公开(公告)号：US20070244388A1

公开(公告)日：2007-10-18

申请号：US11629340

申请日：2005-12-16

申请人： Ryoji Sato ,  Akio Uchiyama ,  Atsushi Kimura ,  Hironao Kawano

发明人： Ryoji Sato ,  Akio Uchiyama ,  Atsushi Kimura ,  Hironao Kawano

IPC分类号： A61B5/06

CPC分类号： A61B1/041 ,  A61B1/00147 ,  A61B1/00158 ,  A61B1/042 ,  A61B5/062 ,  A61B5/7232 ,  A61B34/73

摘要： There are provided a position detection system, a guidance system, and a position detection method which obviate the need for frequency adjustment of an alternating magnetic field used in position detection of a device and which allow the device to be made more compact and less expensive. There are included a device (capsule endoscope 20) provided with a magnetic induction coil, a drive coil 51 for generating an alternating magnetic field, a plurality of magnetic sensors 52 for detecting an induced magnetic field, a frequency determining section 50B for determining a position calculating frequency based on a resonance frequency of the magnetic induction coil, and a position analyzing unit 50A for calculating, at the position calculating frequency, at least one of the position and the orientation of the device 20 based on the difference between outputs from the magnetic sensors 52 when only the alternating magnetic field is applied and outputs from the magnetic sensors 52 when the alternating magnetic field and the induced magnetic field are applied; and at least one of a frequency range of the alternating magnetic field and an output frequency range of the magnetic field sensors is limited based on the position calculating frequency.

摘要翻译： 提供了一种位置检测系统，引导系统和位置检测方法，其不需要在设备的位置检测中使用的交变磁场的频率调整，并且允许该设备更加紧凑和更便宜。 包括设置有磁感应线圈的装置（胶囊型内窥镜20），用于产生交变磁场的驱动线圈51，用于检测感应磁场的多个磁传感器52，用于确定 基于磁感应线圈的共振频率的位置计算频率;以及位置分析单元50A，用于根据位置计算频率的输出之间的差异来计算装置20的位置和取向中的至少一个 当仅施加交变磁场的磁传感器52和当施加交变磁场和感应磁场时来自磁传感器52的输出; 并且基于位置计算频率来限制交变磁场的频率范围和磁场传感器的输出频率范围中的至少一个。

公开(公告)号：US08049503B2

公开(公告)日：2011-11-01

申请号：US12825903

申请日：2010-06-29

申请人： Atsushi Kimura ,  Atsushi Chiba ,  Ryoji Sato ,  Hironao Kawano

发明人： Atsushi Kimura ,  Atsushi Chiba ,  Ryoji Sato ,  Hironao Kawano

IPC分类号： G01V3/00

CPC分类号： A61B1/042 ,  A61B1/00016 ,  A61B1/00036 ,  A61B1/00158 ,  A61B1/041 ,  A61B5/061 ,  A61B5/065 ,  A61B5/073

摘要： A system includes a body-insertable apparatus disposed while introduced in a subject in a detection space, and an external apparatus disposed on the outside of the subject. The body-insertable apparatus includes a first switch for connecting/interrupting a resonance circuit and an oscillation circuit or a ground line. The external apparatus includes a drive coil driving unit for outputting a drive signal having the resonance frequency; a drive coil for generating the drive magnetic field in the detection space in accordance with the drive signal; and a second switch for connecting/interrupting the drive coil driving unit and the drive coil. The second switch connects the drive coil driving unit and the drive coil when the first switch is off, and disconnects them when the first switch is on. The resonance circuit generates the resonance magnetic field in accordance with the induction signal or the drive magnetic field.

