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公开(公告)号：US08235888B2
公开(公告)日：2012-08-07
申请号：US12268094
申请日：2008-11-10
申请人： Hironao Kawano
发明人： Hironao Kawano
CPC分类号： A61B1/042 , A61B1/0005 , A61B1/00158 , A61B1/041 , A61B2034/733
摘要： A system for guiding capsule medical device is provided with a capsule medical device, a magnetic guidance device, an operation input unit, a control device, and an image display device. The capsule medical device is includes therein a first and second imaging units that image images in imaging directions different from each other and a permanent magnet. The magnetic guidance device applies a magnetic field to the permanent magnet to magnetically guide the capsule medical device in a subject. The operation input unit receives operation information to operate magnetic guidance of the capsule medical device. The control device controls the magnetic guidance device to magnetically guide the capsule medical device in response to the operation information input through the operation input unit. The image display device displays a first in-vivo image of the subject imaged by the first imaging unit and a second in-vivo image of the subject imaged by the second imaging unit, and clearly shows which of the first and second in-vivo images is an operation target image at the time of the magnetic guidance of the capsule medical device.
摘要翻译： 胶囊型医疗装置的引导系统设置有胶囊型医疗装置，磁性引导装置，操作输入部，控制装置以及图像显示装置。 该胶囊型医疗装置具备：成像方向不同的图像和永磁体的第一和第二摄像部。 磁性引导装置对永久磁铁施加磁场，磁性引导被检体内的胶囊型医疗装置。 操作输入单元接收操作信息以操作胶囊医疗装置的磁引导。 控制装置根据通过操作输入部输入的操作信息，控制磁性引导装置对胶囊型医疗装置进行磁性引导。 图像显示装置显示由第一成像单元成像的被摄体的第一体内图像和由第二成像单元成像的被检体的第二体内图像，并且清楚地示出第一和第二体内图像中的哪一个 是胶囊型医疗装置的磁性引导时的操作对象图像。
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72.发明申请METHOD AND APPARATUS FOR DISPLAYING INFORMATION IN MAGNETICALLY GUIDED CAPSULE ENDOSCOPY 有权用于在磁性引导的胶囊内窥镜中显示信息的方法和装置公开(公告)号：US20110306830A1
公开(公告)日：2011-12-15
申请号：US12815584
申请日：2010-06-15
IPC分类号： A61B1/04
CPC分类号： A61B1/041 , A61B1/00045 , A61B1/00055 , A61B1/00158 , A61B34/20 , G06T19/003 , G06T2210/41
摘要： A magnetically guided endoscope system has a display system wherein the position of the boundary of the examination region of the magnetic field that is used for capsule endoscope guidance is displayed and/or the position of the peak of the magnetic field used for capsule guidance is displayed. The displayed information can be presented in the form of computer-generated graphics superimposed on a camera image of the patient by a computer, or can be a fixed indicator on the display screen of a display at which a computer causes the camera image of the patient to be displayed at a position that is correctly oriented with respect to the fixed information.
摘要翻译： 磁导向内窥镜系统具有显示系统，其中显示用于胶囊内窥镜引导的磁场检查区域的边界的位置和/或显示用于胶囊引导的磁场的峰值的位置 。 所显示的信息可以以由计算机叠加在患者的相机图像上的计算机生成的图形的形式呈现，或者可以是显示器的显示屏幕上的固定指示器，计算机使得患者的相机图像在该显示屏上 被显示在相对于固定信息正确定向的位置。
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公开(公告)号：US20110046443A1
公开(公告)日：2011-02-24
申请号：US12740799
申请日：2008-10-14
IPC分类号： A61B1/00
CPC分类号： A61B1/041 , A61B1/00009 , A61B1/00158 , A61B5/065 , A61B34/73
摘要： In a method and system for guiding a capsule endoscope, the capsule endoscope contains a rotation sensor that measures a rotary position of the endoscope capsule about at least one fixed capsule axis. A control unit calculates a rotary position of the endoscope capsule from a mechanical movement model, measures the rotary position of the endoscope capsule by means of the rotation sensor, compares the measured rotary position with a rotary position calculated for an essentially identical point in time, and adapts the mechanical movement model on the basis of the comparison.
