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1. 发明申请

US20080306340A1 ENCAPSULATED MEDICAL DEVICE GUIDANCE SYSTEM, AND METHOD OF CONTROLLING THE SAME 审中-公开
标题翻译：封装医疗装置指导系统及其控制方法
公开(公告)号：US20080306340A1
公开(公告)日：2008-12-11
申请号：US12147262
申请日：2008-06-26
申请人： Akio UCHIYAMA , Atsushi KIMURA , Isao AOKI
发明人： Akio UCHIYAMA , Atsushi KIMURA , Isao AOKI
IPC分类号： A61B1/00
CPC分类号： A61B1/041 , A61B1/00158 , A61B34/70 , A61B34/73
摘要： An encapsulated medical device guidance system, and a method of controlling the system, in which guidance coils are arranged to divide a magnetic field generating plane into at least two front and rear areas, a magnetic field for canceling gravity applied to a capsule endoscope itself is formed, and superposed on a magnetic field for moving or changing an attitude, a frictional resistance in moving a capsule endoscope is reduced by decreasing an area of an endoscope to contact the surface of an intracavital.
摘要翻译：一种胶囊化医疗装置引导系统以及控制该系统的方法，其中，引导线圈被布置成将磁场产生平面分成至少两个前后区域，用于消除施加到胶囊内窥镜本身的重力的磁场是形成并且重叠在用于移动或改变姿势的磁场上，通过减小内窥镜的面积以与孔内表面接触来减小移动胶囊型内窥镜中的摩擦阻力。

2. 发明申请

US20080294006A1 ENCAPSULATED MEDICAL DEVICE GUIDANCE SYSTEM, AND A METHOD OF CONTROLLING THE SAME 有权
标题翻译：封装医疗装置指导系统及其控制方法
公开(公告)号：US20080294006A1
公开(公告)日：2008-11-27
申请号：US12146712
申请日：2008-06-26
申请人： Akio UCHIYAMA , Atsushi KIMURA , Isao AOKI
发明人： Akio UCHIYAMA , Atsushi KIMURA , Isao AOKI
IPC分类号： A61B1/00
CPC分类号： A61B1/041 , A61B1/00158 , A61B34/70 , A61B34/73
摘要： An encapsulated medical device guidance system, and a method of controlling the system, in which a magnetic generator acts on a magnet built into a capsulated medical device, and generates a magnetic field for controlling the position and/or posture of the capsulated medical device, and a control unit has a dynamic torque estimation unit to estimate a dynamic torque to be applied to the encapsulated medical device in a target posture, controls a magnetic field generated from the magnetic field generator so that a magnetic torque generated by the magnetic field generator becomes proportional to a dynamic torque estimated by the dynamic torque estimation unit, and controls the posture of a capsule endoscope by considering gravity applied to the capsule endoscope itself.
摘要翻译：一种封装的医疗装置引导系统和一种控制系统的方法，其中磁性发生器作用在内置于封装的医疗装置中的磁体上，并且产生用于控制封装的医疗装置的位置和/或姿势的磁场，并且控制单元具有动态转矩估计单元，用于估计以目标姿态施加到封装医疗装置的动态转矩，控制从磁场发生器产生的磁场，使得由磁场发生器产生的磁转矩变为与由动态力矩估计单元估计的动态转矩成比例，并通过考虑施加到胶囊型内窥镜本身的重力来控制胶囊型内窥镜的姿态。

3. 发明申请

US20090237073A1 POSITION DETECTING SYSTEM 有权
标题翻译：位置检测系统
公开(公告)号：US20090237073A1
公开(公告)日：2009-09-24
申请号：US12399260
申请日：2009-03-06
申请人： Akio UCHIYAMA , Atsushi KIMURA
发明人： Akio UCHIYAMA , Atsushi KIMURA
IPC分类号： G01B7/14 , G06F15/00
CPC分类号： A61B1/042 , A61B1/00147 , A61B1/00158 , A61B1/041 , A61B5/06 , A61B5/062 , A61B34/73 , G06F19/00
摘要： A position detecting system includes a magnetic field generator, a detecting body, a magnetic field detector, a position/direction calculating unit, and a control unit. The magnetic field generator generates a magnetic field in a three-dimensional space. The detecting body is put into the three-dimensional space, and includes a resonance circuit for generating a resonance magnetic field. The position/direction calculating unit calculates a position/direction of the detecting body. If the resonance circuit is in the non-resonant state, the magnetic field detector detects an environmental magnetic field, and the control unit updates detection data of the environmental magnetic field. If the resonance circuit is in the resonant state, the magnetic field detector detects the spatial magnetic field in the three-dimensional space. The position/direction calculating unit executes processing using the detection data of the spatial magnetic field and updated detection data of the environmental magnetic field.
摘要翻译：位置检测系统包括磁场发生器，检测体，磁场检测器，位置/方向计算单元和控制单元。磁场发生器在三维空间中产生磁场。检测体被放入三维空间中，并且包括用于产生共振磁场的谐振电路。位置/方向计算单元计算检测体的位置/方向。如果谐振电路处于非共振状态，则磁场检测器检测环境磁场，并且控制单元更新环境磁场的检测数据。如果谐振电路处于谐振状态，则磁场检测器检测三维空间中的空间磁场。位置/方向计算单元使用空间磁场的检测数据和环境磁场的更新的检测数据来执行处理。