摘要翻译： 一种系统，包括被置于检测空间中的被检体内的身体插入装置，以及配置在被检体的外侧的外部装置。 身体可插入装置包括用于连接/中断谐振电路的第一开关和振荡电路或接地线。 外部装置包括用于输出具有共振频率的驱动信号的驱动线圈驱动单元; 驱动线圈，用于根据驱动信号在检测空间中产生驱动磁场; 以及用于连接/中断驱动线圈驱动单元和驱动线圈的第二开关。 当第一开关断开时，第二开关连接驱动线圈驱动单元和驱动线圈，并且当第一开关接通时将第二开关断开。 谐振电路根据感应信号或驱动磁场产生谐振磁场。

公开(公告)号：US08692682B2

公开(公告)日：2014-04-08

申请号：US12441631

申请日：2007-09-28

申请人： Atsushi Kimura ,  Akio Uchiyama ,  Ryoji Sato ,  Atsushi Chiba

发明人： Atsushi Kimura ,  Akio Uchiyama ,  Ryoji Sato ,  Atsushi Chiba

IPC分类号： G08B21/00

CPC分类号： A61B5/06 ,  A61B1/041 ,  A61B5/062 ,  A61B5/073

摘要： A position detection system for a detection object and a position detection method for a detection object that enable calibration without removing a detection object after the detection object is introduced into a detection space are provided. Provided are a magnetic-field generating unit (3) that generates a position-detection magnetic field; a detection object (5) including a resonant circuit (21) that generates a resonant magnetic field and an external-signal switch that connects or disconnects the path of the resonant circuit (21); a switch-controlling unit (7) that controls connecting or disconnecting of the external-signal switch; a position-detection-magnetic-field detecting unit (9) that detects the magnetic field strength of at least one of the position-detection magnetic field and the resonant magnetic field; and a position-calculating unit (11) that calculates the position and orientation of the detection object (5) based on a detection signal from the position-detection-magnetic-field detecting unit (9).

摘要翻译： 提供了一种用于检测对象的位置检测系统和用于在检测对象被引入检测空间之后能够在不移除检测对象的情况下进行校准的检测对象的位置检测方法。 提供产生位置检测磁场的磁场产生单元（3） 包括产生谐振磁场的谐振电路（21）和连接或断开谐振电路（21）的路径的外部信号开关的检测对象（5）。 开关控制单元（7），其控制外部信号开关的连接或断开; 位置检测用磁场检测单元，其检测所述位置检测用磁场和所述共振磁场中的至少一个的磁场强度; 以及基于来自所述位置检测用磁场检测部（9）的检测信号来计算检测对象（5）的位置和取向的位置计算部（11）。

公开(公告)号：US08386020B2

公开(公告)日：2013-02-26

申请号：US12307490

申请日：2007-06-29

申请人： Atsushi Kimura ,  Akio Uchiyama ,  Ryoji Sato ,  Atsushi Chiba

发明人： Atsushi Kimura ,  Akio Uchiyama ,  Ryoji Sato ,  Atsushi Chiba

IPC分类号： A61B5/055 ,  A61B1/00

CPC分类号： A61B1/041 ,  A61B1/00016 ,  A61B1/00158 ,  A61B5/0031 ,  A61B5/061 ,  A61B5/073 ,  A61B34/70 ,  A61B34/73 ,  A61B2034/732 ,  A61B2090/3925 ,  A61B2090/3958 ,  G06F19/00

摘要： A situation where a medical device is outside a region suitable for guidance control thereof can be easily coped with. Included are a medical device provided with a magnet; a guiding unit (5X-1, 5X-2, 5Y-1, 5Y-2, 5Z-1, 5Z-2) that forms a control magnetic field for guidance control of the medical device, inside a prescribed control area; a detection unit (7Y-1, 7Y-2) that detects positional information of the medical device; and a computational unit that judges that the medical device has gone outside the control area on the basis of an output from the detection unit (7Y-1, 7Y-2) and calculates a direction for returning the medical device to the control area, wherein a signal-waveform calculating unit (21) stops forming the control magnetic field when the medical device is outside the control area.

