WO2016072156A1

WO2016072156A1 - Capsule-type endoscope guidance system and operation method for capsule-type endoscope guidance system

Info

Publication number: WO2016072156A1
Application number: PCT/JP2015/076194
Authority: WO
Inventors: 和也古保
Original assignee: オリンパス株式会社
Priority date: 2014-11-04
Filing date: 2015-09-15
Publication date: 2016-05-12
Also published as: JPWO2016072156A1

Abstract

A capsule-type endoscope guidance system 1 comprising a capsule-type endoscope 10 and a guidance device 20 that guides the capsule-type endoscope 10. The guidance device 20 is capable of easily causing the capsule-type endoscope 10 to approach and pass through a pylorus having a fluctuating position or shape, as a result of having: a magnetic field generation unit 25 that generates a magnetic field MG that guides the capsule-type endoscope 10; a reception unit 21 that receives wirelessly transmitted image signals; an image processing unit 23 that generates in vivo images on the basis of the image signals and extracts a pylorus area from the in vivo images; a target position setting unit 261 that sets, as a target position, the position inside the subject body that corresponds to the pylorus area; and a guidance control unit 262 that executes first guidance control and second guidance control, said first guidance control changing the position or the posture of the capsule-type endoscope 10 such that the center of the field of view for the capsule-type endoscope 10 matches the target position, and said second guidance control facing the capsule-type endoscope 10 towards the target position, in a state in which the center of the field of view matches the target position, and moving the capsule-type endoscope 10 forward at least until same comes in contact with the target position.

Description

Capsule endoscope guidance system and method for operating capsule endoscope guidance system

The present invention relates to a capsule endoscope guidance system that guides a capsule endoscope introduced into a subject and an operation method of the capsule endoscope guidance system.

In the endoscope field, capsule endoscopes that have been introduced into a subject and imaged have been developed. The capsule endoscope is provided with an imaging function and a wireless communication function inside a capsule-shaped casing formed in a size that can be introduced into the digestive tract of a subject, and has been swallowed by the subject. Thereafter, imaging is performed while moving in the digestive tract by peristaltic movement or the like, and image data of an image inside the organ of the subject (hereinafter also referred to as an in-vivo image) is sequentially generated and wirelessly transmitted. The wirelessly transmitted image data is received by a receiving device provided outside the subject, and further taken into an image display device such as a workstation and subjected to predetermined image processing. Thereby, the in-vivo image of the subject can be displayed as a still image or a moving image.

In recent years, a guidance system has been proposed that guides a capsule endoscope introduced into a subject by operating it from outside the subject. For example, in Patent Document 1, a capsule endoscope having a permanent magnet provided therein is introduced into a subject's digestive tract (for example, the stomach) together with a liquid such as water to float, and is placed outside the subject. A system for controlling the position or posture of a capsule endoscope by applying a magnetic field generated by another permanent magnet to the internal permanent magnet is disclosed.

As described above, the capsule endoscope can be guided by the user's operation so that the same inspection as that using a general wired endoscope can be performed by the capsule endoscope. Is expected to be.

International Publication No. 2007/077922

However, in the case of a capsule endoscope, it is possible for a user to bring the capsule endoscope closer to a desired target because there is no sense of insertion like a wired endoscope and the difference in the mechanism of the operation system. It is difficult and requires familiarity with the operation. In particular, when the target is moving, it is difficult to bring the capsule endoscope sufficiently close. Specifically, in order to observe the duodenum, it is necessary to introduce a capsule endoscope into the stomach and then pass through the pylorus. However, since the pylorus repeatedly contracts and the position and shape of the center where the capsule endoscope is relatively easy to pass through are constantly changing, it is very difficult to bring the capsule endoscope closer. is there. Further, when the pylorus is closed, it is necessary to press the capsule endoscope against the center of the pylorus and move it forward with force, which makes operation more difficult.

The present invention has been made in view of the above, and can easily bring a capsule endoscope closer to a pylorus whose position and shape fluctuate. Further, the capsule endoscope can be directed toward the pylorus. It is an object of the present invention to provide a capsule endoscope guidance system capable of moving a mirror forward and a method for operating the capsule endoscope guidance system.

In order to solve the above-described problems and achieve the object, a capsule endoscope guidance system according to the present invention introduces an image into a subject to generate an image signal, and sequentially generates the image signal. A capsule endoscope for wireless transmission; and a guidance device for guiding the capsule endoscope in the subject, wherein the guidance device changes the position and posture of the capsule endoscope. Means for sequentially receiving the image signal; an image for sequentially generating an in-vivo image based on the image signal; and extracting a pyloric region, which is a region in which the pylorus in the subject is reflected, from the in-vivo image A processing unit, a target position setting unit that sets a position in the subject corresponding to the pylorus region as a target position, and the capsule endoscope so that a center part of the field of view of the capsule endoscope matches the target position. With the first guidance control for changing the position or posture of the endoscope and the center of the visual field of the capsule endoscope aligned with the target position, the capsule endoscope is set to the target position. And a guidance control unit that executes second guidance control to advance toward the guidance means at least until it contacts the target position.

In the capsule endoscope guidance system, the image processing unit holds in advance a feature amount of an image showing a pylorus, and extracts the pyloric region based on the feature amount and the feature amount of the in-vivo image. It is characterized by that.

In the capsule endoscope guidance system, the guidance device further includes: a display unit that displays the in-vivo image; and an operation input unit that specifies a region in the in-vivo image according to an operation performed from outside. The image processing unit calculates a feature amount of the region specified by the operation input unit, and extracts the pyloric region based on the feature amount and the feature amount of the in-vivo image. To do.

In the capsule endoscope guidance system, the guidance device further includes an operation input unit that inputs an instruction signal corresponding to an operation performed from the outside, and the guidance control unit executes the first guidance control. Then, when the instruction signal is input from the operation input unit, the second guidance control is executed.

In the capsule endoscope guidance system, when the instruction signal is input from the operation input unit and the pyloric region is not extracted from the in-vivo image, the guidance control unit performs the second guidance. The control is terminated.

