Capsule endoscope system

Abstract

The capsule endoscope system of the present application is simple to operate and can realize rapid examination. The capsule endoscope system of the present application is a capsule endoscope system comprising a capsule endoscope with a permanent magnet and an external magnetic field generating device for driving the capsule endoscope. The external magnetic field generating device comprises three groups of electromagnets, which are arranged on three orthogonal axes in a mutually opposite manner, and each group of electromagnets can make different arbitrary currents flow between the electromagnets arranged in a mutually opposite manner.

Description

TECHNICAL FIELD

[0001] The present application relates to a system for driving a capsule having a permanent magnet, and more particularly, to a system including a capsule endoscope having a permanent magnet and an external magnetic field generating device for driving the capsule endoscope. BACKGROUND

[0002] A capsule endoscope system for orally administering into a body and acquiring information in the body has been put into practical use.

[0003] The capsule endoscope includes an illumination device and an imaging device for imaging an inside of a body, a wireless transmission device for transmitting a captured image, and the like. In a driving method of the capsule endoscope, a method using a magnetic field is well known.

[0004] For example, there is proposed a device including a magnetic field application unit for applying a magnetic field to a capsule endoscope in a body under optimum conditions to perform magnetic induction with high precision, an information acquisition unit for acquiring physical information about the magnetic induction in the capsule endoscope, and a control unit for setting a magnetic field condition based on the physical information acquired by the information acquisition unit and controlling the magnetic field application unit to apply a magnetic field corresponding to the set magnetic field condition to the capsule endoscope, thereby controlling the magnetic induction of the capsule endoscope (Patent Literature 1).

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent No. 5199020 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] The device described in Patent Literature 1 sets a magnetic field condition based on the physical information about the magnetic induction in the capsule endoscope acquired by the information acquisition unit, thereby being able to induce the capsule endoscope with high precision.

[0010] However, this document does not specifically describe the magnetic field application unit, i.e., a magnetic field generating source for inducing the capsule endoscope, and therefore it is not clear whether the capsule endoscope can be effectively moved or good operability can be obtained.

[0011] It is important for a doctor to be able to easily and lightly operate a medical instrument, and there is no risk of erroneous operation even if the doctor is not skilled.

[0012] The present application aims at solving the above problems, and provides a capsule endoscope system which is highly operable and enables a capsule endoscope to move at high speed.

[0013] Means for solving the problem

[0014] The capsule endoscope system of the present invention is a capsule endoscope system including a capsule endoscope having a permanent magnet, and an external magnetic field generating device that drives the capsule endoscope; wherein the external magnetic field generating device includes three sets of electromagnets that are disposed on three orthogonal axes in a manner opposite to each other, and each set of electromagnets is capable of flowing different arbitrary electric currents between the oppositely disposed magnets.

[0015] Effects of the invention

[0016] It is important for a doctor to be able to easily and comfortably operate a medical instrument, and even if the doctor is not skilled in operation, there is no risk of an error in operation. That is, it is necessary to easily and comfortably move a capsule endoscope. For this purpose, it is important to ensure that the capsule endoscope can be moved intuitively without any discomfort. The present invention ensures the natural movement of the capsule endoscope by designing a magnetic field application device.

[0017] In addition, in order to reduce the burden on the patient (subject), it is also important to quickly complete the examination. In the present invention, the capsule endoscope can be quickly moved even in a liquid having a large resistance, so that the examination time is shortened. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic view of another capsule endoscope of the present invention; a part of the figure a is a plan view, and a part of the figure b is a side view;

[0019] Figure 2 is a schematic view of another capsule endoscope of the present invention; a part of the figure a is a plan view, and a part of the figure b is a side view;

[0020] Figure 3 is a schematic view of another capsule endoscope of the present invention; a part of the figure a is a plan view, and a part of the figure b is a side view;

[0021] Figure 4 is a schematic view of a magnetic field application device of a capsule endoscope system of the present invention; a part of the figure a is a plan view, and a part of the figure b is a side view;

[0022] Figure 5 is a schematic view of a generated magnetic field of a magnetic field application device of a capsule endoscope system of the present invention; a part of the figure a is a magnet layout, and a part of the figure b is a generated magnetic field;

[0023] Figure 6 is a schematic view of a magnetic field applied by a capsule endoscope system of the present invention, in which the magnetic field changes in a sawtooth shape over time;

[0024] Figure 7This is a schematic diagram of the external magnetic field generating device of the capsule endoscope system in Embodiment 2 of the present invention. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention.

