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1. 发明授权

US08446147B2 Position detecting device having opposite-phase magnetic-field generating coil, medical device guiding system, position detecting method, and medical device guiding method 失效
标题翻译：位置检测装置具有反相磁场产生线圈，医疗装置引导系统，位置检测方法和医疗装置引导方法
公开(公告)号：US08446147B2
公开(公告)日：2013-05-21
申请号：US12595400
申请日：2008-04-18
申请人： Atsushi Chiba , Akio Uchiyama , Atsushi Kimura , Ryoji Sato
发明人： Atsushi Chiba , Akio Uchiyama , Atsushi Kimura , Ryoji Sato
IPC分类号： G01B7/14 , A61B5/05
CPC分类号： A61B5/06 , A61B1/00158 , A61B1/041 , A61B5/062 , A61B34/20 , A61B2034/2051 , A61B2090/3958 , G01B7/003
摘要： Provided is a position detecting device including a first magnetic-field generating unit including at least one magnetic-field generating coil and that generates a first magnetic field in a detection space where a detected object provided with a circuit including at least one built-in coil is disposed; a magnetic-field detecting unit having a plurality of detecting coils arrayed to detect an induced magnetic field generated from the built-in coil by the generated first magnetic field; and a second magnetic-field generating unit including at least one magnetic-field generating coil, that generates a second magnetic field, and including a magnetic-field component having a phase substantially opposite to the first magnetic field and entering the detecting coils, wherein the first magnetic-field generating unit and the detecting coils are disposed so that a generating direction of the first magnetic field and a detecting direction of the induced magnetic field intersect each other.
摘要翻译：提供了一种位置检测装置，其包括：第一磁场产生单元，包括至少一个磁场产生线圈，并且在检测空间中产生第一磁场，其中检测对象设置有包括至少一个内置线圈被处置磁场检测单元，具有多个检测线圈，其被排列成通过所产生的第一磁场来检测从内置线圈产生的感应磁场; 以及第二磁场产生单元，其包括产生第二磁场的至少一个磁场产生线圈，并且包括具有与第一磁场基本相反的相位并进入检测线圈的磁场分量，其中，第一磁场产生单元和检测线圈被布置成使得第一磁场的产生方向和感应磁场的检测方向彼此相交。

2. 发明授权

US08692682B2 Position detection system for detection object and position detection method for detection object 失效
标题翻译：用于检测对象的位置检测系统和检测对象的位置检测方法
公开(公告)号：US08692682B2
公开(公告)日：2014-04-08
申请号：US12441631
申请日：2007-09-28
申请人： Atsushi Kimura , Akio Uchiyama , Ryoji Sato , Atsushi Chiba
发明人： Atsushi Kimura , Akio Uchiyama , Ryoji Sato , Atsushi Chiba
IPC分类号： G08B21/00
CPC分类号： A61B5/06 , A61B1/041 , A61B5/062 , A61B5/073
摘要： A position detection system for a detection object and a position detection method for a detection object that enable calibration without removing a detection object after the detection object is introduced into a detection space are provided. Provided are a magnetic-field generating unit (3) that generates a position-detection magnetic field; a detection object (5) including a resonant circuit (21) that generates a resonant magnetic field and an external-signal switch that connects or disconnects the path of the resonant circuit (21); a switch-controlling unit (7) that controls connecting or disconnecting of the external-signal switch; a position-detection-magnetic-field detecting unit (9) that detects the magnetic field strength of at least one of the position-detection magnetic field and the resonant magnetic field; and a position-calculating unit (11) that calculates the position and orientation of the detection object (5) based on a detection signal from the position-detection-magnetic-field detecting unit (9).
摘要翻译：提供了一种用于检测对象的位置检测系统和用于在检测对象被引入检测空间之后能够在不移除检测对象的情况下进行校准的检测对象的位置检测方法。提供产生位置检测磁场的磁场产生单元（3）包括产生谐振磁场的谐振电路（21）和连接或断开谐振电路（21）的路径的外部信号开关的检测对象（5）。开关控制单元（7），其控制外部信号开关的连接或断开; 位置检测用磁场检测单元，其检测所述位置检测用磁场和所述共振磁场中的至少一个的磁场强度; 以及基于来自所述位置检测用磁场检测部（9）的检测信号来计算检测对象（5）的位置和取向的位置计算部（11）。