In the capsule endoscope guidance system, the guidance control unit ends the second guidance control when a predetermined time has elapsed after the instruction signal is input from the operation input unit. Features.

In the capsule endoscope guidance system, the guidance control unit starts executing the first and second guidance controls simultaneously when the target position is set.

In the capsule endoscope guidance system, the guidance controller further advances the capsule endoscope after the capsule endoscope contacts the target position during execution of the second guidance control. Then, guidance control for pressing the target position is performed.

In the capsule endoscope guidance system, the capsule endoscope has a permanent magnet inside, and the guiding means generates a magnetic field to be applied to the permanent magnet, whereby the capsule endoscope It is characterized by changing the position and posture of the.

An operation method of a capsule endoscope guidance system according to the present invention includes a capsule endoscope that is introduced into a subject and performs imaging, and a guidance device that guides the capsule endoscope. An operation method of an endoscope guidance system, wherein the capsule endoscope generates an image signal by imaging the inside of the subject and sequentially transmits the image signal wirelessly, and the guidance device includes: A receiving step for sequentially receiving the image signals wirelessly transmitted from the capsule endoscope; and the guidance device sequentially generates in-vivo images based on the image signals, and the pylorus in the subject is captured. Image processing step of extracting a pyloric region, which is a region, from the in-vivo image, and target position setting in which the guidance device sets a position in the subject corresponding to the pyloric region as a target position A first guidance control for changing a position or posture of the capsule endoscope so that a center portion of a visual field of the capsule endoscope matches the target position; and the capsule type A second guidance control is performed in which the capsule endoscope is advanced toward the target position at least until it comes into contact with the target position while keeping the center of the visual field of the endoscope at the target position. And a guidance control step.

According to the present invention, the position in the subject corresponding to the pyloric region extracted from the in-vivo image is set as the target position, and the capsule endoscope is set so that the center of the visual field of the capsule endoscope matches the target position. In this state, the capsule endoscope is directed to the target position, and the capsule endoscope is advanced at least until it comes into contact with the target position. The mold endoscope can be made to approach and pass easily.

FIG. 1 is a schematic diagram showing a configuration example of a capsule endoscope guidance system according to Embodiment 1 of the present invention. FIG. 2 is a schematic diagram showing an example of the internal structure of the capsule endoscope shown in FIG. FIG. 3 is a schematic diagram illustrating a configuration example of the magnetic field generation unit illustrated in FIG. 1. FIG. 4 is a flowchart showing the operation of the capsule endoscope guidance system according to the first embodiment of the present invention. FIG. 5 is a flowchart showing a user's operation in an examination using the capsule endoscope guidance system according to the first embodiment of the present invention. FIG. 6 is a schematic diagram showing a digestive tract in a subject. FIG. 7 is a schematic diagram showing a display screen of the in-vivo image displayed on the display unit shown in FIG. FIG. 8 is a schematic diagram illustrating a display example of a notification screen indicating that the center of the visual field matches the target position. FIG. 9 is a schematic diagram illustrating a display example of a notification screen indicating that the capsule endoscope has reached the target position. FIG. 10 is a flowchart showing the operation of the capsule endoscope guidance system according to the second embodiment of the present invention. FIG. 11 is a flowchart showing a user's operation in an examination using the capsule endoscope system according to the second embodiment of the present invention. FIG. 12 is a schematic diagram illustrating a display example of a pylorus confirmation screen displayed on the display unit in the capsule endoscope guidance system according to the second embodiment of the present invention.

Hereinafter, the capsule endoscope guidance system and the operation method of the capsule endoscope guidance system according to the embodiment of the present invention will be described with reference to the drawings. In the following description, capsule endoscopes that are orally introduced into a subject and image the inside of the subject (intraluminal) are illustrated as an example of a capsule endoscope. The present invention is not limited to the embodiments. That is, the present invention relates to various endoscopes that have a capsule type, such as a capsule endoscope that performs imaging while moving in the lumen from the esophagus to the anus of the subject, and that is introduced into the subject and performs imaging. It is possible to apply to.

In the following description, each drawing merely schematically shows the shape, size, and positional relationship to the extent that the contents of the present invention can be understood. Therefore, the present invention is not limited only to the shape, size, and positional relationship illustrated in each drawing. In the description of the drawings, the same portions are denoted by the same reference numerals.

(Embodiment 1)
FIG. 1 is a schematic diagram showing a configuration example of a capsule endoscope guidance system according to Embodiment 1 of the present invention. As shown in FIG. 1, a capsule endoscope guidance system 1 according to Embodiment 1 includes a capsule endoscope 10 that is introduced into a subject, and a guidance device 20 that guides the capsule endoscope 10. With. In the first embodiment, as a guidance method of the capsule endoscope 10, a capsule is provided by providing a permanent magnet inside the capsule endoscope 10 and applying a magnetic field MG generated by the guiding device 20 to the permanent magnet. A method of guiding the mold endoscope 10 is used.

The capsule endoscope 10 is introduced into the subject together with a predetermined liquid by oral ingestion or the like, then moves inside the digestive tract and is finally discharged out of the subject. Meanwhile, the capsule endoscope 10 drifts in the liquid inside the organ (for example, the stomach), images the inside of the subject while being guided by the magnetic field MG, sequentially generates image data of the in-vivo image, and wirelessly transmits it.

FIG. 2 is a schematic diagram showing an example of the internal structure of the capsule endoscope 10. As shown in FIG. 2, the capsule endoscope 10 and the capsule casing 100 which is an exterior case formed in a size that can be easily introduced into the organ of a subject, and imaging that captures subjects in different directions. The

processing unit

11A, 11B and the signals input from the

imaging units

11A, 11B are processed, the control unit 15 that controls each component of the capsule endoscope 10, and the signal processed by the control unit 15 is capsule-type. A wireless communication unit 16 that wirelessly transmits to the outside of the endoscope 10, a power supply unit 17 that supplies power to each component of the capsule endoscope 10, and a permanent magnet 18 that enables guidance by the guidance device 20. With.