4. 发明申请

US20090227864A1 CAPSULE GUIDING SYSTEM 有权
标题翻译：胶囊指导系统
公开(公告)号：US20090227864A1
公开(公告)日：2009-09-10
申请号：US12400240
申请日：2009-03-09
申请人： Ryoji SATO , Atsushi KIMURA , Akio UCHIYAMA
发明人： Ryoji SATO , Atsushi KIMURA , Akio UCHIYAMA
IPC分类号： A61B5/05 , A61B1/04
CPC分类号： A61B1/041 , A61B1/0005 , A61B1/00158 , A61B2034/732
摘要： A capsule guiding system includes a magnetic guiding unit, a displaying unit, an operation unit, and a control unit. The magnetic guiding unit guides, using magnetic force, a capsule-shaped medical apparatus introduced inside a subject. The displaying unit displays an image of the subject and an image of the capsule-shaped medical apparatus as an overlapped image, and changes relative position and relative direction between the two images as the capsule-shaped medical apparatus is guided by the magnetic guiding unit. The operation unit inputs coordinate information which specifies movement direction of the capsule-shaped medical apparatus. The control unit adjusts coordinate system of the displaying unit and coordinate system of the operation unit to be consistent with each other, transforms the coordinate information input from the operation unit into the coordinate system of the magnetic guiding unit, and controls the guiding of the capsule-shaped medical apparatus based on the transformed coordinate information.
摘要翻译：胶囊引导系统包括磁引导单元，显示单元，操作单元和控制单元。磁性引导单元使用磁力引导导入被检体内的胶囊型医疗装置。显示单元显示被检体的图像和胶囊型医疗装置的图像作为重叠图像，并且当胶囊型医疗装置被磁性引导单元引导时，改变两个图像之间的相对位置和相对方向。操作单元输入指定胶囊型医疗装置的移动方向的坐标信息。控制单元将显示单元的坐标系和操作单元的坐标系相互调整，将从操作单元输入的坐标信息变换为磁导引单元的坐标系，并控制胶囊的引导基于变换的坐标信息的医疗器械。

5. 发明申请

US20090093678A1 MEDICAL DEVICE GUIDANCE SYSTEM 有权
标题翻译：医疗设备指导系统
公开(公告)号：US20090093678A1
公开(公告)日：2009-04-09
申请号：US12255310
申请日：2008-10-21
申请人： Atsushi KIMURA , Akio UCHIYAMA
发明人： Atsushi KIMURA , Akio UCHIYAMA
IPC分类号： A61B1/00
CPC分类号： A61B1/00158 , A61B1/041 , A61B5/061 , A61B5/073 , A61B34/20 , A61B34/70 , A61B34/73 , A61B90/361 , A61B2034/2051 , A61B2034/732 , A61B2090/3954
摘要： The medical device guidance system include a magnetic guidance device which generates a guidance field in an arbitrary direction to guide a capsular medical device and carry out movement and posture control, a position detection device which detects the present position by a magnetic field generated by the capsular medical device and a position calculating and correcting section which forms an estimation equation of an undesired magnetic field generated from a guidance coil and subtracts an estimation equation result from the detection result of the magnetic field detecting section, according to the present position of the capsular medical device that controls the position and posture by a guidance field relative to the position detection device, and corrects the present position by excluding a desired magnetic field generated from a guidance coil.
摘要翻译：医疗装置引导系统包括：磁性引导装置，其在任意方向上产生引导区域以引导胶囊型医疗装置并执行运动和姿势控制;位置检测装置，其通过由囊状物产生的磁场检测当前位置医疗装置和位置计算和校正部分，其形成从引导线圈产生的不期望磁场的估计方程，并根据所述胶囊医疗的当前位置从磁场检测部分的检测结果中减去估计方程结果装置，其通过相对于位置检测装置的引导场控制位置和姿势，并且通过排除从引导线圈产生的期望磁场来校正当前位置。

