U.S. patent application number 13/408322 was filed with the patent office on 2012-09-06 for intra-subject medical system, method of operating body-insertable apparatus and operative treatment.
This patent application is currently assigned to Olympus Medical Systems Corp.. Invention is credited to Atsushi Chiba, Hideo Ito, Hironao Kawano, Hidetake Segawa, Hironobu Takizawa, Akio Uchiyama, Takeshi Yokoi.
Application Number | 20120226092 13/408322 |
Document ID | / |
Family ID | 38287660 |
Filed Date | 2012-09-06 |
United States Patent
Application |
20120226092 |
Kind Code |
A1 |
Kawano; Hironao ; et
al. |
September 6, 2012 |
INTRA-SUBJECT MEDICAL SYSTEM, METHOD OF OPERATING BODY-INSERTABLE
APPARATUS AND OPERATIVE TREATMENT
Abstract
Provided is an intra-subject medical system which includes a
body-insertable device and a physical quantity generator. The
body-insertable device is to be introduced into a subject, is
covered by a capsule-shaped exterior member, and includes a
physical quantity detecting member which has a directivity to
detect a predetermined physical quantity; at least one functional
member which has a necessary function for examining or treating
inside the subject; and a switch control unit which controls an
on/off states or operation mode of the at least one functional
member when the physical quantity detecting member detects a
physical quantity. The physical quantity generator has a physical
quantity emitting unit which emits a temporary physical quantity
inside the subject; and a physical quantity direction changing unit
which changes an emission direction of the physical quantity.
Inventors: |
Kawano; Hironao; (Tokyo,
JP) ; Takizawa; Hironobu; ( Tokyo, JP) ;
Uchiyama; Akio; (Yokohama-shi, JP) ; Chiba;
Atsushi; ( Tokyo, JP) ; Yokoi; Takeshi; (
Tokyo, JP) ; Ito; Hideo; (Tokyo, JP) ; Segawa;
Hidetake; (Tokyo, JP) |
Assignee: |
Olympus Medical Systems
Corp.
Tokyo
JP
|
Family ID: |
38287660 |
Appl. No.: |
13/408322 |
Filed: |
February 29, 2012 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
11655318 |
Jan 19, 2007 |
|
|
|
13408322 |
|
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|
Current U.S.
Class: |
600/12 |
Current CPC
Class: |
A61B 1/041 20130101;
A61B 5/702 20130101; A61B 5/061 20130101; A61B 34/73 20160201; A61B
5/4839 20130101; A61B 1/00158 20130101; A61B 1/00036 20130101; A61B
5/073 20130101 |
Class at
Publication: |
600/12 |
International
Class: |
A61N 2/10 20060101
A61N002/10; A61B 1/04 20060101 A61B001/04 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 19, 2006 |
JP |
2006-011566 |
Claims
1. A body-insertable device to be introduced into a subject,
comprising: a magnetic field detecting member which has a
directivity to detect a magnetic field; at least one functional
member which has a necessary function for examining or treating
inside the subject; and a switch control unit which controls an
on/off states or operation mode of the at least one functional
member when the magnetic field detecting member detects a magnetic
field, wherein the body-insertable device includes a permanent
magnet so as to control a direction of the body-insertable device,
according to a magnetic field generated outside the subject, and
the permanent magnet and the a magnetic field generating direction
of the permanent magnet and the magnetic field detecting member are
arranged such that a magnetic field generating direction of the
permanent magnet is perpendicular to a magnetism detecting
direction of the magnetic field detecting member.
2. The body-insertable device according to claim 1, wherein the
magnetic field generating direction of the permanent magnet is
perpendicular to an axial direction of the body-insertable device,
and the magnetism detecting direction of the magnetic field
detecting member is in parallel to the axial direction.
3. The body-insertable device according to claim 1, wherein when a
first magnetic field generating member for emitting a temporal
magnetic field inside the subject and a second magnetic field
generating member for generating a magnetic field toward the
subject in a predetermined direction are arranged around the
subject, the permanent magnet generates a force to move to a stable
direction according to a polarity in the magnetic field in the
predetermined direction, so that the direction of the
body-insertable device is controlled by the force generated by the
permanent magnet and the temporal magnetic field is emitted by the
first magnetic field generating member in the direction in which
the magnetic field detecting member has its directivity.
4. The body-insertable device according to claim 1, wherein the
functional member is at least one of an observing member for
obtaining an image in the subject, a radio member for performing
radio transmission of information of inside of the body-insertable
device to outside the subject, a medical solution release member
for releasing medical solution in the subject, a marking member for
marking a desired site in the subject, a bodily fluid/tissue
sampling member for sampling bodily fluid or tissue in the subject,
and an operation arm member for extending and contracting the arm
in the subject.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 11/655,318, filed Jan. 19, 2007, which is
based upon and claims the benefit of priority from Japanese Patent
Application No. 2006-011566, filed Jan. 19, 2006, the entire
contents of which are incorporated herein by reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to an intra-subject medical
system which performs various medical practices including
examination or treatment in a body cavity in a subject, a method of
operating body-insertable apparatus, and an operative
treatment.
[0004] 2. Description of the Related Art
[0005] Recently, in a field of endoscopes, a swallowed-type capsule
endoscope has been introduced. In such a capsule endoscope, an
imaging function and a radio communication function are provided.
The capsule endoscope has a function for moving along with
peristaltic movement in a body cavity in an internal organ such as
the stomach and small intestine and sequentially taking images
until it is naturally discharged from the human body, after
swallowed by a patient though his or her mouth for the observation
(examination).
[0006] As moving in the body cavity, data of images taken by the
capsule endoscope in the human body is sequentially sent to outside
by radio communication and stored in a memory provided in an
external receiver. If the receiver including the radio
communication function and memory function is carried by the
patient, he or she may move freely even after swallowing the
capsule endoscope and before discharging the capsule endoscope.
After that, a doctor or a nurse may give a diagnosis by displaying
the image of the internal organ based on the image data stored in
the memory.
[0007] The above-described capsule endoscope is made in a small
size and a limited power source is employed. Since the electricity
consumption needs to be minimized, a system in which the on/off
states of various functions in the capsule endoscope can be
switched after the capsule endoscope is introduced into a subject
is disclosed in, for example, Japanese Patent No. 2849131, Japanese
Patent Application Laid-Open No. 2004-261240, and Japanese Patent
Application Laid-Open No. 2005-73934. This turning on/off of each
function is done by emitting a physical quantity such as a magnetic
field from outside and detecting the physical quantity by a
physical quantity detecting sensor provided in the capsule
endoscope, as disclosed in, for example, Japanese Patent
Application Laid-Open No. 9-143053 and Japanese Utility Model
Application Laid-Open No. 57-187506.
[0008] However, there has been a problem that on/off states of the
various functions can not be surely switched, since the physical
quantity detecting sensor provided in the conventional capsule
endoscope has directivity.
[0009] Further, there has been a problem that the physical quantity
detecting sensor of a magnetism switch or the like cannot switch an
on/off states of each function unless a physical quantity is kept
being applied from outside of the subject so that it is difficult
to maintain the on-state of the off-state securely.
SUMMARY OF THE INVENTION
[0010] At least one object of the present invention is to solve the
problems.
[0011] An intra-subject medical system according to the present
invention comprises a body-insertable device to be introduced into
a subject, the body-insertable device being covered by a
capsule-shaped exterior member and including a physical quantity
detecting member which has a directivity to detect a predetermined
physical quantity; at least one functional member which has a
necessary function for examining or treating inside the subject;
and a switch control unit which controls an on/off states or
operation mode of the at least one functional member when the
physical quantity detecting member detects a physical quantity; a
physical quantity generator having a physical quantity emitting
unit which emits a temporary physical quantity inside the subject;
and a physical quantity direction changing unit which changes an
emission direction of the physical quantity.
[0012] A method of operating a body-insertable device according to
the present invention comprises a swallowing step in which a
subject swallows a body-insertable device with a function switch,
in an off-state, for switching the on/off states of each functional
member including an observing member in the body-insertable device;
a switch-on step of turning on the function switch of the
body-insertable device; and a control step of determining whether
or not the body-insertable device has reached a desired specific
site based on an image taken by the body-insertable device,
repeating the procedure of determining whether or not the device
has reached the desired specific site by keeping the function
switch on when the device has not reached the desired particular
site, and turning off the function switch when the device has
reached the desired specific site.
[0013] A method of operating a body-insertable device according to
the present invention comprises a swallowing step in which a
subject swallows the body-insertable device; a moving step of
moving the subject from a far position to a closer position to a
magnet; and an on/off state control step of turning on a magnetic
sensor in the body-insertable device and off a function in the
body-insertable device by a magnetism of the magnet.
[0014] An operative treatment according to the present invention
comprises a swallowing step in which a subject swallows a
body-insertable device with a function switch, in an on-state, for
turning on or off functions of various functional members including
an observing member in the body-insertable device; an observing
step of observing inside of the subject in real time with an
observing function of the observing member to specify a desired
site; a switch-off step of turning off the function switch when the
desired site is specified in the observing step; an administration
step of administering a peristalsis depressant to the subject; a
preparing step of preparing for an endoscopic surgical operation; a
switch-on step of turning on the function switch; and a treating
step of treating the desired site with reference to an image from
the observing member and an image from a surgical endoscope used in
an endoscopic surgical operation.
