Capsule Medical System
First Claim
1. A capsule medical system comprising:
- a capsule intracorporeal device placed in a living body, the capsule intracorporeal device comprising an antenna;
wireless transmitting means for wirelessly transmitting an electromagnetic wave signal from the antenna of the capsule intracorporeal device;
a plurality of extracorporeal antennas disposed outside the living body;
estimating means for estimating at least one of the location and the orientation of the antenna on the basis of the electromagnetic wave signal received by the plurality of extracorporeal antennas; and
updating and correcting means for comparing an estimated value computed using the at least one of the estimated location and the estimated orientation with the actually detected value and repeatedly updating and correcting the at least one of the location and the orientation estimated by the estimating means until an update value for the at least one of the location and the orientation computed on the basis of the compared values is less than or equal to a predetermined value.
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Accused Products
Abstract
A capsule medical system is provided that accurately detects the location at which biological information, such as an image captured in a living body, is acquired. A circular loop antenna 23 incorporated in an endoscopic capsule traveling in a living body transmits a high-frequency signal and a plurality of antennas 11a to 11i disposed on a body surface of the living body receives the signal. A CPU 36 defines the initial location and orientation of the antenna 23. The CPU then performs an estimation process on the initial location and orientation so as to compute new estimated location and orientation and update the initial location and orientation to the new location and orientation. The CPU similarly performs the estimation process on the updated location and orientation. The CPU performs accurate location estimation by repeatedly performing the estimation process until the amount of shift of the location computed and updated by the estimation process reaches a sufficiently small value.
77 Citations
29 Claims
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1. A capsule medical system comprising:
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a capsule intracorporeal device placed in a living body, the capsule intracorporeal device comprising an antenna; wireless transmitting means for wirelessly transmitting an electromagnetic wave signal from the antenna of the capsule intracorporeal device; a plurality of extracorporeal antennas disposed outside the living body; estimating means for estimating at least one of the location and the orientation of the antenna on the basis of the electromagnetic wave signal received by the plurality of extracorporeal antennas; and updating and correcting means for comparing an estimated value computed using the at least one of the estimated location and the estimated orientation with the actually detected value and repeatedly updating and correcting the at least one of the location and the orientation estimated by the estimating means until an update value for the at least one of the location and the orientation computed on the basis of the compared values is less than or equal to a predetermined value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A capsule medical system, comprising:
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a capsule device placed in a living body, the capsule device comprising an antenna; a wireless transmitting section for wirelessly transmitting an electromagnetic wave signal from the antenna of the capsule device; a plurality of extracorporeal antennas disposed outside the living body; an estimating section for estimating at least one of location and orientation of the antenna on the basis of the electromagnetic wave signal received by the plurality of extracorporeal antennas; and an updating and correcting section for comparing an estimated value computed using the at least one of the estimated location and the estimated orientation with the actually detected value and repeatedly updating and correcting the at least one of the location and the orientation estimated by the estimating section until an update value for the at least one of the location and the orientation computed on the basis of the compared values is less than or equal to a predetermined value. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A display control system, comprising:
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an estimating section for estimating, on the basis of an electromagnetic wave signal outputted from an antenna included in a capsule medical system placed in a living body, at least one of location and orientation of the antenna; an updating and correcting section for comparing an estimated value computed using the at least one of the estimated location and the estimated orientation with the actually detected value and repeatedly updating and correcting the at least one of the location and the orientation estimated by the estimating section until an update value for the at least one of the location and the orientation computed on the basis of the compared values is less than or equal to a predetermined value; a trajectory computing section for computing a trajectory of movement of the capsule device in the living body on the basis of the location of the antenna estimated by the updating and correcting section; a body part associating section for detecting one portion out of the trajectory computed by the trajectory computing section, the one portion corresponding to one body part existing in the living body; and a display control section for controlling to display on a display section the trajectory at the one portion together with the one body part. - View Dependent Claims (22, 23)
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24. An image processing system, comprising:
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a first circular coil disposed to have an axial orientation agreeing with up/down orientations of an image capturing surface of an image capturing element; a second circular coil disposed to have an axial orientation orthogonal to the axial orientation of the first circular coil; a rotation detection section for computing, on the basis of location information for each of the first and second circular coils, at least one of rotation amount and rotation angle from a reference angle that is set as an angle agreeing with a predetermined orientation of the image capturing surface of the image capturing element; and an orientation detection section for detecting the predetermined orientation of the image capturing surface on the basis of a computation result of the rotation detection section. - View Dependent Claims (25, 26)
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27. An image processing method, comprising:
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on the basis of location information for each of a first circular coil and a second circular coil, the first circular coil being disposed to have an axial orientation agreeing with up/down orientations of an image capturing surface of an image capturing element, and the second circular coil being disposed to have an axial orientation orthogonal to the axial orientation of the first circular coil, computing at least one of rotation amount and rotation angle from a reference angle that is set as an angle agreeing with a predetermined orientation of the image capturing surface of the image capturing element; and detecting the predetermined orientation of the image capturing surface on the basis of a result of the computation. - View Dependent Claims (28, 29)
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Specification