摘要翻译： 在胶囊型内窥镜的引导方法和系统中，胶囊型内窥镜包含旋转传感器，该旋转传感器测量内窥镜胶囊的至少一个固定的胶囊轴线的旋转位置。 控制单元从机械运动模型计算内窥镜胶囊的旋转位置，通过旋转传感器测量内窥镜胶囊的旋转位置，将测量的旋转位置与为基本相同的时间点计算出的旋转位置进行比较， 并在比较的基础上适应机械运动模型。
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公开(公告)号：US07711408B2
公开(公告)日：2010-05-04
申请号：US11230201
申请日：2005-09-19
IPC分类号： A61B5/05
CPC分类号： A61B1/00158 , A61B1/00057 , A61B1/041 , A61B34/73 , Y10T436/24
摘要： The present invention realizes a medical device guidance system capable of improving propulsion control characteristic. The capsule guidance system 1 includes a rotating electromagnetic field generating device 4 for generating a rotating electromagnetic field for applying from the outside of a subject into the subject; a capsule 3 to be inserted into the body cavity of the subject; a magnet 16 provided in this capsule 3 and acting on the rotating electromagnetic field generated by the rotating electromagnetic field generating device 4; a spiral projection portion 12 provided on the outer peripheral surface of the capsule 3 and converting the rotational movement generated by the magnet 16 into a thrust; a controller 6 for controlling the rotating electromagnetic field generating device 4 to continuously change the state of the rotating electromagnetic field generated by rotating electromagnetic field generating device 4; and a capsule rotational direction pattern generator 41 for interchanging the rotational directions of the rotating electromagnetic field generated by the rotating electromagnetic field generating device 4 for each set rotational direction.
摘要翻译： 本发明实现了能够改善推进控制特性的医疗装置引导系统。 胶囊引导系统1包括：旋转电磁场产生装置4，用于产生旋转电磁场，用于从被检体的外部施加到被检体内; 胶囊3，其被插入到被检体的体腔内; 设置在该胶囊3中并作用于由旋转电磁场产生装置4产生的旋转电磁场的磁铁16; 设置在胶囊3的外周面上并将由磁体16产生的旋转运动转换成推力的螺旋形突出部12; 用于控制旋转电磁场产生装置4以连续改变由旋转电磁场产生装置4产生的旋转电磁场的状态的控制器6; 以及胶囊旋转方向图案发生器41，用于对每个设定的旋转方向交换由旋转电磁场产生装置4产生的旋转电磁场的旋转方向。
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公开(公告)号：US20080294101A1
公开(公告)日：2008-11-27
申请号：US11658285
申请日：2005-10-14
申请人： Hironao Kawano
发明人： Hironao Kawano
CPC分类号： A61M31/002 , A61M5/14276 , A61M5/14586 , A61M5/152 , A61M37/00 , A61M2205/0266 , F04B43/02 , F04B43/028 , F05C2251/08
摘要： A body-insertable apparatus which can make the volume smaller by simplifying a mechanism taking in or throwing out predetermined fluid is realized. The body-insertable apparatus has a configuration having, in a housing, a balloon member, a communication adjusting mechanism, a control circuit, and a power source part and forms a storage chamber by the balloon member and an outer circumferential member (sheet holding substrate and part of the housing) covering the outer surface of the balloon member. In the body-insertable apparatus, a first communication pipe communicated with the inner space of the balloon member and a second communication pipe communicated with the outer space are formed. The communication adjusting mechanism communicates the first communication pipe with the second communication pipe based on an electric current output from the control circuit. The inner space of the balloon member is communicated with the outside of the body-insertable apparatus. The outside fluid is flowed into the storage chamber via an inlet with the contracting operation of the balloon member.