6. 发明申请

US20120203068A1 CAPSULE GUIDING SYSTEM 审中-公开
标题翻译：胶囊指导系统
公开(公告)号：US20120203068A1
公开(公告)日：2012-08-09
申请号：US13452235
申请日：2012-04-20
申请人： Ryoji SATO , Atsushi KIMURA , Akio UCHIYAMA
发明人： Ryoji SATO , Atsushi KIMURA , Akio UCHIYAMA
IPC分类号： A61B1/045
CPC分类号： A61B1/041 , A61B1/0005 , A61B1/00158 , A61B2034/732
摘要： A capsule guiding system includes a magnetic guiding unit, a displaying unit, an operation unit, and a control unit. The magnetic guiding unit guides, using magnetic force, a capsule-shaped medical apparatus introduced inside a subject. The displaying unit displays an image of the subject and an image of the capsule-shaped medical apparatus as an overlapped image, and changes relative position and relative direction between the two images as the capsule-shaped medical apparatus is guided by the magnetic guiding unit. The operation unit inputs coordinate information which specifies movement direction of the capsule-shaped medical apparatus. The control unit adjusts coordinate system of the displaying unit and coordinate system of the operation unit to be consistent with each other, transforms the coordinate information input from the operation unit into the coordinate system of the magnetic guiding unit, and controls the guiding of the capsule-shaped medical apparatus based on the transformed coordinate information.
摘要翻译：胶囊引导系统包括磁引导单元，显示单元，操作单元和控制单元。磁性引导单元使用磁力引导导入被检体内的胶囊型医疗装置。显示单元显示被检体的图像和胶囊型医疗装置的图像作为重叠图像，并且当胶囊型医疗装置被磁性引导单元引导时，改变两个图像之间的相对位置和相对方向。操作单元输入指定胶囊型医疗装置的移动方向的坐标信息。控制单元将显示单元的坐标系和操作单元的坐标系相互调整，将从操作单元输入的坐标信息变换为磁导引单元的坐标系，并控制胶囊的引导基于变换的坐标信息的医疗器械。

7. 发明申请

US20120143047A1 POSITION DETECTION APPARATUS AND MEDICAL-DEVICE-POSITION DETECTION SYSTEM 审中-公开
标题翻译：位置检测装置和医疗装置位置检测系统
公开(公告)号：US20120143047A1
公开(公告)日：2012-06-07
申请号：US13370646
申请日：2012-02-10
申请人： Atsushi KIMURA , Akio UCHIYAMA , Ryoji SATO
发明人： Atsushi KIMURA , Akio UCHIYAMA , Ryoji SATO
IPC分类号： A61B5/05
CPC分类号： G01V3/105 , A61B1/00158 , A61B1/041 , A61B5/062
摘要： A position detection apparatus and a medical-device-position detection system that have improved position detection accuracy are provided by setting high amplification for the position detection apparatus. The position detection apparatus includes a circuit that has at least one embedded coil (10a) and that is provided inside an object (10) to be detected; a first magnetic-field generating unit (11) for generating a first magnetic field in the region where the embedded coil (10a) is disposed; a magnetic-field detecting unit (5, 12) for detecting an induced magnetic field generated at the embedded coil (10a) by the first magnetic field; and a second magnetic-field generating unit (23) for generating a second magnetic field having a phase substantially opposite to the phase of the first magnetic field.
摘要翻译：通过设置位置检测装置的高放大率来提供具有改善的位置检测精度的位置检测装置和医疗装置位置检测系统。位置检测装置包括具有至少一个嵌入式线圈（10a）并且设置在待检测对象物（10）的内部的电路; 第一磁场产生单元（11），用于在所述嵌入式线圈（10a）设置的区域中产生第一磁场; 用于通过第一磁场检测在嵌入式线圈（10a）产生的感应磁场的磁场检测单元（5,12）; 以及用于产生具有与第一磁场的相位基本相反的相位的第二磁场的第二磁场产生单元（23）。

8. 发明申请

US20100204566A1 MEDICAL DEVICE GUIDING SYSTEM, MEDICAL DEVICE GUIDING METHOD, AND METHOD FOR CREATING LOOK-UP TABLE TO BE USED IN MEDICAL DEVICE GUIDING SYSTEM 有权
标题翻译：医疗设备引导系统，医疗设备引导方法和用于创建用于医疗设备引导系统中的查看表的方法
公开(公告)号：US20100204566A1
公开(公告)日：2010-08-12
申请号：US12698444
申请日：2010-02-02
申请人： Akio UCHIYAMA , Atsushi KIMURA , Johannes REINSCHKE , Wolfgang SCHMIDT
发明人： Akio UCHIYAMA , Atsushi KIMURA , Johannes REINSCHKE , Wolfgang SCHMIDT
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B1/00158 , A61B1/041 , A61B5/062 , A61B5/07
摘要： The accurate position detection without being affected by an unnecessary second magnetic field can be realized by calculating the unnecessary second magnetic field induced and generated at positions of magnetic field sensors by a guiding coil arranged around the position detection area of the medical device due to an action of a first magnetic field generated by a magnetic field generator, at the time of position detection, and the second magnetic field is subtracted from the first magnetic field detected by the magnetic field sensors to calculate corrected magnetic-field information. Further, LUTs that store beforehand numerical information having a correlation with the second magnetic field induced and generated at the positions of magnetic field sensors are used to calculate the second magnetic field, thereby enabling to reduce an amount of calculation performed each time and realize high speed processing.
摘要翻译：可以通过计算由于由于动作而在医疗装置的位置检测区域周围布置的引导线圈而在磁场传感器的位置处感应和产生的不必要的第二磁场，来实现不受不必要的第二磁场影响的精确位置检测由磁场发生器产生的第一磁场，在位置检测时，从由磁场传感器检测到的第一磁场中减去第二磁场，以计算校正的磁场信息。此外，使用存储与在磁场传感器的位置感应产生的第二磁场相关的数值信息的LUT来计算第二磁场，从而能够减少每次执行的计算量并实现高速处理。