摘要翻译： 可以容易地应对医疗装置在适于引导控制的区域之外的情况。 包括设有磁铁的医疗器械; 在规定的控制区域内形成用于医疗装置的引导控制的控制磁场的引导单元（5X-1，5X-2,5Y-1,5Y-2,5Z-1,5Z-2） 检测单元（7Y-1,7Y-2），其检测医疗装置的位置信息; 以及计算单元，其基于来自所述检测单元（7Y-1,7Y-2）的输出判定所述医疗装置已经在所述控制区域外，并计算将所述医疗装置返回到所述控制区域的方向，其中， 当医疗装置在控制区域外部时，信号波形计算单元（21）停止形成控制磁场。

公开(公告)号：US20100219825A1

公开(公告)日：2010-09-02

申请号：US12159189

申请日：2006-12-25

申请人： Ryoji Sato ,  Akio Uchiyama ,  Atsushi Kimura

发明人： Ryoji Sato ,  Akio Uchiyama ,  Atsushi Kimura

IPC分类号： G01R33/44

CPC分类号： A61B5/073 ,  A61B1/00158 ,  A61B1/041 ,  A61B1/05 ,  A61B5/061 ,  A61B5/7232 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/2051 ,  A61B2090/364 ,  A61B2090/3954

摘要： A position detection system and a position detection method in which the accuracy of position measurement of a device is not decreased after a change in the resonant frequency of a magnetic induction coil are provided. The position detection system includes a device having a magnetic induction coil; a driving coil that generates an alternating magnetic field, to be applied to the magnetic induction coil, having a position-calculating frequency in the vicinity of a resonant frequency of the magnetic induction coil; a plurality of magnetic sensors that detects an induced magnetic field generated by the magnetic induction coil when the alternating magnetic field is applied thereto; a measurement-reference-value calculating section (50d) that determines a measurement reference value at the position-calculating frequency, based on an output of the magnetic sensors when only the alternating magnetic field is applied thereto; a position-analyzing section (50e) that calculates at least one of the position and orientation of the device, based on a difference measurement value that is a difference between an output of the magnetic sensors when the alternating magnetic field and the induced magnetic field are applied thereto and the measurement reference value; and a redetermining section (50b) that redetermines the position-calculating frequency at a predetermined timing.

摘要翻译： 提供了磁感应线圈的谐振频率的变化之后，不降低器件的位置测量精度的位置检测系统和位置检测方法。 位置检测系统包括具有磁感应线圈的装置; 驱动线圈，其产生施加到所述磁感应线圈的交变磁场，所述交变磁场具有位于所述磁感应线圈的共振频率附近的位置算出频率; 多个磁传感器，其在施加交变磁场时检测由所述磁感应线圈产生的感应磁场; 测量基准值计算部（50d），其仅当施加了交变磁场时，基于磁传感器的输出来确定位置算出频率下的测量基准值; 基于作为交变磁场和感应磁场的磁传感器的输出之间的差的差测量值来计算装置的位置和取向中的至少一个的位置分析部（50e） 施加到其上并测量参考值; 以及重新确定部（50b），其在预定的定时重新确定位置计算频率。

公开(公告)号：US20100179782A1

公开(公告)日：2010-07-15

申请号：US12729370

申请日：2010-03-23

申请人： Atsushi Kimura ,  Akio Uchiyama ,  Atsushi Chiba ,  Ryoji Sato

发明人： Atsushi Kimura ,  Akio Uchiyama ,  Atsushi Chiba ,  Ryoji Sato

IPC分类号： G06F19/00 ,  G01B7/00

CPC分类号： A61B34/73 ,  A61B1/00158 ,  A61B1/041 ,  A61B1/05 ,  A61B5/062 ,  A61B2034/2051 ,  A61M25/0127

摘要： A position detecting device includes a position calculator that performs an optimization convergence calculation using an evaluation function that expresses an error between a measurement value and a theoretical value of magnetic field information of a detection target to calculate at least a position of the detection target; a storage unit that stores a final convergence result of the optimization convergence calculation performed by the position calculator; and a controller that determines whether a result of the optimization convergence calculation converges, suspends the optimization convergence calculation performed by the position calculator when the result does not converge, and performs, after a predetermined time has passed, a returning process of returning a state of the optimization convergence calculation to a converged state by causing the position calculator to perform the optimization convergence calculation based on the final convergence result.