[0026] Example 1

[0027] According to the capsule endoscope system of the present invention, the capsule endoscope is moved inside the human body, such as in the stomach or intestines, by applying a magnetic field from the outside.

[0028] First, combined Figure 1 and Figure 2 The structure of the capsule endoscopy system is described below.

[0029] <Structure of a capsule endoscopy system>

[0030] The capsule endoscope system of the present invention includes a capsule endoscope 1 having a permanent magnet 3 and an external magnetic field generating device 10 for driving the capsule endoscope 1. The external magnetic field generating device 10 includes three sets of electromagnets 11, 12, 21, 22, 31, and 32, which are respectively arranged opposite each other on three orthogonal axes; electromagnets 11 and 12 arranged opposite each other in the X-axis direction are capable of allowing different arbitrary currents to flow between them. This also applies to electromagnets 21 and 22 arranged opposite each other in the Y-axis direction, and electromagnets 31 and 32 arranged opposite each other in the Z-axis direction.

[0031] <Structure of a capsule endoscope>

[0032] like Figure 1 Part a shows a top view of the capsule endoscope of the present invention, as shown in Figure 1. Figure 1 Part b shows a side view of the capsule endoscope of the present invention. A permanent magnet 3 has magnetic poles along its length and is housed within a capsule-shaped outer shell 2. The outer shell 2 is sized for oral administration and is made of a material that has no adverse effects on the human body and is not dissolved by gastric juices or similar substances.

[0033] The permanent magnet 3 can be as follows: Figure 1 and Figure 2 The image shows a single magnet, or multiple magnets spaced apart in the magnetization direction. By using these magnets spaced apart in the magnetization direction, the distance between the magnetic poles can be increased, thereby increasing the magnetic moment.

[0034] Like a conventional capsule endoscope, the capsule endoscope has a transmission function of a wireless transmitter or the like to enable capturing of an image of a stomach wall or the like and transmission of the captured image data to the outside. That is, it has an illuminating device such as an LED, an imaging device such as a CCD, a transmission unit, and a power source such as a battery to drive them. Note that these are not essential elements of the present application, and thus are not shown in Figure 1

[0035] Further, to improve the driving force, a tail portion 4 can be provided at one end in the length direction of the capsule. As shown in b part of Figure 1 , the tail portion 4 has a rotating shaft orthogonal to the length direction of the capsule endoscope 1 and rotates reciprocally as shown by the arrow.

[0036] The tail portion 4 can be fixed to the housing 2 by adhesion, assembly, or the like.

[0037] Alternatively, as shown in Figure 2 , the tail portion 4 is integrally connected to a rubber body 4a or the like that covers the housing 2 to cover the capsule body; for example, a cylindrical rubber body provided with the tail portion 4 is fixed to the housing 2.

[0038] Further, the specific gravity of the entire capsule endoscope 1 should be substantially the same as that of the fluid of the site to be examined. This is because, if the specific gravity of the entire capsule endoscope 1 is substantially the same as that of the fluid of the site to be examined, the buoyancy hardly acts, and thus the capsule endoscope 1 can move in any direction with substantially the same force.

[0039] Note that, in the case where the permanent magnet 3 is not used, a magnetic powder having a magnetic pole provided in the length direction of the housing 2 can be mixed with the material of the tail portion 4, or the tail portion 4 can be made of a magnet.

[0040] Alternatively, as shown in Figure 3 , in the case where the permanent magnet 3 is not used, a cover 30 made of rubber or the like is provided to cover the outside of the housing 2. For example, the tail portion 4 and the cover 30 are made by mixing a magnetic powder of a rare earth magnet with an elastomer resin or the like and molding, and further by using the tail portion 4 and the cover 30, it is not necessary to use a permanent magnet in the form of a bar magnet or the like.