3. 发明授权

US08386020B2 Medical-device guidance system 有权
标题翻译：医疗器械引导系统
公开(公告)号：US08386020B2
公开(公告)日：2013-02-26
申请号：US12307490
申请日：2007-06-29
申请人： Atsushi Kimura , Akio Uchiyama , Ryoji Sato , Atsushi Chiba
发明人： Atsushi Kimura , Akio Uchiyama , Ryoji Sato , Atsushi Chiba
IPC分类号： A61B5/055 , A61B1/00
CPC分类号： A61B1/041 , A61B1/00016 , A61B1/00158 , A61B5/0031 , A61B5/061 , A61B5/073 , A61B34/70 , A61B34/73 , A61B2034/732 , A61B2090/3925 , A61B2090/3958 , G06F19/00
摘要： A situation where a medical device is outside a region suitable for guidance control thereof can be easily coped with. Included are a medical device provided with a magnet; a guiding unit (5X-1, 5X-2, 5Y-1, 5Y-2, 5Z-1, 5Z-2) that forms a control magnetic field for guidance control of the medical device, inside a prescribed control area; a detection unit (7Y-1, 7Y-2) that detects positional information of the medical device; and a computational unit that judges that the medical device has gone outside the control area on the basis of an output from the detection unit (7Y-1, 7Y-2) and calculates a direction for returning the medical device to the control area, wherein a signal-waveform calculating unit (21) stops forming the control magnetic field when the medical device is outside the control area.
摘要翻译：可以容易地应对医疗装置在适于引导控制的区域之外的情况。包括设有磁铁的医疗器械; 在规定的控制区域内形成用于医疗装置的引导控制的控制磁场的引导单元（5X-1，5X-2,5Y-1,5Y-2,5Z-1,5Z-2）检测单元（7Y-1,7Y-2），其检测医疗装置的位置信息; 以及计算单元，其基于来自所述检测单元（7Y-1,7Y-2）的输出判定所述医疗装置已经在所述控制区域外，并计算将所述医疗装置返回到所述控制区域的方向，其中，当医疗装置在控制区域外部时，信号波形计算单元（21）停止形成控制磁场。

4. 发明申请

US20100179782A1 POSITION DETECTING DEVICE 有权
标题翻译：位置检测装置
公开(公告)号：US20100179782A1
公开(公告)日：2010-07-15
申请号：US12729370
申请日：2010-03-23
申请人： Atsushi Kimura , Akio Uchiyama , Atsushi Chiba , Ryoji Sato
发明人： Atsushi Kimura , Akio Uchiyama , Atsushi Chiba , Ryoji Sato
IPC分类号： G06F19/00 , G01B7/00
CPC分类号： A61B34/73 , A61B1/00158 , A61B1/041 , A61B1/05 , A61B5/062 , A61B2034/2051 , A61M25/0127
摘要： A position detecting device includes a position calculator that performs an optimization convergence calculation using an evaluation function that expresses an error between a measurement value and a theoretical value of magnetic field information of a detection target to calculate at least a position of the detection target; a storage unit that stores a final convergence result of the optimization convergence calculation performed by the position calculator; and a controller that determines whether a result of the optimization convergence calculation converges, suspends the optimization convergence calculation performed by the position calculator when the result does not converge, and performs, after a predetermined time has passed, a returning process of returning a state of the optimization convergence calculation to a converged state by causing the position calculator to perform the optimization convergence calculation based on the final convergence result.
摘要翻译：位置检测装置包括位置计算器，其使用表示测量值与检测对象的磁场信息的理论值之间的误差的评估函数进行优化收敛计算，以至少计算检测对象的位置; 存储单元，存储由位置计算器执行的优化收敛计算的最终收敛结果; 以及控制器，其判定所述优化收敛计算的结果是否收敛，并且在所述结果不收敛时暂停由所述位置计算器执行的优化收敛计算，并且在经过预定时间之后执行返回的返回处理通过使位置计算器基于最终收敛结果进行优化收敛计算，将优化收敛计算成会聚状态。