The capsule-type casing 100 includes a cylindrical casing 101 and dome-shaped

casings

102 and 103, and is realized by closing both side opening ends of the cylindrical casing 101 with the dome-shaped

casings

102 and 103. The cylindrical casing 101 is a colored casing that is substantially opaque to visible light. On the other hand, the dome-shaped

casings

102 and 103 are dome-shaped optical members that are transparent to light of a predetermined wavelength band such as visible light. Such a capsule housing 100 encloses the

imaging units

11A and 11B, the control unit 15, the wireless communication unit 16, the power supply unit 17, and the permanent magnet 18 in a liquid-tight manner.

The imaging unit 11A includes an LED (Light Emitting Diode) or an LD (Laser Diode), and the like. The imaging unit 11A emits illumination light such as white light, an optical system 13A such as a condenser lens, a CMOS image sensor, or a CCD. And an image pickup device 14A made of the same. The illumination unit 12A irradiates the subject in the imaging field of the imaging device 14A with illumination light through the dome-shaped casing 102. The optical system 13A collects the reflected light from the imaging field and forms an image on the imaging surface of the imaging element 14A. The image sensor 14A converts the reflected light (optical signal) from the imaging field received on the imaging surface into an electrical signal and outputs it as an image signal.

Similar to the imaging unit 11A, the imaging unit 11B includes an illumination unit 12B such as an LED or an LD, an optical system 13B such as a condenser lens, and an imaging element 14B such as a CMOS image sensor or a CCD. The subject in the imaging field is imaged through the body 103.

The control unit 15 controls each operation of the

imaging units

11A and 11B and the wireless communication unit 16, and controls input / output of signals between these components. Specifically, the control unit 15 sets the imaging frame rate in the

imaging units

11A and 11B, and images the subject in the imaging field illuminated by the illuminating unit 12A onto the imaging element 14A at the set imaging frame rate. At the same time, the imaging element 14B images the subject in the imaging field illuminated by the illumination unit 12B. Then, the control unit 15 performs predetermined signal processing on the image signals output from the

imaging elements

14A and 14B. Further, the control unit 15 causes the wireless communication unit 16 to wirelessly transmit the image signals sequentially.

The wireless communication unit 16 includes an antenna 16a for transmitting a wireless signal. The wireless communication unit 16 acquires from the control unit 15 an image signal of the in-vivo image generated by the

imaging units

11A and 11B imaging the subject, and performs a modulation process on the image signal to generate a wireless signal. And transmitted to the guidance device 20 via the antenna 16a.

The power supply unit 17 is a power storage unit such as a button-type battery or a capacitor, and has a switch unit such as a magnetic switch or an optical switch. When the power supply unit 17 is configured to have a magnetic switch, the power supply unit 17 switches the on / off state of the power supply by a magnetic field applied from the outside. The power supply unit 17 supplies power of the power storage unit to each component (the

imaging units

11A and 11B, the control unit 15, and the wireless communication unit 16) of the capsule endoscope 10 when in the on state. Sometimes, power supply to each component of the capsule endoscope 10 is stopped.

The permanent magnet 18 is for enabling the capsule endoscope 10 to be guided by the magnetic field MG generated by the guiding device 20, and is fixedly arranged in a predetermined direction inside the capsule casing 100. . In the first embodiment, the permanent magnet 18 is arranged so that the magnetization direction indicated by the arrow is orthogonal to the long axis La of the capsule endoscope 10. The permanent magnet 18 operates following the magnetic field MG applied from the outside, and as a result, guidance of the capsule endoscope 10 by the guidance device 20 is realized.

Referring to FIG. 1 again, the guidance device 20 performs wireless communication with the capsule endoscope 10 and receives a wireless signal transmitted from the capsule endoscope 10; The position and posture detection unit 22 for detecting the position of the capsule endoscope 10 in the subject based on the wireless signal received by the patient and the in-vivo image based on the wireless signal received by the reception unit 21 and the generation An image processing unit 23 that performs predetermined image processing on the in-vivo image, a display unit 24 that displays the in-vivo image generated by the image processing unit 23 on a screen, and a guidance unit that guides the capsule endoscope 10 The magnetic field generation unit 25, the control unit 26 that controls each of these units, the operation input unit 27 that receives input of instructions and information to the capsule endoscope guidance system 1, and the capsule endoscope 10 And a storage unit 28 for storing image data and various kinds of information have been vivo image.

The receiving unit 21 includes a plurality of receiving antennas 21a, and sequentially receives the radio signals transmitted from the capsule endoscope 10 via these receiving antennas 21a. The receiving unit 21 selects an antenna having the highest received electric field strength from these receiving antennas 21a, and extracts an image signal by performing a demodulation process or the like on the radio signal received through the selected antenna.

The position and orientation detection unit 22 detects the position and orientation of the capsule endoscope 10 in the subject based on the intensity of the radio signal received by the reception unit 21, and information on the position of the capsule endoscope 10 (Hereinafter referred to as position information) is generated and output. Specifically, the position and orientation detection unit 22 appropriately sets an initial value of the position of the capsule endoscope 10 and determines the position by the Gauss-Newton method based on the intensity distribution of the radio signal received by each receiving antenna 21a. The position of the capsule endoscope 10 is obtained by repeating the process of calculating the estimated value until the amount of deviation between the calculated estimated value and the previous estimated value is equal to or less than a predetermined value (for example, Japanese Patent Application Laid-Open No. 2007-2007). No. 283001).

Note that the method for detecting the position and orientation of the capsule endoscope 10 is not limited to the method described above. For example, a coil for generating a magnetic field is provided in the capsule endoscope 10 and a plurality of sense coils for detecting the magnetic field generated by the coils are provided on the guidance device 20 side, and the amplitude of the magnetic field detected by each sense coil and Based on the phase, the position and orientation of the capsule endoscope 10 may be detected (see, for example, International Publication No. 2009/031456).

The image processing unit 23 captures an image signal from the receiving unit 21 and performs white balance processing, demosaicing, color conversion, density conversion (gamma conversion, etc.), smoothing (noise removal, etc.), sharpening (edge enhancement, etc.), etc. In-vivo images are generated by performing image processing, and predetermined image processing is performed on the generated in-vivo images. Specifically, the image processing unit 23 performs a process for calculating the feature amount of the in-vivo image, an image recognition process, and the like, thereby extracting a pyloric region that is an area in which the pylorus in the subject is captured from the in-vivo image. 231.