[0041] ​By employing a material formed by doping magnetic powder into rubber, capsule endoscopes can be made lightweight and miniaturized without the need for permanent magnets such as bar magnets. This method also makes it easier to make the specific gravity of the capsule endoscope essentially the same as the specific gravity of the fluid being examined. Furthermore, conventionally, capsule endoscopes used for the small or large intestine do not contain magnets; therefore, such capsule endoscopes can be modified for examining the stomach and intestines. Alternatively, any type of capsule endoscope without a magnet can be easily fabricated into a capsule endoscope with a magnet.

[0042] <Structure of an electromagnet>

[0043] like Figure 4 Part a shows a top view of the magnetic field application device of the capsule endoscope system of the present invention, as shown in section a. Figure 4 Part b shows a side view of the magnetic field application device of the capsule endoscope system of the present invention. A subject space 40 is centrally located within the magnetic field application device, and within the subject space 40, for example, a bed is provided on which the subject can lie. Three sets of electromagnets 11, 12, 21, 22, 31, and 32 are respectively located on three orthogonal axes and arranged in a relative manner to surround the subject space 40. A set of electromagnets 11 and 12, arranged in the X-axis direction, are arranged opposite each other to apply a magnetic field in the horizontal direction; a set of electromagnets 21 and 22, arranged in the Y-axis direction, are arranged opposite each other to apply a magnetic field in a horizontal direction orthogonal to the former; and a set of electromagnets 31 and 32, arranged in the Z-axis direction, are arranged opposite each other to apply a magnetic field in a direction perpendicular to the former.

[0044] In electromagnets 11, 12, 21, 22, 31, and 32, each electromagnet is, for example, a Helmholtz coil, which is either an air-core coil or a coil with a magnetic core (such as an iron core). Furthermore, to prevent overheating, it is equipped with a cooling fan or a water-cooling device.

[0045] Six electromagnets 11, 12, 21, 22, 31 and 32 are each independently connected to a power source (not shown in the figure), so that current of any magnitude can flow independently through each of the electromagnets 11, 12, 21, 22, 31 and 32.

[0046] In addition, a controller is used to control six power supply devices (not shown in the figure), which can control the current flowing through the six electromagnets 11, 12, 21, 22, 31 and 32.

[0047] In a conventional electromagnetic device, the same size of current flows in the same direction in a set of facing electromagnets, but in the present invention, different arbitrary currents can flow between electromagnets 11 and 12 arranged in opposition in the X-axis direction. The same applies to electromagnets 21 and 22 arranged in opposition in the Y-axis direction, and electromagnets 31 and 32 arranged in opposition in the Z-axis direction.

[0048] <Operation of the capsule endoscope system>

[0049] Next, the operation of the capsule endoscope system will be described.

[0050] As described above, different arbitrary currents flow between electromagnets in each direction. The advantages of this configuration are described below.

[0051] As Figure 5 Fig. 2 shows a schematic diagram of the generated magnetic field of the magnetic field application device of the capsule endoscope system of the present invention; in which part a of the figure is a magnetic layout diagram of electromagnets 11 and 12 arranged in opposition in the X-axis direction, and part b of the figure is the generated magnetic field. The generated magnetic field is: one generated by electromagnet 11 in the X-axis direction is H11, one generated by electromagnet 12 in the X-axis direction is H12, and one formed by the combination of magnetic field H11 and magnetic field H12 is Htotal = H11 + H12. Each of the generated magnetic fields is a magnetic field located on the central axis between electromagnet 11 in the X-axis direction and electromagnet 12 in the X-axis direction.

[0052] In addition, Figure 5 Part c of Fig. 2 is the differential coefficient of each of the generated magnetic fields in the X-axis direction.

[0053] In Figure 5 Part a of Fig. 2, the direction of the magnetic lines of force pointing to the right is defined as the positive direction.

[0054] When the generated magnetic field is positive, the N pole of the permanent magnet in the capsule endoscope faces to the right in the figure; when the generated magnetic field is negative, the N pole of the permanent magnet in the capsule endoscope faces to the left in the figure. Further, in the case where the differential coefficient of the generated magnetic field in the X-axis direction is positive, when the N pole of the permanent magnet faces to the right, the capsule endoscope advances to the right, and when the N pole of the permanent magnet faces to the left, the capsule endoscope advances to the left. In addition, in the case where the differential coefficient of the generated magnetic field in the X-axis direction is negative, when the N pole of the permanent magnet faces to the right, the capsule endoscope advances to the left (backward), and when the N pole of the permanent magnet faces to the left, the capsule endoscope advances to the right (backward). The direction of travel of the capsule endoscope results as follows.

