System for detecting position of capsule endoscope in subject

• US 7,536,217 B2
• Filed: 12/20/2004
• Issued: 05/19/2009
• Est. Priority Date: 12/25/2003
• Status: Expired due to Fees

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Minai, Tetsuo, Shimizu, Hatsuo
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): Rozanski; Michael T
• Application Number:
  US11/017,499
• Publication Number:
  US 20050143647A1
• Time in Patent Office: 1,611 Days
• Field of Search: 600/407, 600/410, 600/424, 128/899
• US Class Current: 600/424
• CPC Class Codes: A61B 1/00016 using wireless means
• CPC Class Codes: A61B 1/00029 externally powered, e.g. wireless
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 2560/0219 of externally powered implanted units
• CPC Class Codes: A61B 5/0031 Implanted circuitry
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/073 Intestinal transmitters
• CPC Class Codes: A61B 5/14539 for measuring pH
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4472 Wireless probes
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A system is for detecting a position of a device. The device is swallowed, passes through a subject, and includes a magnetic field generator generating a constant magnetic field. The system also includes a position transducer including a magnetic detector and a position processor. The magnetic detector is disposed at a fixed relative position to the subject, and detects an intensity of a constant magnetic field output from the magnetic field generator. The position processor calculates a position of the device in the subject based on the intensity detected by the magnetic field intensity detector.

Claims

1. A system comprising:

a device that is swallowed and passes through a subject;

a magnetic field generator generating a constant magnetic field and disposed in the device;

a position transducer that includes a plurality of magnetic detectors, adapted to be disposed in fixed positions forming the vertexes of a cube relative to the subject outside the subject and detecting intensities of the constant magnetic field generated by the magnetic field generator;

a reference device selector that selects one magnetic detector out of the plurality of magnetic detectors as a reference magnetic detector based on the detected intensities;

a selector that selects specific magnetic detectors based on a selection result of the reference device selector; and

a position processor calculating a position of the device in the subject based on a detection result of the specific magnetic detectors;

wherein the specific magnetic detectors includes three magnetic detectors which are selected from the plurality of magnetic detectors disposed on axes orthogonal to one another at the reference magnetic detector.

2. The system according to claim 1, wherein

the position processor calculates a distance between the device and each of the magnetic detectors based on intensities of magnetic field components detected by the magnetic detectors, and calculates a position of the device in the subject based on the calculated distances.

3. The system according to claim 1 wherein the magnetic field generator is disposed in a position where a direction of the constant magnetic is fixed, and

the position transducer further includes a magnetic field direction detector detecting the direction of the constant magnetic field, and an orientation direction detector detecting an orientation direction of the device in the subject based on the direction detected by the magnetic field direction detector.

4. The system according to claim 3 wherein the position transducer further includes an orientation direction database that stores, in advance, a distance from the magnetic field generator, a relation between a direction of the constant magnetic field, and an orientation direction of the device in the subject, and

the orientation direction detector detects the orientation direction of the device in the subject using the orientation direction database.

5. The system according to claim 1, wherein the device further includes

a predetermined function executing unit that obtains information of an inside of the subject;

and

a radio transmitting unit that transmits the information of the inside of the subject with radio communication, and

the position transducer further includes a receiving unit that receives a radio signal transmitted from the radio transmitting unit.

6. The system according to claim 5, wherein the magnetic field generator is disposed in a position where a direction of the constant magnetic is fixed,

the position transducer further includes

a magnetic field direction detector detecting the direction of the constant magnetic field,

an orientation direction detector detecting an orientation direction of the device in the subject based on the direction detected by the magnetic field direction detector,

a plurality of receiving units each receiving a radio signal transmitted from the radio transmitting unit, and

a selector that selects a receiving unit used for receiving the radio signal based on the position calculated by the position processor and the orientation direction detected by the orientation direction detector.

7. The system according to claim 6, wherein the magnetic field generator is a magnet.

8. The system according to claim 6, wherein the magnetic field generator is a coil.

9. The system according to claim 8, wherein the constant magnetic field is generated by applying constant electric current to the coil.

10. The system according to claim 6, wherein the selector selects a antenna for receiving the radio signal according to a result obtained in the position transducer.

11. The system according to claim 10, wherein the obtained result is a position information of the device.

12. The system according to claim 10, wherein the obtained result is an orientation information of the device.

13. The system according to claim 10, wherein the selector includes an antenna selector that obtains a position of an antenna, based on the supplied information from the position processor determining a position of the device and from the orientation direction detector detecting an orientation direction of the device, to estimate and select an antenna which receives a strongest signal.