The display unit 24 includes various displays such as a liquid crystal display, and displays an image generated by the image processing unit 23, the position of the capsule endoscope 10 detected by the position and orientation detection unit 22, and various other information.

The magnetic field generator 25 changes the position and posture of the capsule endoscope 10 by generating a magnetic field MG that acts on the permanent magnet 18 built in the capsule endoscope 10. FIG. 3 is a schematic diagram illustrating a configuration example of the magnetic field generation unit 25. In the first embodiment, the magnetic field generation unit 25 includes an extracorporeal permanent magnet 25a that generates a magnetic field, and a driving unit that translates and rotates the extracorporeal permanent magnet 25a. The planar position changing unit 25b, the vertical position changing unit 25c, and the elevation angle changing unit. 25d and a turning angle changing unit 25e. Such a magnetic field generation unit 25 is installed, for example, under a bed or the like on which a subject is placed, and operates under the control of a guidance control unit 262 described later.

The extracorporeal permanent magnet 25a is preferably realized by a bar magnet having a rectangular parallelepiped shape, and is capsule-shaped in a region obtained by projecting one surface PL of four surfaces parallel to its magnetization direction onto a horizontal plane (xy plane). The endoscope 10 is restrained.

The plane position changing unit 25b translates the extracorporeal permanent magnet 25a in the horizontal plane (x direction and y direction). Thereby, the capsule endoscope 10 restrained by the magnetic field MG moves in the horizontal plane.

The vertical position changing unit 25c translates the extracorporeal permanent magnet 25a in the vertical direction (z direction). Thereby, the capsule endoscope 10 restrained by the magnetic field MG moves in the vertical direction.

The elevation angle changing unit 25d changes the angle of the magnetization direction with respect to the horizontal plane by rotating the extracorporeal permanent magnet 25a in a vertical plane including the magnetization direction of the extracorporeal permanent magnet 25a. That is, the extracorporeal permanent magnet 25a is rotated with respect to an axis parallel to the plane PL and orthogonal to the magnetization direction and passing through the center of the extracorporeal permanent magnet 25a. As a result, the angle (elevation angle) of the long axis La of the capsule endoscope 10 constrained by the magnetic field MG with respect to the horizontal plane changes.

The turning angle changing unit 25e rotates the extracorporeal permanent magnet 25a with respect to the vertical axis passing through the center of the extracorporeal permanent magnet 25a. Thereby, the angle (turning angle) around the vertical axis of the long axis La of the capsule endoscope 10 constrained by the magnetic field MG changes.

Note that the configuration of the magnetic field generation unit 25 is not limited to the configuration shown in FIG. For example, an electromagnet may be provided instead of the extracorporeal permanent magnet 25a, and the magnetic field acting on the capsule endoscope 10 may be changed by translating and rotating the electromagnet. Alternatively, a plurality of electromagnets may be provided as the magnetic field generation unit 25, and the combined magnetic field generated by these electromagnets acting on the capsule endoscope 10 may be changed by adjusting the power supplied to each electromagnet.

The control unit 26 comprehensively controls the operation of each part of the guidance device 20, the position information of the capsule endoscope 10 captured from the position and orientation detection unit 22, and the signal input from the operation input unit 27. Based on the above, control for guiding the capsule endoscope 10 in the subject is performed. Specifically, the control unit 26 generates a target position setting unit 261 that sets a target position in the subject to which the capsule endoscope 10 is approached, and a magnetic field MG for guiding the capsule endoscope 10. And a guidance control unit 262 for controlling the operation of the magnetic field generation unit 25.

In accordance with the signal input from the operation input unit 27, the target position setting unit 261 selects a region (for example, pylorus) in the subject corresponding to the region selected by the user with respect to the in-vivo image displayed on the display unit 24 as the target position. Set as. Specifically, the target position setting unit 261 determines the position of the region selected in the in-vivo image based on the position information of the capsule endoscope 10 (that is, the current position and posture of the capsule endoscope 10). And this position is set as the target position of the capsule endoscope 10.

The guidance control unit 262 outputs a control signal to the magnetic field generation unit 25 based on the position information of the capsule endoscope 10 and the guidance instruction information input from the operation input unit 27, so that the user desired position and Control for guiding the capsule endoscope 10 to the posture is performed. The guidance control unit 262 also changes the position or posture of the capsule endoscope 10 so that the center of the visual field of the capsule endoscope 10 (that is, the center of the in-vivo image) matches the target position. In the state where the target position is aligned with the center of the visual field of the capsule endoscope 10 and the first guidance control that causes the magnetic field generation unit 25 to generate the at least the target The second guidance control is executed to cause the magnetic field generation unit 25 to generate the magnetic field MG to be advanced until it comes into contact with the position.

The operation input unit 27 is an input device including a console including a joystick, various buttons, and various switches, a keyboard, a touch panel, a mouse, and the like, and guides the capsule endoscope 10 according to an operation performed from the outside. Guidance instruction information and a signal representing instructions and information for the guidance device 20 are input to the control unit 26. The guidance instruction information is instruction information for changing the position and posture of the capsule endoscope 10, and specifically, an operation for translating the capsule endoscope 10 in the horizontal direction or the vertical direction (translation operation). Or an operation for changing the inclination angle of the long axis La of the capsule endoscope 10 with respect to the vertical axis (an inclination angle changing operation), or an azimuth angle (about the vertical axis) by rotating the capsule endoscope 10 about the vertical axis. Information on an operation (azimuth angle changing operation) or the like for changing the angle is included.

More specifically, the operation input unit 27 includes a pyloric region specifying unit 271 that specifies a pyloric region for the in-vivo image displayed on the display unit 24. When a region is selected by a predetermined pointer operation (for example, drag and drop operation) using the mouse or the like on the display unit 24, the pyloric region specifying unit 271 controls a signal for specifying the selected region as a pyloric region. Input to the unit 26.