[0015] An operative treatment according to the present invention
comprises a swallowing step in which a subject swallows a
body-insertable device with a function switch, in an on-state, of
an observing member among function switches for turning on or off
functions of various functional members including the observing
member in the body-insertable device; an observing step of
observing inside of the subject in real time with an observing
function of the observing member to specify a desired site; a
locking step of, when the desired site is specified in the
observing step, turning on the function switch of a locking member
to lock the body-insertable device; a switch-off step of turning
off the function switch of the observing member; a preparing step
of preparing for an endoscopic surgical operation; a switch on step
of turning on the function switch of the observing member; and a
treating step of treating the desired site with reference to an
image from the observing member and an image from a surgical
endoscope used in an endoscopic surgical operation.
[0016] An operative treatment according to the present invention
comprises a swallowing step in which a subject swallows a
body-insertable device with a function switch, in an off-state, for
turning on or off functions of various functional members including
an observing member in the body-insertable device; a guiding step
of guiding the body-insertable device to a desired site with a
rotational magnetic field while detecting the position of the
body-insertable device; a preparing step of preparing for an
endoscopic surgical operation; a switch-on step of turning on the
function switch; and a treating step of treating the desired site
with reference to an image from the observing member and an image
from a surgical endoscope used in an endoscopic surgical
operation.
[0017] An operative treatment according to the present invention
comprises a swallowing step in which a subject swallows a
body-insertable device with a first observing member, in an
on-state, among function switches for turning on or off functions
of various functional members including the first observing member
and a second observing member in the body-insertable device; an
observing step of observing inside of the subject in real time with
an observing function of the first observing member to specify a
desired site; a preparing step of preparing for an endoscopic
surgical operation; a switch on step of turning on the function
switch of the second observing member; and a treating step of
treating the desired site with reference to an image from the first
and second observing members and an image from a surgical endoscope
used in the endoscopic surgical operation.
[0018] An operative treatment according to the present invention
comprises a swallowing step in which a subject swallows a
body-insertable device with an observing member, in an on-state,
among function switches for turning on or off functions of various
functional members including the observing member and a treating
member in the body-insertable device; an observing step of
observing inside of the subject in real time with an observing
function of the observing member to specify a desired site; a
switch-on step of turning on the function switch of the treating
member; and a treating step of treating the desired site by the
treating member with reference to an image from the observing
member.
[0019] An operative treatment according to the present invention
comprises a swallowing step in which a subject swallows a
body-insertable device with an observing member, in an on-state,
among function switches of turning on or off functions of various
functional members including the observing member and a treating
member in the body-insertable device; an observing step of
observing inside of the subject in real time with an observing
function of the observing member to specify a desired site; a
preparing step of preparing for an endoscopic surgical operation; a
switch-on step of turning on the function switch of the treating
member; and a treating step of treating the desired site with a
combination of the treating member and an endoscope treating member
used in the endoscopic surgical operation, with reference to an
image from the observing member and an image from a surgical
endoscope used in the endoscopic surgical operation.
[0020] The above and other objects, features, advantages and
technical and industrial significance of this invention will be
better understood by reading the following detailed description of
presently preferred embodiments of the invention, when considered
in connection with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] FIG. 1 is a view showing an outline structure of an
intra-subject medical system according to a first embodiment of the
present invention;
[0022] FIG. 2 is a cross-sectional view showing a structure of the
capsule endoscope shown in FIG. 1;
[0023] FIG. 3 is a cross-sectional view showing a magnetic force
line of a magnetic field generated by a magnetic field generating
unit;
[0024] FIG. 4 is a plane view showing a magnetic force line of a
magnetic field generated by the magnetic field generating unit;
[0025] FIG. 5 is a view showing an example of a transfer pathway of
the magnetic field generating unit;
[0026] FIG. 6 is a cross-sectional view showing a transfer
condition of the magnetic field generating unit;
[0027] FIG. 7 is a view showing an example of a template for
guiding a transfer pathway of the magnetic field generating
unit;
[0028] FIG. 8 is a flowchart showing a procedure for turning on a
function switch in the capsule endoscope;
[0029] FIG. 9 is a flowchart showing a procedure for turning off
the function switch in the capsule endoscope;
[0030] FIG. 10 is a view showing an example of a pulse generated by
the magnetic field generating unit;
[0031] FIG. 11 is a view showing an example of a pulse in which a
pulse interval is varied according to movement speed of the
magnetic field generating unit;
[0032] FIG. 12 is a view showing an example of a pulse pattern
including a switch on/off control information;
[0033] FIG. 13 is a cross-sectional view showing a magnetic field
generating unit, in which two electrical magnets are arranged
parallel to each other;
[0034] FIG. 14 is a view showing a general structure of an
intra-subject medical system, in which a movement of the magnetic
field generating unit is realized by an XY table;
[0035] FIG. 15 is a schematic view showing another example of a
system for moving the magnetic field generating unit;
[0036] FIG. 16 is a schematic view showing another example of a
system for moving the magnetic field generating unit;
[0037] FIG. 17 is a schematic view showing an example of a system
for relatively moving the magnetic field generating unit;
[0038] FIG. 18 is a schematic view showing an example of a system
for relatively moving the magnetic field generating unit;
[0039] FIG. 19 is a view showing an example in which the magnetic
field generating unit is composed of a permanent magnet;
[0040] FIG. 20 is a view showing an example in which the magnetic
field generating unit is composed of a permanent magnet;
[0041] FIG. 21 is a cross-sectional view showing a condition of
stored magnetic field generating unit composed of the permanent
magnet;
[0042] FIG. 22 is a cross-sectional view showing a condition of
stored magnetic field generating unit composed of the permanent
magnet;
[0043] FIG. 23 is a cross-sectional view showing the magnetic field
generating unit composed of two electrical magnets, which are
arranged parallel to each other;
[0044] FIG. 24 is a cross-sectional view showing the magnetic field
generating unit composed of two electrical magnets, which are
arranged facing each other;
[0045] FIG. 25 is a cross-sectional view showing the magnetic field
generating unit composed of two electrical magnets, which are
slightly displaced from the positions where they face each
other;
[0046] FIG. 26 is a flowchart showing a procedure for operating the
capsule endoscope when the intra-subject medical system is used for
a large intestine observation;
[0047] FIG. 27 is a diagrammatic front view showing a structure
example of the magnetic field generating unit;
[0048] FIG. 28 is a cross-sectional view taken along a line A-A in
FIG. 27;
[0049] FIG. 29 is a diagrammatic perspective view showing a
structure example of the permanent magnet;
[0050] FIG. 30 is a diagrammatic perspective view showing a
direction of magnetic field generated by the permanent magnet;
[0051] FIG. 31 is a diagrammatic perspective view showing an entire
structure of a magnetic field generator 140 when not used;
[0052] FIG. 32 is a diagrammatic perspective view showing an entire
structure of the magnetic field generator 140 when used;
[0053] FIG. 33 is a front view showing a magnetic field generating
unit 150 when used;
[0054] FIG. 34 is the front view showing a magnetic field
generating unit 150 when not used;
[0055] FIG. 35 is a longitudinal sectional side view showing the
magnetic field generating unit 150 in FIG. 34;
[0056] FIG. 36 is a flowchart showing a procedure for operating the
capsule endoscope when the intra-subject medical system is used for
a small intestine observation;
[0057] FIG. 37 is a view showing a general structure of an
intra-subject medical system according to a second embodiment of
the present invention;
[0058] FIG. 38 is a view showing an example of a capsule endoscope
in FIG. 37;
[0059] FIG. 39 is a view showing another example of the capsule
endoscope in FIG. 37;
[0060] FIG. 40 is a view showing an example of a capsule endoscope
employed in a third embodiment of the present invention;
[0061] FIG. 41 is a view showing a structure of a position
detection system of the intra-subject medical system according to
the third embodiment of the present invention;
[0062] FIG. 42 is a vertical sectional view showing a capsule
endoscope employed in a fourth embodiment of the present
invention;
[0063] FIG. 43 is a transverse sectional view showing the capsule
endoscope employed in the fourth embodiment of the present
invention;
[0064] FIG. 44 is a view showing a structure of a position
detection system of the intra-subject medical system according to
the fourth embodiment of the present invention;
[0065] FIG. 45 is a view showing an on/off state control by the
position detection system in FIG. 44;
[0066] FIG. 46 is a view showing another example of the capsule
endoscope according to the fourth embodiment of the present
invention;
[0067] FIG. 47 is a view showing a structure of a capsule endoscope
in an intra-subject medical system according to a fifth embodiment
of the present invention;
[0068] FIG. 48 is a view showing a structure of an example of the
capsule endoscope in the intra-subject medical system according to
the fifth embodiment of the present invention;
[0069] FIG. 49 is a view showing a structure of a capsule endoscope
in an intra-subject medical system according to a sixth embodiment
of the present invention;
[0070] FIG. 50 is a view showing an on/off state control by the
capsule endoscope in FIG. 49;
[0071] FIG. 51 is a view showing a structure of a capsule endoscope
in an intra-subject medical system according to a seventh
embodiment of the present invention;
[0072] FIG. 52 is a view showing a structure of a capsule endoscope
in an intra-subject medical system according to an eighth
embodiment of the present invention;
[0073] FIG. 53 is a view showing a structure of an X-ray emission
imaging device in an intra-subject medical system according to a
ninth embodiment of the present invention;
[0074] FIG. 54 is a view showing a condition during movement of the
X-ray emission imaging device in the intra-subject medical system
according to the ninth embodiment of the present invention;
[0075] FIG. 55 is a view showing a structure of a capsule endoscope
in the intra-subject medical system according to the ninth
embodiment of the present invention;
[0076] FIG. 56 is a view showing a structure of a capsule endoscope
in an intra-subject medical system according to a tenth embodiment
of the present invention;
[0077] FIG. 57 is a block diagram showing a structure of the
capsule endoscope in FIG. 56;
[0078] FIG. 58 is a view showing an example of an on/off state
control for the capsule endoscope in FIG. 56;
[0079] FIG. 59 is a view showing another structure of the capsule
endoscope in the intra-subject medical system according to the
tenth embodiment of the present invention;
[0080] FIG. 60 is a flowchart showing a procedure of a first
application example of the intra-subject medical system;
[0081] FIG. 61 is a view showing an outline of an endoscopic
surgical operation;
[0082] FIG. 62 is a flowchart showing a procedure of a second
application example of the intra-subject medical system;
[0083] FIG. 63 is a flowchart showing a procedure of a third
application example of the intra-subject medical system;
[0084] FIG. 64 is a view showing a general structure of a guiding
member;
[0085] FIG. 65 is a flowchart showing a procedure of a fourth
application example of the intra-subject medical system;
[0086] FIG. 66 is a flowchart showing a procedure of a fifth
application example of the intra-subject medical system;
[0087] and
[0088] FIG. 67 is a flowchart showing a procedure of a sixth
application example of the intra-subject medical system.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0089] Detailed description of the preferred embodiments of an
intra-subject medical system, a method of operating body-insertable
apparatus, and an operative treatment will be described.