5. 发明申请

US20090227840A1 CAPSULE GUIDING SYSTEM AND CAPSULE GUIDING METHOD 审中-公开
标题翻译：胶囊指导系统和胶囊指导方法
公开(公告)号：US20090227840A1
公开(公告)日：2009-09-10
申请号：US12394695
申请日：2009-02-27
申请人： Akio Uchiyama , Ryoji Sato , Atsushi Kimura , Atsushi Chiba , Hironobu Takizawa , Takeshi Mori , Tetsuo Minai
发明人： Akio Uchiyama , Ryoji Sato , Atsushi Kimura , Atsushi Chiba , Hironobu Takizawa , Takeshi Mori , Tetsuo Minai
IPC分类号： A61B1/00
CPC分类号： A61B5/073 , A61B1/00016 , A61B1/00158 , A61B1/041 , A61B5/062 , A61B34/73
摘要： A capsule guiding system includes: an electrode pad arranged outside a human body to perform human body communication with a capsule endoscope and detect at least one of position and direction of the capsule endoscope; a magnetically guiding device which moves the capsule endoscope; a detector which detects a relative position between the electrode pad and the magnetically guiding device; a calculator which calculates at least one of the position and direction of the capsule endoscope based on a detection value of the electrode pad, and calculates at least one of an absolute position and direction of the capsule endoscope with respect to the magnetically guiding device based on at least one of the position and direction of the capsule endoscope and the relative position detected by the detector; and a control unit which controls the magnetically guiding device based on at least one of the absolute position and direction.
摘要翻译：胶囊引导系统包括：布置在人体外部的电极垫，以与胶囊内窥镜进行人体连通，并检测胶囊型内窥镜的位置和方向中的至少一个; 使胶囊型内窥镜移动的导磁装置; 检测器，其检测所述电极焊盘和所述导磁装置之间的相对位置; 计算器，其基于所述电极焊盘的检测值来计算所述胶囊型内窥镜的位置和方向中的至少一个，并且基于所述导磁装置计算所述胶囊型内窥镜的绝对位置和方向中的至少一个，基于胶囊型内窥镜的位置和方向中的至少一个以及检测器检测到的相对位置; 以及控制单元，其基于所述绝对位置和方向中的至少一个来控制所述导磁装置。

6. 发明授权

US08335556B2 Magnetically driven capsule medical device and capsule medical device system with position detection 失效
标题翻译：磁驱胶囊医疗装置及带位置检测的胶囊医疗装置系统
公开(公告)号：US08335556B2
公开(公告)日：2012-12-18
申请号：US12304917
申请日：2007-06-27
申请人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
发明人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
IPC分类号： A61B5/00
CPC分类号： A61B5/073 , A61B1/00016 , A61B1/00032 , A61B1/00036 , A61B1/00158 , A61B1/041 , A61B1/0684 , A61B5/062 , A61B5/7232 , A61B5/726 , A61B34/73
摘要： Smooth guiding through the inside of a body cavity is carried out by a magnetic field applied from the outside of the body. The provided capsule medical device (1) includes a bio-information detecting device (5) for detecting bio information of the inside of a body cavity; a magnet (12) for receiving a guidance magnetic field applied from outside the body and generating a driving force; a coil (7) for receiving a position-detection magnetic field applied from outside the body and generating a position-detection signal; a filter device (8), connected to the coil (7), for attenuating an induction signal component which is generated by the guidance magnetic field incident on the coil (7); and a wireless transmission device (10) for externally transmitting the position-detection signal which has passed through the filter device (8) and the bio information which has been detected by the bio-information detecting device (5).
摘要翻译：通过从身体外部施加的磁场来进行通过体腔内部的平滑引导。所提供的胶囊医疗装置（1）包括用于检测体腔内部的生物信息的生物信息检测装置（5）磁体（12），用于接收从体外施加的引导磁场并产生驱动力; 线圈（7），用于接收从身体外部施加的位置检测磁场并产生位置检测信号; 连接到线圈（7）的滤波器装置（8），用于衰减由入射到线圈（7）上的引导磁场产生的感应信号分量; 以及用于外部发送已经通过过滤装置（8）的位置检测信号和由生物信息检测装置（5）检测到的生物信息的无线传输装置（10）。