摘要翻译： 实现了能够通过简化吸入或排出预定流体的机构而使体积更小的被检体内导入装置。 身体插入装置具有在壳体中具有球囊构件，连通调整机构，控制回路和动力源部的构造，并且通过球囊构件和外周构件（片材保持基板）形成储藏室 和壳体的一部分）覆盖气球构件的外表面。 在被检体内导入装置中，形成有与球囊构件的内部空间连通的第一连通管和与外部空间连通的第二连通管。 通信调整机构基于从控制电路输出的电流，将第一连通管与第二连通管连通。 球囊构件的内部空间与被检体内导入装置的外部连通。 外部流体通过气囊构件的收缩操作的入口流入储存室。
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公开(公告)号：US20060063974A1
公开(公告)日：2006-03-23
申请号：US11230201
申请日：2005-09-19
IPC分类号： A61B1/00
CPC分类号： A61B1/00158 , A61B1/00057 , A61B1/041 , A61B34/73 , Y10T436/24
摘要： The present invention realizes a medical device guidance system capable of improving propulsion control characteristic. The capsule guidance system 1 includes a rotating electromagnetic field generating device 4 for generating a rotating electromagnetic field for applying from the outside of a subject into the subject; a capsule 3 to be inserted into the body cavity of the subject; a magnet 16 provided in this capsule 3 and acting on the rotating electromagnetic field generated by the rotating electromagnetic field generating device 4; a spiral projection portion 12 provided on the outer peripheral surface of the capsule 3 and converting the rotational movement generated by the magnet 16 into a thrust; a controller 6 for controlling the rotating electromagnetic field generating device 4 to continuously change the state of the rotating electromagnetic field generated by rotating electromagnetic field generating device 4; and a capsule rotational direction pattern generator 41 for interchanging the rotational directions of the rotating electromagnetic field generated by the rotating electromagnetic field generating device 4 for each set rotational direction.
摘要翻译： 本发明实现了能够改善推进控制特性的医疗装置引导系统。 胶囊引导系统1包括：旋转电磁场产生装置4，用于产生旋转电磁场，用于从被检体的外部施加到被检体内; 胶囊3，其被插入到被检体的体腔内; 设置在该胶囊3中并作用于由旋转电磁场产生装置4产生的旋转电磁场的磁铁16; 设置在胶囊3的外周面上并将由磁体16产生的旋转运动转换成推力的螺旋形突出部12; 用于控制旋转电磁场产生装置4以连续改变由旋转电磁场产生装置4产生的旋转电磁场的状态的控制器6; 以及胶囊旋转方向图案发生器41，用于对每个设定的旋转方向交换由旋转电磁场产生装置4产生的旋转电磁场的旋转方向。
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公开(公告)号：US08821398B2
公开(公告)日：2014-09-02
申请号：US13052509
申请日：2011-03-21
CPC分类号： A61B1/041 , A61B1/00158 , A61B2034/732
摘要： A system includes a capsule body having a casing introduced into a subject to perform, in liquid, examination of or treatment on the interior of the subject, the casing containing a permanent magnet, a mass of the casing excluding the magnet being set to be less than a product of a volume of the casing and a density of the liquid; a magnetic field generator that generates a magnetic attraction for the magnet to guide the capsule body; and a magnetic field generation device that controls the magnetic field generator to generate the magnetic attraction by setting a maximum value of the generated magnetic attraction vertically upward to the capsule body, to be equal to a maximum value of the generated magnetic attraction vertically downward to the capsule body, and by setting the maximum values to be less than a value obtained by multiplying a mass of the magnet by a gravitational acceleration.
摘要翻译： 一种系统，包括：胶囊主体，其具有引入到对象中的壳体，以在液体中对被检体内部进行检查或处理，所述壳体包含永磁体，所述壳体的质量除了所述磁体被设定为较小 比体积的外壳的产品和液体的密度; 产生用于磁体引导胶囊主体的磁吸引力的磁场发生器; 以及磁场产生装置，其通过将所产生的磁性吸引物的最大值垂直向上设置到胶囊主体来控制磁场发生器以产生磁吸引力，使其等于产生的磁吸引物的最大值垂直向下到 并且通过将最大值设定为小于通过将磁体的质量乘以重力加速度而获得的值。
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78.发明授权公开(公告)号：US08734329B2
公开(公告)日：2014-05-27
申请号：US13558508
申请日：2012-07-26
申请人： Hironao Kawano
发明人： Hironao Kawano
IPC分类号： A61B1/00
CPC分类号： A61B1/00158 , A61B1/0005 , A61B1/041
摘要： A guiding system includes a capsule medical device including a permanent magnet; a magnetic field generating unit to generate a magnetic field to the magnet to guide the capsule, and change a direction of the magnetic field in a three-dimensional space; and a control unit to control the magnetic field generated by the generating unit. Where the capsule is located on a liquid surface, the control unit generates a first magnetic field such that a plane, which is parallel to a vertical axis and in which a magnetic field including a rotating magnetic field where a magnetic field is rotated on the plane is generated, pivots about the vertical axis at a predetermined period and a second magnetic field for generating a magnetic attracting force for moving the magnet vertically downward to submerge the capsule in the liquid, the first and second magnetic fields being applied at a same time.