[0090] FIG. 1 is a view showing a general structure of an
intra-subject medical system according to a first embodiment of the
present invention. As shown in FIG. 1, the intra-subject medical
system is introduced into a subject being tested 1 and includes a
capsule endoscope 2 as a body-insertable apparatus incorporating a
magnetic sensor (reed switch) 3 with directivity realized by a reed
switch or the like, a magnetic field generating unit 4 composed of
an electrical magnet for generating a magnetic field toward the
subject 1, an arm drive unit 5 realized by a multijoint arm for
moving the magnetic field generating unit 4, a viewer 6 as a
receiver for receiving information sent from the capsule endoscope
2, a control unit C for controlling a magnetic field generation by
the magnetic field generating unit 4 based on the information from
the viewer 6 and the position of the magnetic field generating unit
4 and for controlling a magnetic field emission direction and
position of the magnetic field generating unit 4 by driving the arm
drive unit 5, an input/output unit 7 connected to the control unit
C for inputting data to the control unit C and for outputting data
from the control unit C, and a memory 8 for storing information
required for the control in the control unit C.
[0091] The control unit C includes a magnetic field generation
controller C1, a drive controller C2 and a power distribution time
controller C3. The magnetic field generation controller C1 controls
generation and stop of generation of a magnetic field emitted by
the magnetic field generating unit 4. The drive controller C2
controls a drive of the arm drive unit 5. The power distribution
time controller C3 detects temperature by a temperature sensor 4a
disposed in the magnetic field generating unit 4 and, when the
detected temperature is equal to or higher than a predetermined
value, reduces the power distribution time for the magnetic field
generating unit 4 to prevent an increase of temperature in the
magnetic field generating unit 4. The magnetic field generating
unit 4 may change its position and the emission direction by
driving the arm drive unit 5 under the control of the drive
controller C2; however, the magnetic field generating unit 4 may be
moved by a manual operation with an operating unit 4b provided in
the magnetic field generating unit 4. In this case, the amount of
change at the joint portions of the arm drive unit 5 is sent to the
control unit C as a movement amount.
[0092] FIG. 2 is a cross-sectional view showing a general structure
of a capsule endoscope 2. As shown in FIG. 2, the capsule endoscope
2 is formed in a tubular shape having spherical ends and covered by
an exterior member 10 formed in a so-called capsule shape. The
exterior member 10 accommodates an observation functional unit 12,
a magnetic sensor 3, a power unit 15, a data processing/control
unit 16 and an antenna 17 as an observing member for emitting
outside the exterior member 10 to obtain an image. Each unit is
connected by a flexible wiring unit 18 and arranged in folds with
respect to one another.
[0093] The observation functional unit 12 illuminates outside by an
emitting unit 13 realized by an LED or the like through a
transparent member 11 formed at a part of the exterior member 10,
obtains an image of the illuminated region by an imaging device 14
and sends the image to the data processing/control unit 16. The
obtained image is sent outside the subject via the antenna 17 as
image data. The data processing/control unit 16 usually obtains
two-image data in one second and sends the data outside the subject
while the observation functional unit 12 is operative.
[0094] The magnetic sensor 3 has directivity for detecting
magnetism. When the magnetic sensor 3 is disposed vertically with
respect to the axis of the capsule endoscope, as shown in FIG. 2,
the directivity directs to a direction indicated by an arrow A1.
Thus, when the magnetic field strength in the direction of the
arrow A1 does not exceed a strength detected by the magnetic sensor
3, the magnetic sensor 3 does not detect the magnetism of the
magnetic field. When the magnetic sensor 3 detects magnetism, the
data processing/control unit 16 has a function as a switch control
unit for switching the current on/off states of the observation
functional unit 12.
[0095] On the other hand, the magnetic field generating unit 4 is
an electrical magnet formed by rolling a coil around a high
dielectric constant material such as an electromagnetic material.
As shown in FIGS. 3 and 4, the magnetic force line of the magnetic
field generating unit 4 is formed so as to spread toward the whole
circumference from the center of the axis within a surface
perpendicular to an axis, which is separated from the coil axis at
a predetermined distance, and is gradually tilted from the axis
center to circumference within a surface, which includes the axis
center and is horizontal to the axis center. As a result, a
magnetic force line having magnetic field directions in three
dimension with respect to the inside of the subject can be easily
formed.
[0096] The magnetic field generating unit 4 can be easily driven by
the drive of the arm drive unit 5. As shown in FIG. 5, a magnetic
force line having magnetic field directions in three dimension can
be formed at every part inside the subject 1 by moving the magnetic
field generating unit 4 in a zig-zag manner. Thus, magnetic field
can be detected wherever the capsule endoscope 2 is located in the
subject. Further, as shown in FIG. 6, when the magnetic field
generating unit 4 is moved in a zig-zag manner along the surface of
the subject 1, a greater magnetic field is emitted inside the
subject 1 with smaller electricity consumption. When the magnetic
field generating unit 4 is moved by a manual operation, as shown in
FIG. 7, a template 21 indicating a transfer pathway 21a of the
magnetic field generating unit 4 may be rolled around the subject 1
in advance.
[0097] Here, a process of turning on and off the observation
functional unit 12 in the capsule endoscope 2 by the control unit C
will be described with reference to flowcharts in FIGS. 8 and
9.
[0098] Firstly, a process of turning on shown in FIG. 8 is
described. In this case, the observation functional unit 12 in the
capsule endoscope 2 is assumed to be in an off-state. Upon
receiving an instruction for turning on the observation functional
unit 12, the magnetic field generation controller C1 supplies
current to the magnetic field generating unit 4 to generate a
temporary magnetic field toward inside of the subject 1 (step
S101).
[0099] Then, the control unit C determines whether or not turn-on
process information is obtained, that is, whether or not an image
obtained by the observation functional unit 12 is received from the
viewer 6 (step S102). When the turn-on process information is
obtained (step S102, Yes), it means that the observation functional
unit 12 is turned on, so the process is completed.
[0100] On the other hand, when the turn-on process information is
not received (step S102, No), the drive controller C2 moves the
magnetic field generating unit 4 in order to change the direction
of generated magnetic field (step S103), and then, the procedure
goes back to step S101. The above procedure is repeated until the
turning on process information is received.
[0101] Next, a process of turning off, shown in FIG. 9, is
described. In this case, the observation functional unit 12 in the
capsule endoscope 2 is assumed to be in an on-state. Upon receiving
an instruction for turning off the observation functional unit 12,
the magnetic field generation controller C1 supplies current to the
magnetic field generating unit 4 to generate a temporary magnetic
field inside the subject 1 (step S201).
[0102] Then, the control unit C determines whether or not turn-off
process information is obtained, that is, whether or not the image
obtained by the observation functional unit 12 is no more received
from the viewer 6 (step S202). When the turning off process
information is obtained (step S202, Yes), it means that the
observation functional unit 12 is turned off, so the procedure is
completed.
[0103] On the other hand, when the turning off process information
is not obtained (step S202, No), the drive controller C2 moves the
magnetic field generating unit 4 in order to change the direction
of the magnetic field (step S203), and then, the procedure goes
back to step S201. The above process is repeated until the turning
off process information is obtained.
