endoscope 20.
- BPF band-pass filter
- AMP amplifier
- AMP effective value detection circuit
- AZD converter AZD converter
- the band-pass filter 61 is arranged on each of a pair of wirings 66A extending from the sense coil 52, and the AC voltage output from the band-pass filter 61 is input to one amplifier 62. .
- the memory 65 temporarily stores the amplitude values obtained from the nine sense coils 52, and outputs the stored amplitude values to the position detection device 550.
- the effective value detection circuit 63 may be used to extract the amplitude value of the AC voltage, or the voltage is detected by smoothing magnetic information using a rectifier circuit and detecting the voltage.
- the width value may be detected, or the amplitude value may be detected using a peak detection circuit that detects the peak of the AC voltage.
- phase of the detected AC voltage waveform with respect to the waveform added to the drive coil 51 varies depending on the presence / absence and position of a magnetic induction coil 42 (described later) in the capsule endoscope 20.
- This phase change may be detected by a lock-in amplifier or the like.
- the induced magnetic field generates an induced electromotive force in the sense coil 52, and an alternating voltage (magnetic information) including position information of the capsule endoscope 20 is generated in the sense coil 52.
- This AC voltage is input to the sense coil receiving circuit 557 via the sense coil selector 56, and the amplitude value (amplitude information) of the AC voltage is extracted.
- the AC voltage input to the sense coil receiving circuit 557 is amplified by the amplifier 62 after the high-frequency component and the low-frequency component are removed by the band-pass filter 61. From the AC voltage from which unnecessary components have been removed in this way, the amplitude value of the AC voltage is extracted by the effective value detection circuit 63. The extracted amplitude value is converted into a digital signal by AZD conversion and stored in the memory 65.
- the memory 65 stores, for example, amplitude values corresponding to one period obtained by sweeping the sine wave signal generated by the sine wave generator 53 in the LC resonance circuit 43 near the resonance frequency, and summarizes the amplitude values for one period. Output to the position detection device 550.
- FIG. 28 is a block diagram illustrating an outline of the position detection device 550 of FIG.
- the position detection device 550 includes a position calculation frequency determination unit 451 for determining a position calculation frequency (first frequency) f, f used for calculating the position of the capsule endoscope 20, and a reference value.
- Measurement reference value calculation unit (measurement reference value calculation means) 453 that calculates the measurement reference value from the output of the sense coil 52 at the standard value calculation frequency f, and a position analysis unit that calculates the position of the capsule endoscope 20, etc. (Position analysis means) 454 are provided.
- the AC voltage input to position detecting device 550 is input to position calculating frequency determining unit 451 as shown in FIG. As shown in FIG. 23, the position calculating frequency determination unit 451 detects a frequency at which the AC voltage has a maximum value and a minimum value in the vicinity of the resonance frequency fc of the LC resonance circuit 43 of the capsule endoscope 20. The frequencies indicating these maximum and minimum values are used as position calculation frequencies f and f, respectively.
- the position calculation frequency f, f and the reference value calculation frequency f are used.
- the reference value may be obtained by H L 1, or the reference value calculation frequency f and the reference value calculation frequency f described above.
- the reference value may be obtained using 2 1 and is not particularly limited.
- the sense coil receiving circuit 557 includes the effective value detection circuit 63, the alternating magnetic field detection unit 450a is not required, and a position detection system can be constructed at low cost.
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Abstract
Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN2006800369503A CN101277640B (zh) | 2005-10-06 | 2006-10-06 | 位置检测*** |
JP2007539914A JP4694571B2 (ja) | 2005-10-06 | 2006-10-06 | 位置検出システム |
EP06811389.3A EP1932463A4 (en) | 2005-10-06 | 2006-10-06 | POSITION DETECTION SYSTEM |
US12/088,985 US8164334B2 (en) | 2005-10-06 | 2006-10-06 | Position detection system |
Applications Claiming Priority (2)
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JP2005-294056 | 2005-10-06 | ||
JP2005294056 | 2005-10-06 |
Publications (1)
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WO2007043458A1 true WO2007043458A1 (ja) | 2007-04-19 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2006/320062 WO2007043458A1 (ja) | 2005-10-06 | 2006-10-06 | 位置検出システム |
Country Status (6)
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US (1) | US8164334B2 (ja) |
EP (1) | EP1932463A4 (ja) |
JP (1) | JP4694571B2 (ja) |
KR (1) | KR100990287B1 (ja) |
CN (1) | CN101277640B (ja) |
WO (1) | WO2007043458A1 (ja) |
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WO2011102161A1 (ja) * | 2010-02-18 | 2011-08-25 | オリンパスメディカルシステムズ株式会社 | 位置検出システムおよび位置検出方法 |
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JP4961510B2 (ja) * | 2010-02-18 | 2012-06-27 | オリンパスメディカルシステムズ株式会社 | 位置検出システムおよび位置検出システムの作動方法 |
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JP2014230737A (ja) * | 2014-02-01 | 2014-12-11 | 佐藤 洋 | 位置制御システム |
Also Published As
Publication number | Publication date |
---|---|
JPWO2007043458A1 (ja) | 2009-04-16 |
CN101277640A (zh) | 2008-10-01 |
KR20080043866A (ko) | 2008-05-19 |
US8164334B2 (en) | 2012-04-24 |
EP1932463A4 (en) | 2015-04-22 |
US20090295386A1 (en) | 2009-12-03 |
KR100990287B1 (ko) | 2010-10-26 |
JP4694571B2 (ja) | 2011-06-08 |
EP1932463A1 (en) | 2008-06-18 |
CN101277640B (zh) | 2010-08-18 |
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