Further, the operation input unit 27 includes a passage instruction input unit 272 that inputs an instruction to pass the pylorus to the capsule endoscope 10 when the pylorus is set as the target position by the target position setting unit 261. When a predetermined pointer operation (for example, a click operation) using a mouse or the like is performed on an icon (input button or the like) displayed on the display unit 24, the passage instruction input unit 272 is applied to the capsule endoscope 10. An instruction signal for passing the pylorus is input to the control unit 26.

The storage unit 28 is realized by using a storage medium that stores information in a rewritable manner such as a flash memory or a hard disk. In addition to the in-vivo image data based on the image signal transmitted from the capsule endoscope 10, the storage unit 28 stores information such as various programs and various parameters for the control unit 26 to control each unit of the guidance device 20. Remember.

Next, an inspection method using the capsule endoscope guidance system 1 will be described. FIG. 4 is a flowchart showing the operation of the capsule endoscope guidance system 1. FIG. 5 is a flowchart showing the operation of the user (medical staff in charge of the examination) in the examination using the capsule endoscope guidance system 1.

As shown in FIG. 5, in step S200, the user turns on the power of the capsule endoscope 10 and introduces it into the subject. Specifically, the capsule endoscope 10 is swallowed by a subject together with a liquid such as water.

As shown in FIG. 4, when the capsule endoscope 10 is powered on in step S100, the capsule endoscope 10 starts imaging in the subsequent step S101, and the generated image signal is transmitted to the guidance device 20. Sequentially. Further, in step S <b> 102, the guidance device 20 generates an in-vivo image based on the received image signal and displays it on the display unit 24.

In step S201, the user observes the in-vivo image displayed on the display unit 24 and confirms that the capsule endoscope 10 has reached the stomach in the subject. In subsequent step S <b> 202, the user observes the inside of the stomach from the in-vivo image captured on the display unit 24 while guiding the capsule endoscope 10 floating in the liquid using the operation input unit 27. In order to avoid overlapping of observation areas, the observation order of the pylorus is preferably last.

In step S103, the control unit 26 determines whether or not the guidance instruction information is input from the operation input unit 27. When the guidance instruction information is not input (step S103: No), the operation of the guidance device 20 proceeds to step S105 described later. On the other hand, when the guidance instruction information is input (step S103: Yes), the guidance control unit 262 controls the magnetic field generation unit 25 according to the input guidance instruction information, so that the position or posture of the capsule endoscope 10 is determined. Is changed (step S104).

After observing the stomach other than the pylorus, in step S203, the user performs an operation of guiding the capsule endoscope 10 to the pylorus.

Here, FIG. 6 is a schematic diagram showing a digestive tract in a subject. As shown in FIG. 6, a ring-shaped muscle tissue called a pyloric ring exists at the boundary between the stomach and the duodenum. The pyloric ring is a tissue that opens and closes according to the action of the stomach and sends the contents of the stomach to the duodenum, and can be distinguished from other areas in the stomach by color, shape, and the like. FIG. 7 is a schematic diagram showing a display screen for in-vivo images displayed on the display unit 24. A screen M1 shown in FIG. 7 includes an in-vivo image display area m10 in which an in-vivo image is displayed, and an OK button m11.

In step S204, the user observes the in-vivo image displayed on the display unit 24 and determines whether or not the pyloric ring is reflected. When it is determined that the pylorus ring is not reflected in the in-vivo image (step S204: No), the user continues to perform an operation for guiding the capsule endoscope 10 to the pylorus ring (step S203).

On the other hand, when the user determines that the pyloric ring is reflected in the in-vivo image (step S204: Yes), the operation input unit 27 is used to select the pyloric ring on the in-vivo image displayed on the display unit 24. This is performed (step S205). Specifically, by dragging and dropping the cursor on the in-vivo image displayed in the in-vivo image display area m10, the area including the pyloric ring m12 is surrounded by a rectangular frame m13, and the OK button m11 is clicked. . In response to this, a signal for designating the selected region as the pyloric region is input from the pyloric region designating unit 271 (see FIG. 1) to the control unit 26.

In step S105, the control unit 26 determines whether or not a signal specifying the pyloric region is input from the pyloric region specifying unit 271. When there is no input of a signal specifying the pyloric region (step S105: No), the operation of the guidance device 20 returns to step S103.

On the other hand, when a signal specifying the pyloric region is input (step S105: Yes), the target position setting unit 261 sets a region in the subject corresponding to the pyloric region in the in-vivo image as the target position (step S106). .

In step S107, the image processing unit 23 calculates the feature amount of the region designated as the pyloric region. As the feature amount, it is preferable to use a parameter that does not change with respect to enlargement, reduction, or rotation of the image. Thereby, even if the shape and position of the pyloric region in the in-vivo image fluctuate, the target position can be reliably supplemented. Specifically, a color feature amount such as an average color of the pyloric region may be used as the feature amount.

In step S108, the guidance control unit 262 determines that the center of the visual field (for example, the visual field of the imaging unit 11A) (that is, the central part of the in-vivo image displayed in the in-vivo image display area m10) matches the target position. The guidance control of the endoscope 10 is performed. Specifically, based on the in-vivo image generated by the image processing unit 23 and the position and size of the pyloric region on the in-vivo image, the distance and angle between the capsule endoscope 10 and the target position are calculated, Feedback control is performed on the magnetic field generation unit 25 in order to change the position and posture of the capsule endoscope 10 so that the center portion matches the target position.

In step S109, the control unit 26 causes the image processing unit 23 to perform image recognition processing, and determines whether or not the center of the visual field of the capsule endoscope 10 matches the target position based on the result. Specifically, the image processing unit 23 calculates the feature amount of the central portion of the in-vivo image, and compares this feature amount with the feature amount of the pyloric region calculated in step S107. If the difference between the two feature amounts is within a predetermined range, it is determined that the center of the field of view matches the target position. Note that this image recognition processing may be performed on in-vivo images of all frames that are sequentially generated, or may be performed on in-vivo images thinned out at a predetermined interval.

If the center of the field of view still does not match the target position (step S109: No), the operation of the guidance device 20 returns to step S108. By repeating these steps S108 to S109, the pylorus region approaches the center in the in-vivo image displayed on the display unit 24.