[0104] Here, generation of the temporary magnetic field from the
magnetic field generating unit 4 by the magnetic field generation
controller C1 will be described. The magnetic sensor 3 in the
capsule endoscope 2 is a magnetism switch which is turned on when a
magnetism equal to or greater than a predetermined value is
detected and is turned off when a magnetism smaller than a
predetermined value is detected. Thus, the magnetic field
generating unit C1 generates a magnetic field with magnetism equal
to or greater than the predetermined value toward the magnetic
field generating unit 4 for a predetermined period of time or
longer. When the magnetic sensor 3 is turned on for the
predetermined period of time or longer, the data processing/control
unit 16 controls to turn on the observation functional unit 12,
even when the magnetic sensor 3 is turned off. The control of the
data processing/control unit 16 for turning on the observation
functional unit 12 is implemented when the observation functional
unit 12 is in an off-state before the control is implemented.
Therefore, when the observation functional unit 12 before
controlled is in an on-state, the observation functional unit 12 is
turned off by the same control. That is, the on/off states of the
magnetic sensor 3 and the on/off states of the observation
functional unit 12 is not associated and, when the magnetic sensor
3 is in an off-state for the predetermined period of time or
longer, the data processing/control unit 16 controls the on/off
states of the observation functional unit 12 in a toggle operation.
With this structure, electricity consumption for generating
magnetic field can be reduced and the on/off states of the
observation functional unit 12 can be securely maintained.
[0105] As shown in FIG. 10, a magnetic field may be generated in a
pulsed condition. Upon detecting a magnetic field strength
(magnetism strength) equal to or greater than the predetermined
value, the magnetic sensor 3 is turned on. Accordingly, when a
magnetic field is generated in a pulsed condition, the state of the
magnetic sensor 3 is switched with smaller electricity consumption,
compared to a case of generating a DC magnetic field. In
particular, since the magnetism is attenuated inversely
proportional to the cube of the distance, it is very effective that
the magnetic field is generated in a pulsed condition. However,
since the magnetic field is pulsed condition, the magnetic sensor 3
is repeatedly turned on and off at every beginning and end of the
pulsed magnetic field. Accordingly, the data processing/control
unit 16 controls the toggle operation of the observation functional
unit 12 more than once in a predetermined period of time when the
magnetic sensor is turned on. Here, the pulse frequency is set to
be equal to or less than a resonance frequency of a processing
circuit (not shown) for processing outputs of a detector of the
magnetic sensor 3 and the magnetic sensor 3 so that the magnetic
sensor 3 is surely operated.
[0106] Further, regarding the magnetic field in a pulsed condition,
when the magnetism pulse is controlled to be generated not at
constant intervals but at intervals corresponding to a movement
speed of the magnetic field generating unit 4 as shown in FIG. 11,
electricity consumption can be further reduced. In other words,
when the movement speed of magnetic field generating unit 4 is
fast, the intervals of pulse generation are made smaller and, when
the movement speed of magnetic field generating unit 4 is slow, the
intervals of pulse generation are made larger. For example, simply,
when the magnetic field generating unit 4 is not moved, magnetism
pulse may be generated at intervals T1 and, when the magnetic field
generating unit 4 starts to be moved, magnetism pulse may be
generated at intervals T2. With this structure, variations of
magnetic field density on the surface of the subject 1 are
prevented, and also, electricity consumption can be reduced.
[0107] Here, as shown in FIG. 12, magnetism may be generated
according to a predetermined pattern PT. The magnetic sensor 3 is
turned on or off in response to the pattern PT. The data
processing/control unit 16 determines whether or not it is the
predetermined pattern PT based on the on/off states of the magnetic
sensor 3 and, when it is determined as the predetermined patter,
the observation functional unit 12 is controlled to be in an
on-state or off-state. In this case, different patterns are
prepared for turning on the observation functional unit 12 and for
turning off the observation functional unit 12. The observation
functional unit 12 can be controlled to be in a desired state
regardless of its current state. Further, in a case in which
functional units other than the observation functional unit 12 are
included, different patterns may be prepared corresponding to each
functional unit so that the on/off states of the functional units
can be controlled by the single magnetic sensor 3.
[0108] Further, the above-described magnetic field generating unit
4 includes a single electrical magnet; however, as shown in FIG.
13, two electrical magnets may be provided. A magnetic field
generating unit 24 in FIG. 13 includes two electrical magnets 25,
26 which are arranged parallel to each other so that those polar
characters are arranged opposite to each other. A loop of the
magnetic force line is formed by the electrical magnets 25, 26 and
a strong magnetic field can easily be formed in a direction
perpendicular to the axes of the electrical magnets 25, 26.
[0109] Furthermore, the above-described magnetic field generating
unit 4 is moved by the arm drive unit 5 of a multijoint arm;
however, as shown in FIG. 14, an XY table 35 may be provided in the
mounting base 30 on which the subject 1 lies. Here, on the XY table
35, a magnetic field generating unit 34 having the same structure
as that of the magnetic field generating unit 4 may be provided,
and under the control of the drive controller C2, the magnetic
field generating unit 34 may be configured to be moved in two
dimensional directions. According to the intra-subject medical
system shown in FIG. 14, the space in the mounting base 30 is used
effectively so that a system requiring a smaller space can be
realized.
[0110] Further, the on/off states of the observation functional
unit 12 in the capsule endoscope 2 may be controlled while the
subject 1 is standing up. As shown in FIG. 15, the system includes
a rotary base 40 and a support unit 41 for supporting the magnetic
field generating unit 42. The magnetic field generating unit 42
moves on a vertically extending guide 41a of the support unit 41 to
generate a magnetic field toward the subject 1. With the
combination of the up-and-down movement of the magnetic field
generating unit 42 and the rotation of the rotary base 40, the
emission direction of the magnetic field can be varied.
[0111] The system shown in FIG. 16 is a system for emitting a
magnetic field to the subject 1 standing up. According to this
system, a support unit 43 which moves up and down on the guide 41a
of the support unit 41 is further provided so that the magnetic
field generating unit 42 moves horizontally on the
horizontally-provided guide 43a of the support unit 43.
Accordingly, the magnetic field generating unit 42 can be movable
in the up-and-down (vertical) direction and the horizontal
direction. In this case, a wiggle movement of the rotary base 40 is
prevented and the motionless condition of the subject 1 can be
maintained more easily so that the switching of the state the
observation functional unit 12 can be securely implemented.
[0112] According to the above-described system, the subject 1 is
assumed to be motionless and the magnetic field generating units 4,
42 are moved; however, the subject 1 may be moved to switch the
state of the observation functional unit 12 in the capsule
endoscope 2 introduced into the subject 1 while the magnetic field
generating unit is kept motionless. For example, as shown in FIG.
17, a rotary base 50 for rotating the subject 1 who is standing up
and a support unit 51 for fixing a magnetic field generating unit
52 and movably supporting the rotary base 50 may be included and
the rotary base 50 may be moved on a guide 51a provided on the
support unit 51 to put the subject 1 close to the magnetic field
generating unit 52.
[0113] Further, as shown in FIG. 18, the system may include a
tubular shaped magnetic field generator 61 and a mounting base 60
for mounting the subject 1 and a magnetic field may be emitted to
the subject 1 by inserting/removing the mounting base 60 into/from
the magnetic field generator 61. In this case, the mounting base 60
is preferably rotatable about the axis of inserting and removing
direction.
[0114] The magnetic field generating units 4, 34, 42, 52 and the
magnetic field generator 61 are realized by an electrical magnet or
a magnet coil; however, the present invention is not limited to
this and a permanent magnet may be employed to generate a magnetic
field. However, when a permanent magnet is employed, since the
permanent magnet constantly generates a magnetic field, a measure
for the case the magnetic field is not used is needed.
[0115] For example, as shown in FIG. 19, the circumference of the
permanent magnet 74 is covered by a nonmagnetic resin 72 and
connected to the arm drive unit 5 via a base unit 70 made of a
ferromagnetic material. With this structure, a magnetic field
generating unit using a permanent magnet 74 can be realized. When
the magnetic field is not used, the magnetic field generating unit
is covered by a casing unit 76 made of a ferromagnetic material
from an end of the magnetic field generating unit to cover the
permanent magnet 74 with the base unit 70 and the casing unit 76
made of an electromagnetic material so as to reduce leakage of the
magnetic field. In FIG. 19, a spacer 75 is disposed inside the
casing unit 76.
[0116] Further, as shown in FIG. 20, a casing unit 86 corresponding
to the casing unit 76 may be provided to the arm drive unit 5 in
advance. In this case, a resin 82 includes a guide for guiding the
casing unit 86 so that the casing unit 86 moves on the guide to
block the magnetic field when the magnetic field is not used. The
casing unit 86, shown in FIG. 20, is not required to cover the
whole circumference of the permanent magnet 84 and may be provided
so as to block the magnetic force line of the permanent magnet
84.
[0117] Furthermore, as shown in FIG. 21, a permanent magnet 94 may
be removably attached to an end of the arm drive unit 5 and stored
in a box 90 made of a ferromagnetic material when the magnetic
field is not required. In FIG. 21, a support unit 93 made of a
nonmagnetic resin is provided in the bottom of the box 90, which
has an opening in its upper portion and is made of a ferromagnetic
material. The permanent magnet 94 is disposed on the support unit
93 and the opening of the box 90 is covered by a cover unit 91,
which is made of a ferromagnetic material and has a support unit 92
made of a nonmagnetic resin on its bottom surface. The permanent
magnet 94 includes a gripper 95 for moving the permanent magnet 94.