7. 发明申请

US20090326323A1 CAPSULE MEDICAL DEVICE AND CAPSULE MEDICAL DEVICE SYSTEM 失效
标题翻译：胶囊医疗装置和胶囊医疗装置系统
公开(公告)号：US20090326323A1
公开(公告)日：2009-12-31
申请号：US12304917
申请日：2007-06-27
申请人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
发明人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
IPC分类号： A61B1/00
CPC分类号： A61B5/073 , A61B1/00016 , A61B1/00032 , A61B1/00036 , A61B1/00158 , A61B1/041 , A61B1/0684 , A61B5/062 , A61B5/7232 , A61B5/726 , A61B34/73
摘要： Smooth guiding through the inside of a body cavity is carried out by a magnetic field applied from the outside of the body. The provided capsule medical device (1) includes a bio-information detecting device (5) for detecting bio information of the inside of a body cavity; a magnet (12) for receiving a guidance magnetic field applied from outside the body and generating a driving force; a coil (7) for receiving a position-detection magnetic field applied from outside the body and generating a position-detection signal; a filter device (8), connected to the coil (7), for attenuating an induction signal component which is generated by the guidance magnetic field incident on the coil (7); and a wireless transmission device (10) for externally transmitting the position-detection signal which has passed through the filter device (8) and the bio information which has been detected by the bio-information detecting device (5).
摘要翻译：通过从身体外部施加的磁场来进行通过体腔内部的平滑引导。所提供的胶囊医疗装置（1）包括用于检测体腔内部的生物信息的生物信息检测装置（5）磁体（12），用于接收从体外施加的引导磁场并产生驱动力; 线圈（7），用于接收从身体外部施加的位置检测磁场并产生位置检测信号; 连接到线圈（7）的滤波器装置（8），用于衰减由入射到线圈（7）上的引导磁场产生的感应信号分量; 以及用于外部发送已经通过过滤装置（8）的位置检测信号和由生物信息检测装置（5）检测到的生物信息的无线传输装置（10）。

8. 发明申请

US20090171190A1 MEDICAL DEVICE POSITION DETECTING SYSTEM, MEDICAL DEVICE GUIDING SYSTEM, AND POSITION DETECTING METHOD FOR MEDICAL DEVICE 有权
标题翻译：医疗设备位置检测系统，医疗设备引导系统和医疗设备的位置检测方法
公开(公告)号：US20090171190A1
公开(公告)日：2009-07-02
申请号：US12095341
申请日：2006-12-04
申请人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
发明人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
IPC分类号： A61B5/05 , G01B7/14 , G05B1/06 , A61B1/00
CPC分类号： A61B5/06 , A61B1/00158 , A61B1/041 , A61B5/062 , A61B5/7232 , A61B2034/732 , G06F19/00
摘要： Position detection of a medical device is prevented from being impossible even when the frequency characteristic of a magnetic induction coil is varied in accordance with the state of an external magnetic field for guiding the medical device. A medical device position detecting system is a medical device position detecting system which is inserted into the body of a subject and guided by an external magnetic field, and it is equipped with a resonance circuit that is mounted in the medical device, contains a magnetic induction coil having a magnetic material inside and generates an alternate magnetic field, an alternate magnetic field detecting device that is disposed at the outside of an operation region of the medical device and detects the alternate magnetic field generated by the magnetic induction coil, a position information calculator for calculating position information of the medical device on the basis of the detected alternate magnetic field, and a frequency setting unit for setting at least one of the frequency of the alternate magnetic field detected by the alternate magnetic field detecting device and the frequency of the alternate magnetic field generated by the magnetic induction coil on the basis of at least one of the intensity and direction of an external magnetic field at the position of the magnetic induction coil.
摘要翻译：即使当根据用于引导医疗装置的外部磁场的状态改变磁感应线圈的频率特性时，也不会妨碍医疗装置的位置检测。医疗器械位置检测系统是医疗器械位置检测系统，其被插入被检体的体内并被外部磁场引导，并且配备有安装在医疗装置中的谐振电路，其包含磁感应线圈，其内部具有磁性材料并产生交替的磁场;交替磁场检测装置，设置在医疗装置的操作区域的外部，并检测由磁感应线圈产生的交替磁场;位置信息计算器用于基于检测到的交变磁场计算医疗装置的位置信息;以及频率设定单元，用于设定由交替磁场检测装置检测的交变磁场的频率和交替磁场的频率中的至少一个频率至少基于磁感应线圈产生的磁场在磁感应线圈的位置处的外部磁场的强度和方向之一。