When the center of the visual field matches the target position (step S109: Yes), the control unit 26 causes the display unit 24 to display a notification screen indicating that the central part of the visual field matches the target position (step S110).

FIG. 8 is a schematic diagram showing a display example of a notification screen indicating that the center of the visual field matches the target position. The screen M2 shown in FIG. 8 includes an approach instruction input button m14 for inputting an instruction to bring the capsule endoscope 10 to the target position in addition to the in-vivo image display area m10. In the in-vivo image display area m10, an in-vivo image with the pyloric ring m12 positioned at the center is displayed. By confirming that the approach instruction input button m14 is displayed on the screen M2, the user can recognize that the center portion of the visual field of the capsule endoscope 10 matches the target position.

In step S206, the user observes the pylorus. When the observation of the pylorus is completed, in step S207, the user performs an input operation of an instruction for causing the capsule endoscope 10 to approach the pylorus. Specifically, using the operation input unit 27, a selection operation is performed by a click operation or the like of the approach instruction input button m14 in the screen M2. In response to this, the operation input unit 27 inputs an approach instruction signal to the control unit 26.

In step S111, the control unit 26 determines whether an approach instruction signal is input from the operation input unit 27. When the approach instruction signal is not input (step S111: No), the control unit 26 stands by as it is.

On the other hand, when the approach instruction signal is input (step S111: Yes), the guidance control unit 262 performs guidance control to advance the capsule endoscope 10 to the target position (step S112). At this time, since the target position is already located at the center of the visual field of the capsule endoscope 10, if the capsule endoscope 10 is moved vertically with respect to the surface (pylorus ring) where the target position exists. good. That is, it is only necessary to move the capsule endoscope 10 in the direction of the long axis La of the capsule endoscope 10.

In step S113, the control unit 26 determines whether or not the capsule endoscope 10 has arrived at the pylorus, which is the target position. Here, when the capsule endoscope 10 arrives at the pylorus and the tip of the capsule endoscope 10 comes into contact with the pylorus, the capsule endoscope 10 is guided and controlled to move forward. The position of the mold endoscope 10 does not change. Therefore, when the position of the capsule endoscope 10 no longer changes, it can be determined that the capsule endoscope 10 has arrived at the pylorus.

When the capsule endoscope 10 has not yet arrived at the pylorus which is the target position (step S113: No), the control unit 26 continues to perform guidance control to advance the capsule endoscope 10 to the target position (step S112).

On the other hand, when the capsule endoscope 10 arrives at the pylorus which is the target position (step S113: Yes), the control unit 26 displays a notification screen indicating that the capsule endoscope 10 has reached the target position. (Step S114).

FIG. 9 is a schematic diagram showing a display example of a notification screen indicating that the capsule endoscope 10 has reached the target position. A screen M3 shown in FIG. 9 includes, in addition to the in-vivo image display area m10, a pyloric passage instruction input button m15 for inputting an instruction for allowing the capsule endoscope 10 to pass the pyloric ring m12. Further, in the in-vivo image display region m10, the pylorus ring m12 at the center is displayed in a larger state as the capsule endoscope 10 approaches the pylorus than before the approach. The user can recognize that the capsule endoscope 10 has reached the target position by confirming that the pyloric passage instruction input button m15 is displayed on the screen M3.

In step S208, the user performs an input operation for instructing the capsule endoscope 10 to pass the pylorus. Specifically, using the operation input unit 27, a selection operation is performed by a click operation or the like of the pylorus passage instruction input button m15 in the screen M3. In response to this, the operation input unit 27 inputs a pyloric passage instruction signal to the control unit 26.

In step S115, the control unit 26 determines whether or not a pyloric passage instruction signal is input from the operation input unit 27. When the pyloric passage instruction signal is not input (step S115: No), the control unit 26 stands by as it is.

On the other hand, when a pyloric passage instruction signal is input from the operation input unit 27 (step S115: Yes), the guidance control unit 262 performs guidance control to further advance the capsule endoscope 10 (step S116). At this time, the guidance control unit 262 causes the magnetic field generation unit 25 to generate a strong magnetic field so that the capsule endoscope 10 keeps moving forward by pressing the pyloric ring even when the capsule endoscope 10 contacts the pyloric ring. Thereby, the pylorus ring is opened and the capsule endoscope 10 is passed through.

In step S117, the control unit 26 determines whether or not the capsule endoscope 10 has passed through the pylorus ring. Specifically, by causing the image processing unit 23 to perform image recognition processing, it is determined whether or not the pyloric region has disappeared from the in-vivo image. When the pyloric region has disappeared from the in-vivo image, the capsule endoscope 10 Is determined to have moved through the pyloric ring to the duodenum. Note that this image recognition processing is performed by comparing the feature amount of the in-vivo image with the feature amount of the pyloric region calculated in step S107, as in step S109. Alternatively, the control unit 26 may determine that the capsule endoscope 10 has passed through the pyloric ring when a predetermined time has elapsed since the capsule endoscope 10 started moving toward the pyloric ring.

If the capsule endoscope 10 has not yet passed through the pylorus (step S117: No), the guidance control unit 262 continues the guidance control for moving the capsule endoscope 10 forward (step S116). On the other hand, when the capsule endoscope 10 passes through the pyloric ring (step S117: Yes), the guidance control unit 262 cancels the guidance control for moving the capsule endoscope 10 forward (step S118).

After this, the user observes the duodenum and small intestine as necessary. In step S209, an operation for ending the inspection is performed. Specifically, a predetermined pointer operation on the screen of the display unit 24 (for example, a click operation on the end button), a pressing operation on a dedicated input button, or the like is performed. In response to this, the operation input unit 27 inputs a signal instructing the end of the inspection to the control unit 26.

In step S119, the control unit 26 determines whether or not a signal instructing the end of the inspection is input from the operation input unit 27. When the signal for instructing the end of the examination is not input (step S119: No), the guidance device 20 continues displaying the in-vivo image based on the image signal received from the capsule endoscope 10. In the meantime, when guidance instruction information is input from the operation input unit 27, guidance control of the capsule endoscope 10 is performed according to the guidance instruction information.