摘要翻译： 位置检测装置包括位置计算器，其使用表示测量值与检测对象的磁场信息的理论值之间的误差的评估函数进行优化收敛计算，以至少计算检测对象的位置; 存储单元，存储由位置计算器执行的优化收敛计算的最终收敛结果; 以及控制器，其判定所述优化收敛计算的结果是否收敛，并且在所述结果不收敛时暂停由所述位置计算器执行的优化收敛计算，并且在经过预定时间之后执行返回的返回处理 通过使位置计算器基于最终收敛结果进行优化收敛计算，将优化收敛计算成会聚状态。

公开(公告)号：US20090227840A1

公开(公告)日：2009-09-10

申请号：US12394695

申请日：2009-02-27

申请人： Akio Uchiyama ,  Ryoji Sato ,  Atsushi Kimura ,  Atsushi Chiba ,  Hironobu Takizawa ,  Takeshi Mori ,  Tetsuo Minai

发明人： Akio Uchiyama ,  Ryoji Sato ,  Atsushi Kimura ,  Atsushi Chiba ,  Hironobu Takizawa ,  Takeshi Mori ,  Tetsuo Minai

IPC分类号： A61B1/00

CPC分类号： A61B5/073 ,  A61B1/00016 ,  A61B1/00158 ,  A61B1/041 ,  A61B5/062 ,  A61B34/73

摘要： A capsule guiding system includes: an electrode pad arranged outside a human body to perform human body communication with a capsule endoscope and detect at least one of position and direction of the capsule endoscope; a magnetically guiding device which moves the capsule endoscope; a detector which detects a relative position between the electrode pad and the magnetically guiding device; a calculator which calculates at least one of the position and direction of the capsule endoscope based on a detection value of the electrode pad, and calculates at least one of an absolute position and direction of the capsule endoscope with respect to the magnetically guiding device based on at least one of the position and direction of the capsule endoscope and the relative position detected by the detector; and a control unit which controls the magnetically guiding device based on at least one of the absolute position and direction.

摘要翻译： 胶囊引导系统包括：布置在人体外部的电极垫，以与胶囊内窥镜进行人体连通，并检测胶囊型内窥镜的位置和方向中的至少一个; 使胶囊型内窥镜移动的导磁装置; 检测器，其检测所述电极焊盘和所述导磁装置之间的相对位置; 计算器，其基于所述电极焊盘的检测值来计算所述胶囊型内窥镜的位置和方向中的至少一个，并且基于所述导磁装置计算所述胶囊型内窥镜的绝对位置和方向中的至少一个，基于 胶囊型内窥镜的位置和方向中的至少一个以及检测器检测到的相对位置; 以及控制单元，其基于所述绝对位置和方向中的至少一个来控​​制所述导磁装置。

公开(公告)号：US08446147B2

公开(公告)日：2013-05-21

申请号：US12595400

申请日：2008-04-18

申请人： Atsushi Chiba ,  Akio Uchiyama ,  Atsushi Kimura ,  Ryoji Sato

发明人： Atsushi Chiba ,  Akio Uchiyama ,  Atsushi Kimura ,  Ryoji Sato

IPC分类号： G01B7/14 ,  A61B5/05

CPC分类号： A61B5/06 ,  A61B1/00158 ,  A61B1/041 ,  A61B5/062 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2090/3958 ,  G01B7/003

摘要： Provided is a position detecting device including a first magnetic-field generating unit including at least one magnetic-field generating coil and that generates a first magnetic field in a detection space where a detected object provided with a circuit including at least one built-in coil is disposed; a magnetic-field detecting unit having a plurality of detecting coils arrayed to detect an induced magnetic field generated from the built-in coil by the generated first magnetic field; and a second magnetic-field generating unit including at least one magnetic-field generating coil, that generates a second magnetic field, and including a magnetic-field component having a phase substantially opposite to the first magnetic field and entering the detecting coils, wherein the first magnetic-field generating unit and the detecting coils are disposed so that a generating direction of the first magnetic field and a detecting direction of the induced magnetic field intersect each other.