Further, the permanent magnet 94 is not required to be disposed at
an end of the arm drive unit 5 and may be held by an operator to be
put closer to the subject 1 to generate a magnetic field inside the
subject. As shown FIG. 22, a cover unit 101 and a box unit 100 may
be separatably provided.
[0118] Further, when a magnetic field generating unit is provided
with a permanent magnet, as shown in FIG. 23, two permanent magnets
may be arranged in parallel in order to generate a strong magnetic
field. For example, as shown in FIG. 23, two permanent magnets 114,
115 are arranged parallel to each other so that those polar
characters are arranged opposite to each other at a face of a
support unit 110 made of a ferromagnetic material and each
circumference of the permanent magnets 114, 115 is covered by a
nonmagnetic resin 111. In this magnetic field generating unit,
also, a cover unit 116, which is made of a ferromagnetic material
and has a gripper 117 is provided on the other side of the support
unit 110 so as to sandwich the permanent magnets 114, 115 in order
to reduce leak of the magnet field when the magnet field is not
used. In this case, a magnetism circuit, in which the magnetic
force line forms a closed loop, is generated by the permanent
magnets 114, 115, the cover unit 116 and the support unit 110 and
leakage of the magnetic field can be prevented.
[0119] Further, when the magnetic field generating unit is realized
by a permanent magnet, as shown in FIG. 24, the permanent magnets
124, 125 may be arranged opposite while sandwiching the subject 1.
In this case, when a member for supporting the permanent magnets
124, 125 is made of a ferromagnetic material, a magnetism circuit
is formed and leakage of the magnetic field can be prevented. As
shown in FIG. 25, the permanent magnets 134, 135 may be displaced
from the positions where they face each other. This oblique
arrangement may provide a blank space around the size of the
subject 1. In each of the cases, the subject 1 is placed on the
magnetism circuit.
[0120] A method of using the intra-subject medical system will be
described. Firstly, a method of using the system to observe the
large intestine will be explained with reference to FIG. 26. As
shown in FIG. 26, the functional units including the observation
functional unit 12 of the capsule endoscope 2 are turned off and
swallowed by a person to be examined (step S301). Then, a digestant
for promoting digestion is administered to accelerate the movement
of the capsule endoscope 2 (step S302). Then, it is determined
whether or not a predetermined period of time has elapsed (step
S303), and, only when the predetermined period of time has elapsed
(step S303, Yes), a process of turning on is implemented to turn on
the function switch in the capsule endoscope 2 (step S304, See FIG.
8). An image sent by the capsule endoscope 2 is received (step
S305) and it is determined whether or not the image is an image
showing the large intestine (step S306). When the large intestine
is not shown in the image (step S306, No), an process of turning
off is implemented to turn off the function switch in the capsule
endoscope 2 (step S307, See FIG. 9), and then, the procedure goes
back to step S302 to repeat the above procedure. On the other hand,
when the large intestine is shown in the image (step S306, Yes),
the procedure ends. In this condition, the capsule endoscope 2 in
the large intestine moves corresponding to peristaltic movements of
the large intestine and sequentially takes images in the large
intestine to send the images outside the subject 1. In this way,
the large intestine can be observed.
[0121] Here, a magnetic field generator composed of a magnetic
field generating unit, a magnet housing unit, an elevating unit and
the like will be described as a more detailed example of a magnetic
field generator using a permanent magnet. FIG. 27 is a diagrammatic
front view showing a structure example of the magnetic field
generating unit and FIG. 28 is a cross-sectional view taken along a
line A-A in FIG. 27. A magnetic field generating unit 150 has its
lower portion in a taper shape so as to be easily stored in a
magnet housing unit and includes a permanent magnet 151 therein.
The permanent magnet 151 is, as shown in FIG. 29, composed of five
blocks 151a to 151e which are integrally combined in a V shape.
Thick arrows in FIG. 29 indicate magnetization directions of each
block 151a to 151e. FIG. 30 shows a direction of magnetic field
generated by the permanent magnet 151 composed as described above.
Dashed lines indicate directions of a main magnetic field and thin
arrows indicate directions of magnetic field on a plane surface.
According to the example shown in FIG. 30, a magnetic field at a
position A is generated in a direction x, a magnetic field at a
position B is generated in direction y and a magnetic field at a
position C is generated in a direction z.
[0122] With such a magnetic field generating unit 150, a magnetic
field required for switching operation can be generated in all
directions x, y and z at a position on a plane surface, which is
separated from a front surface of the magnetic field generating
unit 150 by a predetermined distance d. Further, as shown in FIG.
29, magnetization directions of each block 151a to 151e are set so
that magnetic field generated toward back side (the direction of
-z) can be reduced. Further, as shown in FIG. 28, the magnetic
field generating unit 150 includes a magnetic material 152 formed
in a same V shape as the permanent magnet 151 behind the permanent
magnet 151 via a nonmagnetic material 153 so as to further suppress
the magnetic field leakage behind the permanent magnet 151. The
nonmagnetic material 153 covers the whole circumference of the
permanent magnet 151. As shown in FIGS. 27 and 28, above the
magnetic field generating unit 150, a cover 156 composed of the
magnetic material 154 and the nonmagnetic material 155 is provided.
Behind the magnetic field generating unit 150, a connection arm 157
is connected.
[0123] FIG. 31 is a diagrammatic perspective view showing an entire
structure of a magnetic field generator 140 which is not in use and
FIG. 32 is a diagrammatic perspective view showing an entire
structure of the magnetic field generator 140 which is in use. The
magnetic field generating unit 150 is fixed to an elevating unit
141 of the magnetic field generator 140 by the connection arm 157.
The magnetic field generating unit 150 can be moved upward and
downward via a chain 143 by operating an elevating handle 142.
Further, when the magnetic field generating unit 150 is moved
downwardly, the magnetic field generating unit 150 is configured to
be contained in a magnet housing unit 145 having casters 144.
[0124] Here, a relationship between the magnetic field generating
unit 150 and the magnet housing unit 145 will be described with
reference to FIGS. 33 to 35. FIG. 33 is a front view showing a
magnetic field generating unit 150 when used, FIG. 34 is a front
view showing the magnetic field generating unit 150 when not used,
and FIG. 35 is a longitudinal sectional side view of the magnetic
field generating unit 150 in FIG. 34. The magnetic field generating
unit 150 is contained in the magnet housing unit 145 with a space
therearound and the cover 156 is formed so as to overlap the upper
end of the magnet housing unit 145. Further, as shown in FIG. 35,
when the magnetic field generating unit 150 is contained in the
magnet housing unit 145, the magnetic material 146 formed in the
same shape as the permanent magnet 151 is arranged in front of the
permanent magnet 151 via a nonmagnetic material 147, and a magnetic
material 148 and a nonmagnetic material 149 are alternatively
disposed around these elements so as to reduce leakage of the
magnetic field from the magnetic field generating unit 150.
[0125] Next, a method of using the system to observe the small
intestine will be described with reference to FIG. 36. In FIG. 36,
firstly, functional units including the observation functional unit
12 in the capsule endoscope 2 is turned off and swallowed by a
person to be examined (step S401). Then, it is determined whether
or not a predetermined period of time has elapsed (step S403), and,
only when the predetermined period of time has elapsed (step S402,
Yes), a process of turning on is implemented to turn on the
function switch in the capsule endoscope 2 (step S403, See FIG. 8).
An image sent by the capsule endoscope 2 is received (step S404)
and it is determined whether or not the image is an image showing
the small intestine (step S405). When the small intestine is not
shown in the image (step S405, No), a process of turning off is
implemented to turn off the function switch in the capsule
endoscope 2 (step S406, See FIG. 9), and then, the procedure goes
back to step S402 to repeat the above procedure. On the other hand,
when the small intestine is shown in the image (step S405, Yes),
the procedure is completed. In this condition, the capsule
endoscope 2 in the small intestine moves corresponding to
peristaltic movements of the small intestine and sequentially takes
images in the small intestine to send the images outside the
subject 1. In this way, the large intestine can be observed.
[0126] It is noted that, in the first embodiment, the control of
the on/off states of the observation functional unit 12 has mainly
been described; however, the present invention is not limited to
this and is applied to an on/off state control of each functional
units when one or more functional units including a biopsy
function, a medication function, a hemostatic function, a
cauterization function and a marking function of the capsule
endoscope 2. Further, in addition to the functional units, the
present invention may be applied to an on/off state control of a
part of functions of a radio transmission processing unit or the
data processing/control unit 16. Further, the present invention may
be applied to on/off state controls of not only objective functions
but also general functions such as a locking function.
[0127] Next a second embodiment of the present invention will be
described. According to the first embodiment, the magnetic field
emission direction of the magnetic field generating unit 4 is
controlled based on the information that is sent from capsule
endoscope 2 and obtained by the viewer 6; however, according to the
second embodiment, the magnetic field emission direction of the
magnetic field generating unit 4 is controlled based on a position
of the capsule endoscope 2.