On the other hand, when a signal instructing the end of the examination is input (step S119: Yes), the control unit 26 ends the display of the in-vivo image (step S120), and then ends the operation of the guidance device 20.

As described above, according to the first embodiment, the region in the subject corresponding to the pyloric ring selected by the user on the in-vivo image is set as the target position, and the center of the visual field of the capsule endoscope 10 is set. Since the guidance control is performed so that the capsule endoscope 10 is moved forward toward the target position, even if the pylorus fluctuates in the subject, The endoscope 10 can be surely brought close to the pylorus ring and allowed to pass through.

In the first embodiment, when the approach instruction signal is input from the operation input unit 27 after the center of the visual field of the capsule endoscope 10 is set to the target position, the capsule endoscope 10 However, when the target position setting unit 261 sets the target position, the guidance control for adjusting the center of the visual field of the capsule endoscope 10 to the target position and the capsule type are performed. The guidance control for bringing the endoscope 10 closer to the target position may be started simultaneously.

(Embodiment 2)
Next, a second embodiment of the present invention will be described.
The configuration of the capsule endoscope guidance system according to the second embodiment is the same as that shown in FIG. 1, and the operation for setting the pylorus as the target position is different from that of the first embodiment.

In the second embodiment, the characteristic amount of a typical pylorus ring image collected by past examination or the like is stored in the storage unit 28 in advance. The pylorus extraction unit 231 automatically extracts the pylorus region from the in-vivo image using this feature amount. The target position setting unit 261 sets a region in the subject corresponding to the pyloric region automatically extracted by the pyloric extraction unit 231 as a target position.

FIG. 10 is a flowchart showing the operation of the capsule endoscope guidance system according to the second embodiment. Among these, steps S100 to S104 are the same as those in the first embodiment. FIG. 11 is a flowchart showing a user operation in an examination using the capsule endoscope guidance system according to the second embodiment. Among these, steps S200 to S202 are the same as those in the first embodiment. In the second embodiment, when observing the inside of the stomach, the user does not need to end the observation order of the pylorus part, and can proceed with observation from a desired site.

In step S130 following step S104, the pylorus extraction unit 231 calculates the feature amount of the in-vivo images that are sequentially generated, and compares the calculated feature amount with the feature amount of the pylorus ring image stored in the storage unit 28. Thus, a process for detecting a candidate region of the pyloric region from the in-vivo image is performed.

In step S131, when the candidate area is not detected from the in-vivo image (step S131: No), the operation of the guidance device 20 proceeds to step S135 described later. On the other hand, when a candidate area is detected from the in-vivo image (step S131: Yes), the control unit 26 causes the user to check whether the detected candidate area is a pyloric area (pylorus confirmation screen). Is created and displayed on the display unit 24 (step S132).

FIG. 12 is a schematic diagram showing a display example of the pylorus confirmation screen. The pylorus confirmation screen M4 shown in FIG. 12 includes, in addition to the in-vivo image display area m10, a pylorus confirmation button m17 and an unconfirmed button m18 for the user to input a determination result. In addition to the in-vivo image, a frame m16 surrounding the candidate area detected from the in-vivo image is superimposed on the in-vivo image display area m10.

In step S220, the user visually checks the candidate area surrounded by the frame m16, and inputs the determination result as to whether or not this candidate area is a pyloric area using the operation input unit 27. Specifically, when it is determined that the candidate area is a pylorus area, the operation input unit 27 is used to perform a selection operation by clicking the pylorus confirmation button m17 in the pylorus confirmation screen M4. In response to this, a pylorus confirmation signal indicating that the candidate region is a pyloric region is input from the operation input unit 27 to the control unit 26. On the other hand, when the user determines that the candidate area is not the pylorus area, the user uses the operation input unit 27 to select and operate the unconfirmed button m18 in the pylorus confirmation screen M4. In response to this, a signal indicating that the candidate region is not the pyloric region is input from the operation input unit 27 to the control unit 26.

When the user continues to observe the stomach (step S221: No), the user returns to step S202. Then, when the pylorus confirmation screen is displayed on the display unit 24, the candidate area may be determined as needed. On the other hand, when ending the stomach observation (step S221: Yes), the user performs an operation for ending the stomach observation (step S222). Specifically, a predetermined pointer operation on the screen of the display unit 24 (for example, a click operation on the stomach observation end button), a pressing operation on a dedicated input button, or the like is performed. In response to this, the operation input unit 27 inputs a signal instructing the end of stomach observation to the control unit 26.

In step S133, when the pylorus confirmation signal is not input from the operation input unit 27 (step S133: No), the operation of the guidance device 20 proceeds to step S135 as it is. On the other hand, when the pylorus confirmation signal is input from the operation input unit 27 (step S133: Yes), the control unit 26 detects the position information of the capsule endoscope 10 (that is, the current position of the capsule endoscope 10 and the current position of the capsule endoscope 10). The position of the candidate area confirmed as the pyloric area is calculated based on the (posture), and position information representing this position is stored (step S134).

In subsequent step S135, the control unit 26 determines whether or not a signal instructing the end of stomach observation is input from the operation input unit 27. When the signal for instructing the end of the stomach observation is not input (step S135: No), the operation of the guidance device 20 returns to step S103.

On the other hand, when a signal instructing the end of stomach observation is input (step S135: Yes), the target position setting unit 261 reads the position information stored in the storage unit 28 in step S134, and is confirmed as a pyloric region. The position in the subject corresponding to the candidate area is set as the target position (step S136). The subsequent operations after step S108 are the same as those in the first embodiment. In addition, the user operations after step S206 are the same as those in the first embodiment.

As described above, according to the second embodiment of the present invention, the pylorus extraction unit 231 automatically detects the candidate area of the pylorus area while the user is observing the stomach, and the candidate area Among them, the candidate area determined by the user as the pyloric area and the position information thereof are stored in the storage unit 28, so that the user can observe the stomach in a desired order.