摘要翻译： 引导系统包括：包括永磁体的胶囊医疗装置; 磁场产生单元，用于向磁体产生磁场以引导胶囊，并且改变三维空间中的磁场的方向; 以及控制单元，用于控制由所述发生单元产生的磁场。 在胶囊位于液体表面上的情况下，控制单元产生第一磁场，使得平面与垂直轴平行，其中包括磁场在平面上旋转的旋转磁场的磁场 产生绕预定周期的垂直轴转动的第二磁场和用于产生垂直向下移动磁体的磁吸引力以将胶囊淹没在液体中的第二磁场，同时施加第一和第二磁场。
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公开(公告)号：US08702591B2
公开(公告)日：2014-04-22
申请号：US11653168
申请日：2007-01-12
申请人： Hironao Kawano , Masaki Takahashi
发明人： Hironao Kawano , Masaki Takahashi
摘要： A capsule medical apparatus includes a capsule housing 3 having a protruded portion on a long axis at one end. The protruded portion is on a straight line lvm connecting a center of buoyancy Pv and a center of gravity Pm when the capsule housing is in liquid 7 in a body cavity, and the protruded portion is formed so that at least one straight line is present which passes a point Pf at which buoyant moment produced by buoyancy acting on the center of buoyancy Pv and gravitational moment produced by gravity acting on the center of gravity Pm are balanced and which intersects perpendicularly with an outer surface of the protruded portion. The inclined posture allows the capsule housing to receive a large fluid resistance against the liquid 7. Moreover, the capsule endoscope 1 can easily move along the flow of the liquid 7 because the capsule endoscope 1 is in the point contact state with the inner wall surface 2a.
摘要翻译： 一种胶囊型医疗装置，具备在一端具有长轴的突出部的胶囊型壳体3。 当胶囊壳体处于体腔内的液体7中时，突出部分在连接浮力Pv的中心和重心Pm的直线lvm上，突出部分形成为至少存在一条直线， 通过作用于浮力Pv的中心的浮力产生的浮力的点Pf和作用在重心Pm上的重力产生的重力平衡并且与突出部分的外表面垂直相交。 倾斜的姿势允许胶囊壳体接收对液体7的大的流体阻力。此外，胶囊型内窥镜1能够容易地沿液体流7移动，因为胶囊型内窥镜1与内壁面成点接触状态 2a。
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80.发明授权Capsule medical device guidance system and method for guiding capsule medical device 有权胶囊医疗装置引导系统及胶囊医疗装置引导方法公开(公告)号：US08460177B2
公开(公告)日：2013-06-11
申请号：US13214510
申请日：2011-08-22
CPC分类号： A61B1/00158 , A61B1/041 , A61B5/073 , A61B2034/732
摘要： A system and method for guiding a capsule medical device. The method includes: changing, by a control unit, a gradient distribution of a gradient magnetic field generated by a magnetic field generator in a vertical direction, the magnetic field generator generating at least the gradient magnetic field in the vertical direction to guide a capsule medical device that includes a magnetic-field responding unit; detecting, by a position detector, a position of the capsule medical device in the vertical direction based on a gradient distribution of the gradient magnetic field generated by the magnetic field generator, a physical parameter of the capsule medical device, and a physical parameter of a liquid when the capsule medical device starts to move; and setting, by the control unit, the magnetic field generated by the magnetic field generator based on the detected position of the capsule medical device in the vertical direction.
摘要翻译： 一种用于引导胶囊型医疗装置的系统和方法。 该方法包括：通过控制单元改变由磁场发生器沿垂直方向产生的梯度磁场的梯度分布，所述磁场发生器至少产生垂直方向上的梯度磁场，以引导胶囊医疗 包括磁场响应单元的装置; 基于由磁场发生器产生的梯度磁场的梯度分布，胶囊型医疗装置的物理参数以及胶囊型医疗装置的物理参数，由位置检测器检测胶囊型医疗装置在垂直方向上的位置 胶囊医疗装置开始移动时的液体; 并且通过控制单元，基于胶囊医疗装置在垂直方向上的检测位置产生的磁场发生器产生的磁场。
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