[0128] FIG. 37 is a view showing a structure of an intra-subject
medical system according to the second embodiment of the present
invention. Compared to the intra-subject medical system of FIG. 1,
this intra-subject medical system further includes a metal detector
204 for detecting the position of the capsule endoscope 2 by
detecting the metal inside the capsule endoscope 2 such as a
battery, an arm drive unit 205 for moving the metal detector 204
and a position detector C4 for detecting the position of the
capsule endoscope 2 based on a detection result of the metal
detector 204. The magnetic field generation controller C1 and the
drive controller C2 control the magnetic field generation and
emission direction of the magnetic field based on position
information detected by the position detector C4. Since the
position of the capsule endoscope 2 is already known, the region
where the magnetic field generating unit 4 is moves is reduced and
switching is implemented more quickly.
[0129] Here, as shown in FIG. 38, the capsule endoscope 2
preferably includes a magnetic sensor 3 so as to have directivity
of detecting sensitivity in an axial direction of the capsule
endoscope 2 and a conductive plate 210 having a face perpendicular
to the detection sensitivity direction of the magnetic sensor 3.
The metal detector 204 generates an eddy current on an conductive
face of the conductive plate 210 and detects a magnetism generated
by the eddy current. Accordingly, directivity is generated in a
detection sensitivity of the metal detector 204 by creating a
direction that generates a large eddy current by the conductive
plate 210. As a result, the metal detector 204 recognizes that the
axis of the capsule endoscope 2 is in a direction perpendicular to
the direction of the large detection sensitivity so that a
direction of the capsule endoscope 2 as well as the position of the
capsule endoscope 2 can be detected. Thus, the region where the
magnetic field generating unit 4 is moved is further reduced and
switching can be implemented more quickly.
[0130] Further, as shown in FIG. 39, when the detection sensitivity
direction of the magnetic sensor 3 is perpendicular to the axial
direction of the capsule endoscope 2, the conductive face of the
conductive plate 211 may be disposed perpendicular to the axial
direction of the capsule endoscope 2.
[0131] It is noted that the conductive plates 210, 211 can be
realized by a paramagnetic metal such as aluminum or copper that
easily generates an eddy current.
[0132] Next, a third embodiment of the present invention will be
described. According to the second embodiment, the conductive plate
and metal detector are used for detecting the position of the
capsule endoscope 2; however in the third embodiment, an LC marker
is employed to detect the position of the capsule endoscope 2.
[0133] As shown in FIG. 40, an LC marker 220 is provided in the
capsule endoscope 2. The LC marker 220 is a resonance circuit
connected to a coil and a condenser, receives an external alternate
magnetic field in resonance frequency with the coil and generates
an external alternate magnetic field from the coil by induced
current accumulated in the condenser. In this case, the coil of the
LC marker 220 has a directivity of magnetic field generation, so
the direction of the capsule endoscope 2 as well as the position of
the capsule endoscope 2 can be detected.
[0134] FIG. 41 is a view showing a structure of a position
detection system using the LC marker 220. As shown in FIG. 41, the
position detection system includes a drive coil 231 for generating
an alternate magnetic field toward the LC marker 220 and a sense
coil group 232 detecting the alternate magnetic field generated by
the LC marker 220. The drive coil 231 and the sense coil group 232
are disposed on a surface of the subject 1. The position detector
C4 includes a signal generating unit C41 for sending an alternate
signal for instructing the drive coil 231 to generate an alternate
magnetic field and a position calculator C42 for calculating the
position of the capsule endoscope 2 based on the alternate magnetic
field strength received by each sense coils 232a to 232f. The
position calculated by the position calculator C42 is used for
controlling movement of the magnetic field generating unit 4 or the
like and, in this case, the calculated position may be output on a
display unit 237, which is a part of the input/output unit 7.
[0135] According to the third embodiment using the LC marker 220,
since power is not required by the LC marker 220, the position and
direction of the capsule endoscope 2 can be detected even when the
function switch of the capsule endoscope 2 is in an off-state.
[0136] Next, a fourth embodiment of the present invention will be
described. According to the above-described second and third
embodiments, the region where the magnetic field generating unit 4
is moved is reduced and switching is implemented quickly by
detecting the position of the capsule endoscope 2; however, in the
fourth embodiment, the direction of the capsule endoscope 2 is
controlled and a magnetic field is emitted to the
direction-controlled capsule endoscope 2.
[0137] As shown in FIG. 42, the capsule endoscope 2 includes the
magnetic sensor 3 along the axis of the capsule endoscope 2 and the
magnetism detecting direction of the magnetic sensor 3 is directed
parallel to the axis. Inside the capsule endoscope 2, a disk-shaped
permanent magnet 240 for generating a magnetic field perpendicular
to the axis and the surface of the permanent magnet 240 is placed
perpendicular to the axis. On the other hand, a magnetic field
generating unit 251 for generating a magnetic field in a direction
Z, a magnetic field generating unit 252 for generating a magnetic
field in a direction Y and a magnetic field generating unit 253 for
generating a magnetic field in a direction X are disposed around
the subject 1. The subject 1 is placed on the mounting base 250 and
its longitudinal direction is in the direction X.
[0138] As shown in FIG. 45, the magnetic field generating unit 251
generates a magnetic field to the subject 1 prior to the magnetic
field generating units 252, 253 and when the longitudinal direction
of the permanent magnet 240 directs the direction of the generated
magnetic field, the axis of the capsule endoscope 2 is placed on
the X-Y surface. That is, the magnetism detecting direction of the
magnetic sensor 3 is placed on the X-Y surface. At a timing t1 as
maintaining the magnetic field generation of the magnetic field
generating unit 251 and the direction of the capsule endoscope 2,
the magnetic field generating units 252, 253 emit temporary
magnetic fields in the directions X and Y. With this, the magnetic
sensor 3 is surely tuned on and the on/off state control of the
function switch can be surely implemented.
[0139] As shown in FIG. 46, the magnetic sensor 3 may be disposed
so as to have a magnetism detecting direction perpendicular to the
direction of the magnetic field generated by the permanent magnet
260 having the same structure and arrangement as the permanent
magnet 240, that is, the axial direction of the capsule endoscope
2.
[0140] Next, a fifth embodiment of the present invention will be
described. According to the above-described fourth embodiment, the
magnetic sensor is turned on by controlling the direction of the
capsule endoscope 2; however, in the fifth embodiment, an optical
sensor 272 is employed as a substitute for the magnetic sensor
3.
[0141] As shown in FIG. 47, in the intra-subject medical system of
the fifth embodiment, similar to the fourth embodiment, a permanent
magnet 261 for controlling the posture is provided in the capsule
endoscope 2. Similar to the fourth embodiment, the permanent magnet
261 is a flat plat forming a flat surface perpendicular to the
axial direction of the capsule endoscope 2 and the magnetic field
is perpendicular to the flat surface. The capsule endoscope 2
further includes an optical sensor 272 as a substitute for the
magnetic sensor 3. The optical detecting direction of the optical
sensor 272 is the same as the direction of the magnetic field of
the permanent magnet 261. On the other hand, the magnetic field
generating unit 4 includes an optical generating unit 271 such as
an LED on its end. When an on/off state control of the observation
functional unit 12 in the capsule endoscope 2 is implemented,
similar to the electrical magnet 251, a magnetic field is emitted
from the magnetic field generating unit 4 to the subject 1 and the
permanent magnet 261 is operated so as to change the posture of the
capsule endoscope 4. In such condition, infrared light, for
example, is emitted from the optical generating unit 271 to turn on
the optical detector 272. In this case, according to the relation
of the posture of the capsule endoscope 4 and the position of the
magnetic field generating unit 4, the optical generating unit 271
and the optical detector 272 are facing each other and the optical
detector 272 can surely be turned on. Based on the transfer to the
on-state of the optical detector 272, the data processing/control
unit 16 controls the on/off states of the functions in the
observation functional unit 12.
[0142] As shown in FIG. 48, a permanent magnet 262 may be provided
as a substitute for the permanent magnet 261. The permanent magnet
262 is composed of layered disk-shaped North pole and South pole
and disposed so that its flat face is perpendicular to the axis of
the capsule endoscope 2. Further, an optical detector 282 having
optical detecting direction in the axial direction of the capsule
endoscope 2 is provided as a substitute for the optical detector
272. With such structure, the optical generating unit 271 and the
optical detector 282 are faced each other so that the optical
detector 282 can surely be turned on.
[0143] Next, a sixth embodiment of the present invention will be
described. According to the fourth embodiment, the magnetic sensor
is turned on by controlling the direction of the capsule endoscope
2; however, in the sixth embodiment, a conductive plate is provided
as a substitute for the permanent magnet to control the direction
of the capsule endoscope 2.
[0144] In other words, as shown in FIG. 49, the magnetic sensor 3
is disposed so that the magnetic field detecting direction of the
magnetic sensor 3 is perpendicular to the axis of the capsule
endoscope 2 and a disk-shaped conductive plate 290 formed by metal
such as aluminum or copper is provided. In this case, a plate
surface of the conductive plate 290 is disposed perpendicular to
the axis of the capsule endoscope 2.
[0145] When the on/off state control of the observation functional
unit 12 in the capsule endoscope 2 is implemented, firstly as shown
in FIG. 50, an alternate-current magnetic field S1 of several tens
of kHz is generated from the magnetic field generating unit 304. On
the conductive plate 290, an eddy current corresponding to the
alternate-current magnetic field is generated and the conductive
plate 290 is magnetized by the eddy current.