(Modification)
Next, a modification of the second embodiment of the present invention will be described.
In Embodiment 2 described above, the user is allowed to determine whether or not the candidate area detected by the pylorus extraction unit 231 is a pyloric area, but the control unit 26 may execute a determination on the candidate area. . In this case, when detecting the candidate area of the pyloric region, the pylorus extracting unit 231 associates the extracted feature amount of the candidate region with the positional information of the capsule endoscope 10 at this time and stores it in the storage unit 28. Then, after the signal for instructing the end of the stomach observation is input (see step S135), the control unit 26 reads the feature amount of the candidate area accumulated in the storage unit 28, and is stored in the storage unit 28 in advance. A candidate area that most closely matches the feature amount of the pylorus ring image is determined as a pylorus area, and a target position is set based on position information associated with the candidate area.

Alternatively, after a signal instructing the end of stomach observation is input (see step S135), the control unit 26 displays a list of in-vivo images including candidate regions accumulated in the storage unit 28, and the in-vivo images displayed as a list are displayed. The in-vivo image including the pyloric region may be selected by the user. In this case, the control unit 26 determines a candidate area in the in-vivo image selected by the user as a pyloric area, and sets a target position based on position information associated with the candidate area.

Embodiments 1 and 2 and the modifications described above are merely examples for carrying out the present invention, and the present invention is not limited to these. In addition, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the first and second embodiments and the modified examples. It is obvious from the above description that the present invention can be variously modified according to specifications and the like, and that various other embodiments are possible within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Capsule-type endoscope guidance system 10 Capsule-

type endoscope

11A,

11B Imaging part

12A,

12B Illumination part

13A,

13B Optical system

14A, 14B Imaging element 15 Control part 16 Wireless communication part 16a Antenna 17 Power supply part 18 Permanent magnet 20 Guiding device 21 Receiving unit 21a Receiving antenna 22 Position and posture detecting unit 23 Image processing unit 231 Pyloric extraction unit 24 Display unit 25 Magnetic field generating unit 25a Extracorporeal permanent magnet 25b Planar position changing unit 25c Vertical position changing unit 25d Elevation angle changing unit 25e Turning angle Change unit 26 Control unit 261 Target position setting unit 262 Guidance control unit 27 Operation input unit 271 Pyloric region designation unit 272 Passing instruction input unit 28 Storage unit 100 Capsule-type casing 101 Cylindrical casing 102, 103 Domed casing

Claims

A capsule endoscope that is introduced into a subject and performs imaging to generate an image signal and sequentially wirelessly transmit the image signal;
A guiding device for guiding the capsule endoscope in the subject;
With
The guidance device includes:
Guiding means for changing the position and posture of the capsule endoscope;
A receiving unit for sequentially receiving the image signals;
An image processing unit that sequentially generates in-vivo images based on the image signals, and extracts a pyloric region that is a region in which the pylorus is reflected in the subject from the in-vivo image;
A target position setting unit that sets a position in the subject corresponding to the pylorus region as a target position;
A first guidance control for changing a position or posture of the capsule endoscope so that a central portion of the visual field of the capsule endoscope is aligned with the target position; and a central portion of the visual field of the capsule endoscope In a state in which the capsule endoscope is directed to the target position and advanced at least until the capsule endoscope comes into contact with the target position, in a state where the position of the capsule endoscope is adjusted to the target position. A control unit;
Having
A capsule endoscope guidance system characterized by the above.
The said image processing part hold | maintains beforehand the feature-value of the image in which the pylorus was reflected, and extracts the said pylorus area | region based on this feature-value and the feature-value of the said in-vivo image. Capsule type endoscope guidance system.
The guidance device includes:
A display unit for displaying the in-vivo image;
An operation input unit for designating a region in the in-vivo image according to an operation performed from the outside;
Further comprising
The image processing unit calculates a feature amount of the region specified by the operation input unit, and extracts the pyloric region based on the feature amount and the feature amount of the in-vivo image;
The capsule endoscope guidance system according to claim 1.
The guidance device further includes an operation input unit that inputs an instruction signal according to an operation performed from the outside,
The guidance control unit executes the second guidance control when the instruction signal is input from the operation input unit after executing the first guidance control.
The capsule endoscope guidance system according to claim 1.
The guidance control unit ends the second guidance control when the pyloric region is not extracted from the in-vivo image after the instruction signal is input from the operation input unit. The capsule endoscope guidance system according to claim 4.
The capsule according to claim 4, wherein the guidance control unit ends the second guidance control when a predetermined time has elapsed after the instruction signal is input from the operation input unit. Type endoscope guidance system.
The capsule endoscope guidance system according to claim 1, wherein when the target position is set, the guidance control unit starts executing the first and second guidance controls simultaneously.
The guidance control unit is configured to perform guidance control to further advance the capsule endoscope and press the target position after the capsule endoscope comes into contact with the target position during execution of the second guidance control. The capsule endoscope guidance system according to claim 1, wherein:
The capsule endoscope has a permanent magnet inside,
The guiding means changes the position and posture of the capsule endoscope by generating a magnetic field to be applied to the permanent magnet.
The capsule endoscope guiding system according to any one of claims 1 to 8, wherein
An operation method of a capsule endoscope guidance system including a capsule endoscope that is introduced into a subject and performs imaging, and a guidance device that guides the capsule endoscope,
A transmission step in which the capsule endoscope generates an image signal by imaging the inside of the subject and wirelessly transmits the image signal sequentially;
A receiving step in which the guidance device sequentially receives the image signals wirelessly transmitted from the capsule endoscope;
The guidance device sequentially generates in-vivo images based on the image signals, and an image processing step of extracting from the in-vivo image a pyloric region that is a region in which the pylorus is reflected in the subject;
A target position setting step in which the guidance device sets a position in the subject corresponding to the pyloric region as a target position;
The guidance device includes a first guidance control for changing a position or posture of the capsule endoscope so that a center portion of a visual field of the capsule endoscope matches the target position, and the capsule endoscope. Guidance control for executing second guidance control for moving the capsule endoscope toward the target position and moving forward at least until it contacts the target position while keeping the center of the visual field of the subject at the target position Steps,
A method for operating a capsule endoscope guidance system, comprising: