Medical device including self-propelled capsule endoscope
A medical device includes a capsule endoscope in which a magnet having a magnetization direction in an axial direction is mounted and a fin portion is provided at a rear end of an endoscope main body, and which can be self-propelled through the inside of a body; and a capsule controller which controls self-propulsion of the capsule endoscope from the outside of the body by generating a static magnetic field whose direction is controlled three-dimensionally, and an alternating magnetic field orthogonal to the static magnetic field. The capsule endoscope rotates upon receiving the static magnetic field so that the magnetization direction of the magnet is parallel to the direction of the static magnetic field and the fin portion vibrates by bending with movement of the magnet in response to the alternating magnetic field.
1. A medical device comprising:
a capsule endoscope in which a fin portion mounting a magnet having a magnetization direction in an axial direction is provided at a rear end in the axial direction of an endoscope main body, and which can be self-propelled through the inside of a body; and
a capsule controller that controls self-propulsion of the capsule endoscope from the outside of the body by generating a static magnetic field whose direction is controlled three-dimensionally and an alternating magnetic field orthogonal to the static magnetic field, wherein
the capsule endoscope is configured such that the capsule endoscope rotates upon receiving the static magnetic field so that the magnetization direction of the magnet is parallel to the direction of the static magnetic field and aligned in a direction identical to a target moving direction and the fin portion vibrates by bending with movement of the magnet in response to the alternating magnetic field being generated simultaneously with and combined with the static magnetic field, whereby propulsive power in the axial direction is generated.
2. The medical device according to claim 1 , wherein
the capsule controller generates the static magnetic field and the alternating magnetic field by means of a magnetic field generating portion that includes three sets of Helmholtz coils.
3. The medical device according to claim 1 , wherein
the capsule controller generates the static magnetic field and the alternating magnetic field by means of a magnetic field generating portion that includes three sets of coil pairs, and
coils that constitute each of the three sets of coil pairs each have a circumferential shape that is selected from a polygonal shape, an elliptical shape, and a circular shape.
4. The medical device according to claim 3 , wherein
coils that constitute any one or two sets of the three sets of coil pairs or the three sets of coil pairs each have a circumferential shape that is an oblong polygonal shape or an elliptical shape.
5. The medical device according to claim 1 , wherein
the capsule controller generates the static magnetic field and the alternating magnetic field by means of a magnetic field generating portion that includes one set of Helmholtz coils and two sets of electromagnets.
6. The medical device according to claim 1 , wherein
the capsule controller is configured to be able to change an amplitude and/or a frequency of the alternating magnetic field and/or to change a magnitude of the static magnetic field.
7. The medical device according to claim 6 , wherein
the amplitude and/or the frequency of the alternating magnetic field and/or the magnitude of the static magnetic field corresponds to a turn angle of a terminal, a tilt angle of a joystick, a moving distance of a lever, or a depression amount of an accelerator.
8. The medical device according to claim 1 , wherein
the direction of the static magnetic field is controlled by an operating unit that uses a handle whose rotational position can be held, and corresponds to a direction of a reference point of the handle.
9. The medical device according to claim 8 , wherein
an inclination angle of the static magnetic field in relation to a horizontal surface is controlled by changing an inclination angle of a shaft of the handle or by changing a moving distance of a movable portion of a slider or a lever.
10. The medical device according to claim 1 , wherein
the direction of the static magnetic field is controlled by an operating unit that uses a joystick, and a reference point of a joystick platform is rotated by an angle corresponding to a tilt direction of the joystick, thus the direction of the static magnetic field corresponds to the direction of the reference point.
11. The medical device according to claim 10 , wherein
an inclination angle of the static magnetic field in relation to a horizontal surface is controlled by changing a tilt angle of the joystick platform or by changing a moving distance of a movable portion of a slider or a lever.