[0146] Accordingly, since the alternate-current magnetic field of
the magnetic field generating unit 304 and the magnetic field of
the conductive plate 290 are synchronized, the direction of the
capsule endoscope 2 is controlled by the direction of the magnetic
field of the magnetic field generating unit 304. In such condition,
the a temporary magnetic field S2 is emitted, for example, from the
magnetic field generating unit 4, in a direction perpendicular to
the axis of the capsule endoscope 2. With this, the magnetic sensor
3 is turned on and, based on the transfer to the on-state of the
magnetic sensor 3, the data processing/control unit 16 controls the
on/off states of the functions of the observation functional unit
12.
[0147] The resonance frequency of the magnetic sensor 3 is set
smaller than the frequency of the alternate-current magnetic field
generated by the magnetic field generating unit 304 (see FIG. 50).
With such setting, a chattering of the magnetic sensor 3 generated
by the alternate-current magnetic field can be prevented.
[0148] Next, a seventh embodiment of the present invention will be
described. According to the fourth embodiment, the magnetic sensor
is turned on by controlling the direction of the capsule endoscope
2; however, in the sixth embodiment, a ferromagnetic material bar
is provided as a substitute for the permanent magnet to control the
direction of the capsule endoscope 2.
[0149] In other words, as shown in FIG. 51, the magnetic sensor 3
is disposed so that the magnetic field detecting direction of the
magnetic sensor 3 is to be the axial direction of the capsule
endoscope 2 and a ferromagnetic material bar 300 is provided, whose
longitudinal direction is to be perpendicular to the axis of the
capsule endoscope 2.
[0150] When controlling the on/off states of the observation
functional unit 12 in the capsule endoscope 2, firstly, a magnetic
field is generated from the magnetic field generating unit 304 to
the subject 1. The ferromagnetic material bar 300 is magnetized by
the magnetic field emitted by the magnetic field generating unit 3
and the posture of the capsule endoscope 2 is controlled so that
the longitudinal direction directs in the same direction of the
magnetic field direction. In such condition, a temporary magnetic
field is emitted from, for example, the magnetic field generating
unit 4 in the axial direction of the capsule endoscope 2. With
this, the magnetic sensor 3 is turned on and, based on the transfer
to the on-state of the magnetic sensor 3, the data
processing/control unit 16 controls the on/off states of the
functions of the observation functional unit 12. Since the
ferromagnetic material bar 300 does not generate magnetism, the
magnetic sensor 3 and the ferromagnetic material bar 300 may be
arranged closed to each other in the capsule endoscope 2.
Accordingly, the design of the capsule endoscope 2 becomes more
flexible.
[0151] Next, an eighth embodiment of the present invention will be
described. According to the first embodiment, the on/off states of
the observation functional unit 12 is controlled by the magnetic
sensor 3; however, in the eighth embodiment, a temperature sensor,
as a substitute for the magnetic sensor 3, for detecting a heat
generated by a magnetism to indirectly detect the magnetism.
[0152] In other words, as shown in FIG. 52, a heat generator 310
for generating heat by an induction heating and a temperature
sensor 311 for detecting the temperature resulting from the heat
generated by the heat generator 310 are provided in the capsule
endoscope 2. When an alternate-current magnetic field is emitted
from the external magnetism generating unit 304, the heat generator
310 generates heat according to the magnetic field strength and the
temperature sensor 311 detects the temperature resulting from the
heat. When the temperature becomes equal to or greater than a
predetermined value, the data processing/control unit 16 controls
the on/off states of the observation functional unit 12.
[0153] Next, a ninth embodiment of the present invention will be
described. According to the first embodiment, the on/off states of
the observation functional unit 12 is controlled by the magnetic
sensor 3; however, in the eighth embodiment, an X-ray is used as a
physical quantity and when an X-ray sensor disposed in the capsule
endoscope detects an X-ray, the on/off states of the observation
functional unit 12 is controlled.
[0154] FIGS. 53 and 54 are views showing general structures of the
ninth embodiment of the present invention, and FIG. 55 is a view
schematically showing structure of a capsule endoscope according to
the ninth embodiment of the present invention. In FIG. 53, the
intra-subject medical system includes an X-ray emission imaging
device 330. The X-ray emission imaging device 330 includes an X-ray
emitting unit 331 and an X-ray receiving unit 332 which are
arranged facing each other. As shown in FIG. 54, the facing X-ray
emitting unit 331 and an X-ray receiving unit 332 can be rotated
and moved while maintaining the positional relationship. Further, a
mounting base 320 is provided so that the subject 1 is placed
between those facing X-ray emitting unit 331 and an X-ray receiving
unit 332.
[0155] When the on/off states of the observation functional unit 12
in the capsule endoscope 2 is controlled, firstly, a weak X-ray is
emitted from the X-ray emitting unit 331 to the subject 1 and an
X-ray image of the capsule endoscope 2 is obtained. Then, the X-ray
emitting unit 331 and an X-ray receiving unit 332 are moved to emit
the weak X-ray to the subject 1 from a different direction and an
X-ray image of the capsule endoscope 2 is obtained. The position
and posture of the capsule endoscope 2 are calculated based on the
two X-ray images. According to the calculated position and posture,
the X-ray emitting unit 331 and an X-ray receiving unit 332 are
moved and a strong X-ray is temporarily emitted from, for example,
the axial direction of the capsule endoscope 2 and the X-ray sensor
340 in the capsule endoscope 2 is securely turned on. Based on the
transfer to the on-state of the X-ray sensor 340, the data
processing/control unit 16 controls the on/off states of the
observation functional unit 12.
[0156] As shown in FIG. 55, the X-ray sensor 340 is disposed so as
to have sensitivity in the axial direction of the capsule endoscope
2. The X-ray sensor 340 is composed of an X-ray sensor having
sensitivity in an axial direction and an X-ray sensor having
sensitivity in another axial direction and those sensors are
arranged back-to-back. Accordingly the X-ray sensor 340 is
configured to surely detect X-rays emitted in either one of the
axial directions.
[0157] Next, a tenth embodiment of the present invention will be
described. According to the first to ninth embodiments, a single
physical quantity detecting member such as a magnetic sensor is
provided; however, in the tenth embodiment, a plurality of physical
quantity detecting members are provided to control the on/off
states of a plurality of observation functional units.
[0158] FIG. 56 is a schematic view showing a general structure of a
capsule endoscope according to a tenth embodiment of the present
invention. FIG. 57 is a block diagram showing a structure, in the
capsule endoscope in FIG. 56, for controlling an on/off states of
an observation functional unit. FIG. 58 is a view showing a
relationship between an external magnetic field strength and on/off
states when the on/off states of two observation functional units
are controlled by an external magnetic field.
[0159] In FIGS. 56 to 58, the capsule endoscope 402 includes
therein two observation functional units A, B, observation control
units 413a, 413b for controlling on/off states of the observation
functional units A, B, and two magnetic sensors 403a, 403b. The
magnetic sensor 403a is a magnetism switch turned on or off by a
weak magnetic field strength Pth2 and the magnetic sensor 403b is a
magnetism switch turned on or off by a magnetic field Pth1 which is
greater than the magnetic field strength Ph2. Other structures are
the same as those of the intra-subject medical system shown in FIG.
1.
[0160] A procedure of selectively controlling an on/off states of
one of or both of the observation functional units A, B in the
capsule endoscope 2 will be described. In the tenth embodiment, the
on/off states of the magnetic sensor is the same as the on/off
states of the observation control units 413a, 413b. Firstly, in
order to switch both of the observation functional units A, B from
an off-state to an on-state, a magnetic field greater than the
magnetic field strength Pth1 is emitted from the magnetic field
generating unit 4. In order to switch only the observation
functional unit A from an off-state to an on-state, a magnetic
field smaller than the magnetic field strength Pth1 and greater
than the magnetic field strength Pth2 is emitted from the magnetic
field generating unit 4. In order to switch only the observation
functional unit B to an on-state, a magnetic field greater than the
magnetic field strength Pth1 is emitted to turn on both of the
observation functional units A, B, and then, a magnetic field
smaller than the magnetic field strength Pth1 and greater than the
magnetic field strength Pth2 is emitted to turn off the observation
functional unit A and on the observation functional unit B. Or, a
magnetic field smaller than the magnetic field strength Pth1 and
greater than the magnetic field strength Pth2 is emitted to turn on
only the observation functional unit A, and then, a magnetic field
greater than the magnetic field strength Pth1 is emitted to turn
off the observation functional unit A and on the observation
functional unit B.
[0161] In other words, as shown in FIG. 58, in order to switch the
current on/off states of both of the observation functional units
A, B, a magnetic field greater than the magnetic field strength
Pth1 is emitted. In order to switch the current on/off states of
the observation functional unit A, a magnetic field smaller than
the magnetic field strength Pth1 and greater than the magnetic
field strength Pth2 is emitted. With use of the combination of
these, desired on/off states can be realized.
[0162] According to the system in the tenth embodiment, the on/off
states of the plurality of observation functional units are
independently controlled by using a single magnetic field as a
physical quantity.