[0055] Table 1:

[0056] Hx > 0 Hx < O dHx / dx > 0 Forward right Forward left dHx / dx < 0 Backward right Backward left

[0057] like Figure 5 As shown in part b, the combined magnetic field Htotal = H11 + H12 is a magnetic field generated when a current of the same magnitude flows in. Electromagnet 11 on the X-axis and electromagnet 12 in the X-axis direction are in the same direction, and all places from position X1 of electromagnet 11 in the X-axis direction to position X2 of electromagnet 12 in the X-axis direction are positive.

[0058] The differential coefficients of the combined magnetic field Htotal along the X-axis, such as Figure 5 As shown in section c, the values ​​near position X1 of electromagnet 11, near position X2 of electromagnet 12, and at its center Xc in the X-axis direction become 0. Then, this value becomes negative near X1 and Xc, and positive near Xc and X2. Therefore, when the capsule endoscope is to the right of Xc, it moves to the right (forward to the right), and when it is to the left, it moves to the left (backward to the right). As described above, when the same magnitude of current flows through electromagnets 11 and 12 in the same direction along the X-axis, the capsule endoscope cannot move beyond its center Xc.

[0059] On the other hand, in the capsule endoscope system of the present invention, the electromagnet 11 and the electromagnet 12 in the X-axis direction can be controlled independently. For example, current can be made to flow only in the X-axis electromagnet 11, and not in the X-axis electromagnet 12. In this case, only... Figure 5 H11 in (b). Since the magnetic field generated by H11 is positive between X1 and X2, and its differential coefficient in the X direction is negative between X1 and X2, the capsule endoscope 1 located anywhere between X1 and X2 can move to the left (right or backward) and beyond the center Xc. Furthermore, when current flows only in the X-direction electromagnet 12 instead of in the X-direction electromagnet 11, it can move in the correct direction (forward or right).

[0060] In this way, the capsule endoscope can be moved to the desired position by independently controlling the current flowing through two opposing electromagnets.

[0061] Further, in the capsule endoscope system of the present application, for example, while the electromagnet 12 in the X-axis direction is energized, current is caused to flow in the orthogonal direction, for example, between the electromagnets 31 and 32 in the Z-axis direction; further, by separately or simultaneously energizing the electromagnets 31 and 32 in the Z-axis direction with an alternating current of about 10 Hz, an alternating magnetic field can be generated in the Z-axis direction; further, the capsule endoscope 1 is caused to vibrate in the Z-axis direction with the center of gravity as the center. The capsule endoscope is often used at the inner wall of the organ to be examined. For example, in the case of examining the stomach, the capsule endoscope is caused to move along the stomach wall to observe the inside of the stomach. By conforming to the stomach wall, the position of the capsule endoscope is stabilized, and observation is facilitated. On the other hand, the capsule endoscope has a disadvantage in that it is difficult to move due to the frictional resistance with the stomach wall. However, by vibrating the capsule endoscope 1 in a direction orthogonal to the stomach wall, the frictional resistance of the capsule endoscope with the stomach wall can be greatly reduced, and thus the capsule endoscope can be caused to smoothly and quickly move along the stomach wall.

[0062] Alternatively, even when the capsule endoscope enters between the folds of the stomach wall or the like, by moving the capsule endoscope by applying an oscillating magnetic field, it can be caused to easily escape. In this case, an oscillating magnetic field is applied in a direction parallel to the direction of travel, and thus the capsule endoscope can be caused to easily escape.

[0063] Further, if the capsule endoscope has a tail portion 4 as shown in FIG. 4, by vibrating the tail portion 4, a greater driving force can be obtained. Figure 1 Further, if the capsule endoscope has a tail portion 4 as shown in FIG. 4, by vibrating the tail portion 4, a greater driving force can be obtained.

[0064] Note that, as described above, in order to increase the driving force, it is effective to apply an oscillating magnetic field in a direction orthogonal to the direction of movement; however, even if an oscillating magnetic field is applied in an arbitrary direction other than the direction of movement, the driving force can be increased, and thus the orthogonal direction is not limited.