9. 发明授权

US09002434B2 Medical device position detecting system, medical device guiding system, and position detecting method for medical device 有权
标题翻译：医疗器械位置检测系统，医疗器械引导系统，医疗器械位置检测方法
公开(公告)号：US09002434B2
公开(公告)日：2015-04-07
申请号：US12095341
申请日：2006-12-04
申请人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
发明人： Akio Uchiyama , Atsushi Kimura , Ryoji Sato , Atsushi Chiba
IPC分类号： A61B5/05 , G08B21/00 , A61B5/06 , A61B1/00 , A61B1/04 , A61B19/00 , A61B5/00
CPC分类号： A61B5/06 , A61B1/00158 , A61B1/041 , A61B5/062 , A61B5/7232 , A61B2034/732 , G06F19/00
摘要： Position detection of a medical device is prevented from being impossible even when the frequency characteristic of a magnetic induction coil is varied in accordance with the state of an external magnetic field for guiding the medical device. A medical device position detecting system is a medical device position detecting system which is inserted into the body of a subject and guided by an external magnetic field, and it is equipped with a resonance circuit that is mounted in the medical device, contains a magnetic induction coil having a magnetic material inside and generates an alternate magnetic field, an alternate magnetic field detecting device that is disposed at the outside of an operation region of the medical device and detects the alternate magnetic field generated by the magnetic induction coil, a position information calculator for calculating position information of the medical device on the basis of the detected alternate magnetic field, and a frequency setting unit for setting at least one of the frequency of the alternate magnetic field detected by the alternate magnetic field detecting device and the frequency of the alternate magnetic field generated by the magnetic induction coil on the basis of at least one of the intensity and direction of an external magnetic field at the position of the magnetic induction coil.
摘要翻译：即使当根据用于引导医疗装置的外部磁场的状态改变磁感应线圈的频率特性时，也不会妨碍医疗装置的位置检测。医疗器械位置检测系统是医疗器械位置检测系统，其被插入被检体的体内并被外部磁场引导，并且配备有安装在医疗装置中的谐振电路，其包含磁感应线圈，其内部具有磁性材料并产生交替的磁场;交替磁场检测装置，设置在医疗装置的操作区域的外部，并检测由磁感应线圈产生的交替磁场;位置信息计算器用于基于检测到的交变磁场计算医疗装置的位置信息;以及频率设定单元，用于设定由交变磁场检测装置检测出的交变磁场的频率和交替磁场的频率中的至少一个频率至少基于磁感应线圈产生的磁场在磁感应线圈的位置处的外部磁场的强度和方向之一。

10. 发明申请

US20100060472A1 POSITION DETECTION SYSTEM FOR DETECTION OBJECT AND POSITION DETECTION METHOD FOR DETECTION OBJECT 失效
标题翻译：用于检测对象的检测对象和位置检测方法的位置检测系统
公开(公告)号：US20100060472A1
公开(公告)日：2010-03-11
申请号：US12441631
申请日：2007-09-28
申请人： Atsushi Kimura , Akio Uchiyama , Ryoji Sato , Atsushi Chiba
发明人： Atsushi Kimura , Akio Uchiyama , Ryoji Sato , Atsushi Chiba
IPC分类号： G08B21/00
CPC分类号： A61B5/06 , A61B1/041 , A61B5/062 , A61B5/073
摘要： A position detection system for a detection object and a position detection method for a detection object that enable calibration without removing a detection object after the detection object is introduced into a detection space are provided. Provided are a magnetic-field generating unit (3) that generates a position-detection magnetic field; a detection object (5) including a resonant circuit (21) that generates a resonant magnetic field and an external-signal switch that connects or disconnects the path of the resonant circuit (21); a switch-controlling unit (7) that controls connecting or disconnecting of the external-signal switch; a position-detection-magnetic-field detecting unit (9) that detects the magnetic field strength of at least one of the position-detection magnetic field and the resonant magnetic field; and a position-calculating unit (11) that calculates the position and orientation of the detection object (5) based on a detection signal from the position-detection-magnetic-field detecting unit (9).
摘要翻译：提供了一种用于检测对象的位置检测系统和用于在检测对象被引入检测空间之后能够在不移除检测对象的情况下进行校准的检测对象的位置检测方法。提供产生位置检测磁场的磁场产生单元（3）包括产生谐振磁场的谐振电路（21）和连接或断开谐振电路（21）的路径的外部信号开关的检测对象（5）。开关控制单元（7），其控制外部信号开关的连接或断开; 位置检测用磁场检测单元，其检测所述位置检测用磁场和所述共振磁场中的至少一个的磁场强度; 以及基于来自所述位置检测用磁场检测部（9）的检测信号来计算检测对象（5）的位置和姿势的位置计算部（11）。

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