[0163] The above-described magnetic sensors 403a, 403b are
configured to detect magnetism with various magnetic field
strengths; however, the present invention is not limited to this
and, for example, magnetic sensors having different resonance
frequency may be employed, or, as shown in FIG. 59, a plurality of
magnetic sensors may be arranged so as to detect magnetism in
different directions.
[0164] Further, according the above-described system, a physical
quantity is realized as a magnetic field; however, the present
invention is not limited to this and an optical sensor, an X-ray
sensor and the like may be combined to control the on/off states
independently. In this case, different physical quantity generating
members are required if different sensors are employed in
combination.
[0165] According to the first to tenth embodiments, the on/off
state control of the observation functional unit has mainly been
explained; however, the present invention is not limited to this
and it may be applied to an on/off state control of a plurality of
functional units such as radio transmission function, medicinal
solution release function, marking function, bodily fluid/tissue
sampling function, or operation arm function. Obviously, it may be
applied to system having a plurality of same functional units.
[0166] Further, according to the first to tenth embodiments, a
magnetic field, light such as an infrared ray, and corpuscular ray
such as X-ray are described as examples of the physical quantity;
however, the present invention is not limited to this and, for
example, it may be applied to physical quantities such as radio
transmission and sound wave. Here, a physical quantity detecting
member in a capsule endoscope is assumed to have a directivity to
detect a physical quantity.
[0167] A case in which the intra-subject medical system including
the above-described capsule endoscope 2 is applied to an endoscopic
surgical operation will be explained.
[0168] A first application example will be described. FIG. 60 is a
flow chart showing a procedure of a first application example of
the intra-subject medical system applied to an endoscopic surgical
operation. Firstly, the capsule endoscope 2 is turned on and
swallowed by a patient (step S501). Then, a site to be treated is
specified in a real-time observation using the observation
functional unit 12 (step S502). The capsule endoscope 2 is turned
off (step S503). Further a depressant is administrated to the
patient (step S504). This peristalsis depressant is administrated
to prevent the capsule endoscope 2 from moving away from the
specific site by peristalsis.
[0169] Then, a preparation for an endoscopic surgical operation is
performed (step S505), and when the preparation is completed, the
capsule endoscope 2 is turned on (step S506). An image from the
capsule endoscope and an image from a surgical endoscope are
obtained and the desired specific site is treated while monitoring
the images (step S507). Then, the procedure is completed.
[0170] Here, the endoscopic surgical operation is, as shown in FIG.
61, to form an abdominal cavity by introducing carbon dioxide into
the patient body and to implement, in this condition, a surgical
operation using an endoscope 511 or a forceps 510 and a surgical
operation can be performed with a small cut for forming a forcep
hole 501 or the like. According to the first application example,
an image inside the digestive canal can be monitored, more
definitive treatment can be performed. Further, the electricity
consumption of the capsule endoscope 2 can be reduced. A similar
effect may be obtained in general abdominal operations or the like
as well as the endoscopic surgical operation.
[0171] According to the first application example, a desired site
is specified in a real-time observation in step S502; however, the
present invention is not limited to this and the desired site may
be automatically specified by implementing a predetermined image
process on an obtained image. For example, when an image includes a
larger red area, it may be determined as the desired site. After
the desired site is specified, the capsule endoscope 2 is
automatically turned off by controlling the magnetic field
generating unit 4.
[0172] Next, a second application example will be described. As
shown in FIG. 62, in the second application example, the capsule
endoscope 2 is locked by turning on a locking function unit of the
capsule endoscope 2 (step S604), as a substitute for administering
a peristalsis depressant in the first application example (step
S504). Other constituents, steps S601 to S603 and S605 to S607, are
the same as steps S501 to S503 and S505 to S507 in FIG. 60.
[0173] Next a third application example will be described. As shown
in the flow chart in FIG. 63, in the third application example,
firstly, the capsule endoscope 2 is turned off and swallowed by a
patient (step S701). Then, the capsule endoscope 2 is moved to a
desired site with use of a guiding member and a position detecting
member described in the above embodiments (step S702).
[0174] Here, the guiding member is, for example, to move the
capsule endoscope 2 in an axial direction 604 by adding a
rotational magnetic field from outside the subject 1, while a
spiral member 602 is provided around the capsule endoscope 2 and a
permanent magnet forming a magnetic field perpendicular to the axis
of the capsule endoscope 2 is provided therein, as shown in FIG.
64.
[0175] Then, a preparation for an endoscopic surgical operation is
performed (step S703) and, when the preparation is completed, the
capsule endoscope 2 is turned on (step S704). Then, an image from
the capsule endoscope and an image from a surgical endoscope are
obtained and the desired specific site is treated while monitoring
the obtained images (step S705). Then, the procedure is
completed.
[0176] In the third application example, the power source energy of
the capsule endoscope 2 can be preserved since the capsule
endoscope 2 is kept in an off-state until the endoscopic surgical
operation is started.
[0177] Next, a fourth application example will be described. In the
fourth application example, two observation functional units are
assumed to be included. As shown in the flow chart in FIG. 65, in
the fourth application example, firstly only a first observation
functional unit of the capsule endoscope 2 is turned on and the
capsule endoscope 2 is swallowed by a patient (step S801). Then, a
desired site is specified in a real-time observation using the
first observation functional unit (step S802). A peristalsis
depressant is administrated to the patient (step S803).
[0178] A preparation for an endoscopic surgical operation is
performed (step S804), and, when the preparation is completed, a
second observation functional unit of the capsule endoscope 2 is
turned on (step S805). Two images from the capsule endoscope and an
image from a surgical endoscope are obtained and the desired
specific site is treated while monitoring the images (step S806).
Then, the procedure is completed.
[0179] Here, the transfer to the on-state of the second observation
functional unit is not limited to the above-described on/off state
control and it may be automatically implemented after the desired
part is specified in step S802.
[0180] In the fourth application example, since images from the two
observation functional units of the capsule endoscope 2 can be
monitored during the endoscopic surgical operation, a broader view
can be obtained and securer treatment can be performed.
[0181] Next, a fifth application example will be described. In the
fifth application example, a treatment is performed using only the
capsule endoscope 2 and the capsule endoscope 2 is assumed to
include treatment function unit for biopsy function, medication
function, hemostatic function, cauterization function, marking
function and the like, in addition to the observation functional
unit.
[0182] In the fifth application example, as shown in the flow chart
in FIG. 66, firstly, only the observation functional unit of the
capsule endoscope is turned on and the capsule endoscope is
swallowed by a patient (step S901). Then, a desired site to be
treated is specified in a real-time observation using the
observation functional unit in an on-state (step S902). The
treatment function unit of the capsule endoscope is turned on (step
S903), and treatment is performed by the treatment function unit
while performing a real-time observation (step S904). Then, the
procedure is completed.
[0183] In the fifth application example, since the observation
functional unit or the treatment function unit are turned on for
necessary observation or treatment, the observation or treatment
can be performed with minimum energy consumption.
[0184] Next, a sixth application example will be described. The
sixth application example is a combination of the fifth application
example and an endoscopic surgical operation.
[0185] In the sixth application example, as shown in the flow chart
in FIG. 67, firstly, only the observation functional unit of the
capsule endoscope is turned on and the capsule endoscope is
swallowed by a patient (step S1001). A desired site to be treated
is specified in a real-time observation using the observation
functional unit in an on-state (step S1002). Then a locking member
in the capsule endoscope is turned on to lock the capsule endoscope
(step S1003). Here, in step S1003, the movement of the capsule
endoscope may be stopped by administering peristalsis
depressant.
[0186] The observation functional unit of the capsule endoscope is
turned off (step S1004) and a preparation for an endoscopic
surgical operation is performed (step S1005). When the preparation
is completed, the observation functional unit of the capsule
endoscope is turned on (step S1006) and the treatment function unit
of the capsule endoscope is turned on (step S1007).
[0187] An image from the capsule endoscope and an image from a
surgical endoscope are obtained and a treatment in association with
a treatment by the capsule endoscope and a treatment by the
endoscopic surgical operation is performed while monitoring the
images (step S1008). Then, the procedure is completed.
[0188] In the sixth application example, treatments are performed
from inside and outside of the digestive canal so that more
advanced treatment can be performed.
[0189] In the above-described embodiments, an on/off state control
of the body-insertable device or an on/off state control of each
function in the body-insertable device is described. However, the
effect of the present invention is not limited to such an on/off
state control and may be applied to, for example, an operation mode
switching control of each function (an input of a physical quantity
triggers switching of the operation mode). For example, regarding
an observing function, every time a predetermined physical quantity
is applied, an observation speed (imaging flame rate) is switched
from a high-speed mode used for the esophagus (e.g., 18 fps) to a
medium-speed mode used for the stomach (e.g., 10 fps), and further,
to a low-speed mode used for the small intestine (e.g., 2 fps).
Further, regarding a medication function, operation modes for
dosage, medication cycle or the like may be switched. Regarding the
vital function, operation modes for amount of biopsies, cycle or
the like may be switched. With this structure, operation modes of
each function can be surely switched.
[0190] Additional advantages and modifications will readily occur
to those skilled in the art. Therefore, the invention in its
broader aspects is not limited to the specific details and
representative embodiments shown and described herein. Accordingly,
various modifications may be made without departing from the spirit
or scope of the general inventive concept as defined by the
appended claims and their equivalents.
* * * * *