摘要翻译： 提供了一种位置检测装置，其包括：第一磁场产生单元，包括至少一个磁场产生线圈，并且在检测空间中产生第一磁场，其中检测对象设置有包括至少一个内置线圈 被处置 磁场检测单元，具有多个检测线圈，其被排列成通过所产生的第一磁场来检测从内置线圈产生的感应磁场; 以及第二磁场产生单元，其包括产生第二磁场的至少一个磁场产生线圈，并且包括具有与第一磁场基本相反的相位并进入检测线圈的磁场分量，其中， 第一磁场产生单元和检测线圈被布置成使得第一磁场的产生方向和感应磁场的检测方向彼此相交。

公开(公告)号：US20100073185A1

公开(公告)日：2010-03-25

申请号：US12443605

申请日：2007-11-27

申请人： Akio Uchiyama ,  Ryoji Sato ,  Atsushi Kimura

发明人： Akio Uchiyama ,  Ryoji Sato ,  Atsushi Kimura

IPC分类号： G08B21/00

CPC分类号： G01B7/003 ,  A61B1/00158 ,  A61B1/041 ,  A61B5/06 ,  A61B5/062 ,  A61B5/7232 ,  A61B5/7257 ,  A61B34/73 ,  G01D5/2086

摘要： There is provided a position detection system (1) including a first marker (4) that produces a first alternating magnetic field having a first position-calculating frequency by means of an external power supply; a second marker (3) including a magnetic induction coil (5) having a resonance frequency equal to the position-calculating frequency; a magnetic-field detection section (13) that is disposed outside a working region of the second marker (3) and that detects a magnetic field at the first position-calculating frequency; an extracting section (24) that extracts, from the detected magnetic field, a first detection-magnetic-field component having the first position-calculating frequency and having the same phase as the phase of the first alternating magnetic field; and a position/orientation analyzing section (22) that calculates at least one of the position and the orientation of the first marker (4) based on the intensity of the extracted first detection-magnetic-field component.

摘要翻译： 提供了一种位置检测系统（1），包括：通过外部电源产生具有第一位置计算频率的第一交变磁场的第一标记（4）; 包括具有等于位置计算频率的共振频率的磁感应线圈（5）的第二标记（3） 磁场检测部（13），其设置在所述第二标记（3）的工作区域的外侧，并且检测所述第一位置算出用频率的磁场; 提取部（24），其从所述检测的磁场中提取具有与所述第一交变磁场的相位相同的所述第一位置算出用频率的第一检测磁场成分; 以及基于所提取的第一检测磁场分量的强度来计算第一标记（4）的位置和取向中的至少一个的位置/取向分析部（22）。

公开(公告)号：US20090295386A1

公开(公告)日：2009-12-03

申请号：US12088985

申请日：2006-10-06

申请人： Ryoji Sato ,  Akio Uchiyama ,  Atsushi Kimura

发明人： Ryoji Sato ,  Akio Uchiyama ,  Atsushi Kimura

IPC分类号： G01R33/44 ,  G01B7/14

CPC分类号： A61B1/041 ,  A61B1/00158 ,  A61B5/062 ,  A61B5/7257 ,  A61B34/73 ,  A61B2034/732

摘要： A position detection system that does not require calibration measurement to be performed in advance and reduces the work required for detecting a position and so on is provided. The provided position detection system includes a device having a magnetic inductance coil; a drive coil that has a position-calculating frequency near a resonant frequency of the magnetic inductance coil and generates an alternating magnetic field which acts on the magnetic inductance coil; a plurality of magnetic-field sensors that is disposed outside the operating range of the device and detects an induced magnetic field generated by the magnetic inductance coil; amplitude-component detection section for detecting amplitude components whose phase is substantially orthogonal to the alternating magnetic field from the outputs of the magnetic sensors acquired by the plurality of magnetic sensors; and position analyzing section for calculating at least one of a position and an orientation of the device on the basis of the amplitude components.

摘要翻译： 提供了一种位置检测系统，其不需要预先执行校准测量并且减少检测位置等所需的工作。 提供的位置检测系统包括具有磁感线圈的装置; 驱动线圈，其具有靠近所述磁感应线圈的共振频率的位置算出频率，并产生作用在所述磁感应线圈上的交变磁场; 多个磁场传感器，其设置在所述装置的工作范围之外，并检测由所述磁感应线圈产生的感应磁场; 幅度分量检测部，用于从所述多个磁传感器获取的所述磁传感器的输出中检测与所述交变磁场大致正交的振幅分量; 以及位置分析部分，用于基于振幅分量来计算装置的位置和取向中的至少一个。