9. 发明申请

US20090299142A1 OPERATING DEVICE, MONITOR DEVICE, AND CAPSULE GUIDING SYSTEM 审中-公开
标题翻译：操作装置，监视装置和胶囊引导系统
公开(公告)号：US20090299142A1
公开(公告)日：2009-12-03
申请号：US12540777
申请日：2009-08-13
申请人： Akio UCHIYAMA , Atsushi KIMURA , Atsushi CHIBA , Ryoji SATO , Hironao KAWANO
发明人： Akio UCHIYAMA , Atsushi KIMURA , Atsushi CHIBA , Ryoji SATO , Hironao KAWANO
IPC分类号： A61B1/04
CPC分类号： A61B5/073 , A61B1/00016 , A61B1/00057 , A61B1/00158 , A61B1/041 , A61B5/062 , A61B34/73
摘要： An operating device operates a capsule endoscope with 6 degrees-of-freedom motion by using a magnetic field generator with respect to the capsule endoscope inserted into the subject. The operating device includes an operating unit including a fixed unit and a movable unit, and a force sensor incorporated in the operating unit. The operating unit has a three-dimensional shape substantially identical to the capsule endoscope and is a holdable size. The force sensor detects force information of the movable unit when the movable unit of the operating unit is operated once or continuously. The force information detected by the force sensor is output as instruction information for instructing 6 degrees-of-freedom motion of the capsule endoscope.
摘要翻译：操作装置通过使用相对于插入到被检体内的胶囊型内窥镜的磁场发生器来操作具有6自由度运动的胶囊型内窥镜。操作装置包括操作单元，其包括固定单元和可移动单元，以及结合在操作单元中的力传感器。操作单元具有与胶囊型内窥镜基本相同的三维形状，并且是可保持的尺寸。当操作单元的可移动单元一次或连续地操作时，力传感器检测可移动单元的力信息。输出由力传感器检测出的力信息作为用于指示胶囊型内窥镜的6自由度运动的指示信息。

10. 发明申请

US20110213205A1 CAPSULE GUIDANCE SYSTEM 审中-公开
标题翻译：胶囊指导系统
公开(公告)号：US20110213205A1
公开(公告)日：2011-09-01
申请号：US13038644
申请日：2011-03-02
申请人： Akio UCHIYAMA , Atsushi KIMURA , Tetsuo MINAI , Hironobu TAKIZAWA , Takeshi MORI
发明人： Akio UCHIYAMA , Atsushi KIMURA , Tetsuo MINAI , Hironobu TAKIZAWA , Takeshi MORI
IPC分类号： A61B1/00
CPC分类号： A61B5/061 , A61B1/00009 , A61B1/00158 , A61B1/041 , A61B5/0028 , A61B5/073 , A61B5/7257 , A61B34/73 , H04B13/005
摘要： A capsule guidance system includes a plurality of electrode pads that are disposed on a body surface of a subject in which a capsule medical device that performs human body communication is inserted into an organ; a magnetic guidance unit applies a magnetic field to the capsule medical device to guide the capsule medical device; an eliminating unit that eliminates signal components of eddy current generated in the subject by a change of the magnetic field from electrical signals detected by the plurality of electrode pads; and a position calculation unit that calculates the position of the capsule medical device based on the electrical signals from the capsule medical device, the electrical signals being the signals from which the signal components of the eddy current are eliminated by the eliminating unit.
摘要翻译：胶囊引导系统包括：设置在被检体的体表上的多个电极垫，其中进行人体交流的胶囊型医疗装置插入到器官中; 磁性引导单元对胶囊型医疗装置施加磁场以引导胶囊型医疗装置; 消除单元，其通过由所述多个电极焊盘检测到的电信号改变磁场而消除在被检体内产生的涡流的信号分量; 以及位置计算单元，其基于来自胶囊医疗装置的电信号来计算胶囊型医疗装置的位置，电信号是由消除单元消除涡流的信号成分的信号。

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