[0065] Further, by reducing the current flowing through the electromagnets, the driving force applied to the capsule endoscope can be made smaller than the resistance of the liquid to the stomach fluid or the like, and thus the capsule endoscope can be caused to substantially stop at a desired position. Further, by energizing the electromagnets in mutually orthogonal directions, a resultant magnetic field in an arbitrary direction can be formed, and thus the capsule endoscope can be caused to point to an arbitrary position at an arbitrary angle.

[0066] (Summary of the present embodiment)

[0067] The present application provides a capsule endoscope system which is easy to operate as a medical instrument, particularly a device for examination, and enables rapid examination. Further, the capsule endoscope system reduces the risk of misoperation by the doctor, shortens the examination time, and thus reduces the burden on the subject.

[0068] Hereinafter, the features of the present application will be listed.

[0069] First, three sets of electromagnets are disposed on three orthogonal axes and in a manner opposite to each other. In each set of electromagnets, different arbitrary currents can flow in the electromagnets opposite to each other, so that a movement difficult to intuitively understand does not occur, and a user can learn to operate in a short time. Since misoperation is less likely to occur and the capsule endoscope can be easily stopped at a desired position, the examination time can be shortened.

[0070] Second, since the oscillating magnetic field can be applied in a direction different from the traveling direction of the capsule endoscope, particularly in a direction substantially orthogonal to the traveling direction, the friction of the capsule endoscope against the mucosa (organ wall) is reduced, and the movement of the capsule endoscope becomes easier. Based on this, the capsule endoscope can move at a high speed even in a high-viscosity fluid. Further, in the case of a narrow flow path such as the small intestine, sufficient driving force can be obtained even if the capsule endoscope comes into contact with the small intestinal wall. Therefore, the capsule endoscope can have remarkable features such as a shortened examination time and an enlarged possible examination portion.

[0071] Further, the capsule endoscope can obtain a greater driving force by providing a tail portion.

[0072] It is to be noted that, if the capsule endoscope has no power, the path of the capsule endoscope in the digestive system is slowly advanced by the peristalsis of the digestive system.

[0073] Even in the case of a capsule endoscope having a driving force such as the present application, the peristalsis of the digestive system increases the driving force. In particular, when the oscillating magnetic field is applied in a direction different from the traveling direction of the capsule endoscope, there is an effect of activating the intestinal peristalsis by stimulating the organ wall of the digestive system. This effect is more pronounced when the capsule endoscope enters an organ having a long path, such as the small intestine or the large intestine. Vibration in a direction different from the traveling direction of the capsule endoscope strongly stimulates the organ wall of the small intestine and the large intestine, and further activates the peristalsis, thereby accelerating the capsule endoscope. Further, the small intestine is thin and complexly twisted, and it is difficult to drive the capsule endoscope by a static magnetic field alone. This is because it is extremely difficult to control the direction of the static magnetic field to coincide with the long and complex path. On the other hand, if an oscillating magnetic field is applied and used as a driving force, the oscillating magnetic field becomes a driving force in the traveling direction, and further advances the capsule endoscope along the complex path together with the advancing force generated by the peristalsis.

[0074] As described above, by applying an oscillating magnetic field in a direction different from the traveling direction of the capsule endoscope, the friction of the capsule endoscope against the mucosa (organ wall) is reduced, and the peristalsis is activated, so that the time taken for the capsule endoscope to pass under the influence of these factors can also be significantly shortened, even in an organ having a narrow, long, and complex path, such as the small intestine or the large intestine.

[0075] Further, there is a case where the capsule endoscope is caught at a narrow portion of the small intestine and the like and at a fold of the large intestine. Since reverse movement is also possible as shown in Table 1, the capsule endoscope can return in a direction opposite to the direction of peristalsis. In particular, if an oscillating magnetic field is applied in a direction different from the direction of travel of the capsule endoscope, the capsule endoscope is more easily detached from the point of stagnation by reducing the frictional force. For example, if the capsule endoscope can return from the small intestine into the duodenum, the capsule endoscope can be recovered using the endoscope without performing surgery or the like.