14. The system according to claim 10, wherein the antenna selector selects an antenna which is nearest to the reference device selected by the reference device selector.

15. The system according to claim 6, further comprising a storage unit that stores image data associated with a position and an orientation data of the device, wherein the system displays only image data captured when the device is located within a specific area according to data stored in the storage unit.

16. The system according to claim 5, wherein the function executing unit includes

an illuminating unit that illuminates an inside of the subject;

and

an image capturing unit that captures an image of a region illuminated by the illuminating unit.

17. The system according to claim 16, wherein the position transducer further includes a storage unit that stores an image captured by the image capturing unit and the position of the device at when the image is captured, so that the image and the position are associated with each other.

18. A method used for the system of claim 5, comprising the steps of:

detecting a magnetic field which is generated by a magnet field generator by using a magnetic detector;

obtaining a relative distance between the magnetic detector and the device;

calculating at least either of a position or an orientation of the device;

correcting coordinates on which the device exists; and

repeating the steps of detecting, obtaining, calculating, and correcting to compute a traveling route of the device.

19. A method according to claim 18, further comprising the steps of:

storing the position data in a portable recording medium; and

connecting the portable recording medium to a display.

20. The system according to claim 1, wherein the device is a capsule endoscope.

21. The system according to claim 1, wherein the device is a test capsule that conducts a preliminary survey to predict how the device moves inside the subject.

22. The system according to claim 21, wherein a housing of the device is made from a material that is broken down by the body.

23. The system according to claim 22, wherein the magnetic field generator is disposed in the housing.

24. The system according to claim 21, wherein the magnetic field generator is a magnet.

25. The system according to claim 21, wherein the magnetic field generator is a coil.

26. The system according to claim 25, wherein the constant magnetic field is generated by applying constant electric current to the coil.

27. The system according to claim 26, wherein the position transducer includes a database of orientation of the device.

28. The system according to claim 21, wherein the position transducer includes a portable record medium that stores a traveling route of the device and is disposed in the position transducer.

29. The system according to claim 28, further comprising a display unit that links with the portable record medium and displays the moving route of the device in the subject.

30. A method for determining a position of a device in a subject, the method comprising the steps of:

introducing a first device inside the subject;

detecting a first magnetic field which is generated by a magnet field generator disposed in the first device by using a plurality of magnetic detectors which are disposed to form the vertexes of a cube;

tracking a traveling route of the device by obtaining a position of the device by using a plurality of magnetic field intensities detected by the plurality of magnetic detectors;

introducing a second device inside the subject;

detecting a second magnetic field which is generated by a second magnet field generator disposed in the second device by using the plurality of magnetic detectors; and

obtaining a position information of the second device by using the traveling route obtained by the step of tracking and the magnet field intensity detected by the step of detecting the second magnetic field;

wherein the detecting step includes selecting one magnetic sensor out of the plurality of magnetic detectors as a reference magnetic detector based on the detected intensities, and selecting as specific magnetic detectors three magnetic detectors which are selected from the plurality of magnetic detectors disposed on axes orthogonal to one another at the reference magnetic detectors, based on a selection result of the reference device selector.

31. A method for determining a position of a device that is swallowed and passes through a subject, the method comprising the steps of:

disposing a plurality of magnetic detectors to form the vertexes of a cube;

detecting a magnetic field which is generated by a magnet field generator by using the plurality of magnetic detectors;

obtaining a relative distance between the plurality of magnetic detectors and the device;

calculating at least either of a position or an orientation of the device;

correcting coordinates on which the device exists; and

repeating the steps of detecting, obtaining, calculating, and correcting to compute a traveling route of the device;

wherein the detecting step includes selecting one magnetic sensor out of the plurality of magnetic detectors as a reference magnetic detector based on the detected intensities, and selecting as specific magnetic detectors three magnetic detectors which are selected from the plurality of magnetic detectors disposed on axes orthogonal to one another at the reference magnetic detector, based on a selection result of the reference device selector.

32. A method according to claim 31, further comprising the steps of:

storing an image data associated with a position and an orientation data of the device in a storage unit; and

displaying only an image data captured when the device is located within a specific area according to a data stored in the storage unit.

33. A method according to claim 31, further comprising the steps of:

storing the position data in a portable recording medium; and

connecting the portable recording medium to a display.