[0076] For example, it is very effective to apply a sawtooth-shaped oscillating magnetic field as shown in Figure 6 By applying an oscillating magnetic field whose waveform sharply rises (as shown in a portion of Figure 6 ) and gently falls (as shown in a portion of Figure 6 ) with time, the capsule endoscope located at a narrow portion of the small intestine and at a fold of the large intestine can escape with a strong driving force. This is because the sharp rise of the magnetic field generates a larger driving force in the desired direction.

[0077] As described above, the capsule endoscope of the present application is also applicable to the stomach, but is particularly suitable for examination of the small intestine and the large intestine.

[0078] Third, by making the specific gravity of the capsule endoscope substantially the same as that of the liquid of the site to be examined, the capsule endoscope can move in any direction with the same driving force. Based on this, the capsule endoscope can achieve more intuitive and smooth operation, and its operability is further improved. For example, if the specific gravity of the capsule endoscope is greater than that of the liquid of the site to be examined, the capsule endoscope easily sinks, resulting in difficulty in close observation of the organ wall. However, if the specific gravities are made substantially the same, such a problem can be eliminated, that is, by imparting a smaller upward propulsion force, the capsule endoscope can float on the water surface to achieve stable travel and imaging. Depending on the imaging position or the purpose of the user, the photographing can be performed in the vicinity of the site to be examined or on the water surface.

[0079] Example 2

[0080] In Example 1, the unit that generates a current flowing through the electromagnets arranged in a mutually opposed manner on three orthogonal axes in the external magnetic field device is not particularly described. Generally, a signal is sent from a controller and amplified into a large power signal by an amplifier, and the output of the amplifier causes a large current to flow between each electromagnet. Therefore, one amplifier is required for each of the six electromagnets. However, since the current flowing through the electromagnets can be as high as 20 amperes, as many as six very large and expensive amplifiers must be used.

[0081] In this example, only one amplifier is provided, which is used for at least one of the three groups of electromagnets; the specific arrangement is described with reference toFigure 7 Describe it.

[0082] The external magnetic field generating device includes: three sets of electromagnets, each set arranged on three orthogonal axes, with each set of electromagnets positioned opposite each other; a controller 101 for determining the current flowing through each of the three sets of electromagnets; and multiple amplifiers for amplifying the output of the controller 101. A feature of this embodiment is that at least one set of electromagnets 91 and 92, arranged opposite each other on the three orthogonal axes, has a simpler structure. Specifically, the amplifier 102 is singular and includes a switch 103 for switching the output current of the amplifier to flow to either electromagnet 91 or 92; a signal output from the controller specifies which electromagnet in the set should receive the current output from the switch, and this signal specifying the current flow direction is output to an amplifier.

[0083] Electromagnets 91 and 92 are a set of electromagnets arranged opposite each other, which can be a set of electromagnets arranged opposite each other on the X-axis, Y-axis, or Z-axis.

[0084] exist Figure 7 In part a, controller 101 outputs an output I proportional to the current flowing through the electromagnet to amplifier 102, amplifier 102 amplifies the current by a factor of "a" and outputs it to switch 103. Controller 101 outputs a switching signal specifying the output to electromagnet 91 to switch 103, causing the current aI output from amplifier 102 to be output to electromagnet 91.

[0085] exist Figure 7 In part b, the controller 101 outputs a switching signal specified to be output to the electromagnet 92 to the switcher 103, so that the current aI output by the amplifier 102 is output to the electromagnet 92.

[0086] In this configuration, one of the currents flowing through a set of electromagnets arranged in a relative manner is zero, but as the endoscope moves, it is able to perform the minimum necessary movement.

[0087] As mentioned above, since only one amplifier is needed, the size and cost of the device can be reduced.

[0088] Figure label description

[0089] 1. Capsule endoscopy

[0090] 2. Shell

[0091] 3. Permanent magnet

[0092] 4. Tail

[0093] 10. External magnetic field generating device

[0094] 11, 12, electromagnet in the X-axis direction

[0095] 21, 22, electromagnet in the Y-axis direction

[0096] 31, 32, electromagnet in the Z-axis direction

[0097] 40, subject space

Claims

1. A capsule endoscope system characterized by comprising: The application relates to a capsule endoscope system. The capsule endoscope comprises a capsule-shaped casing (2) and a permanent magnet (3) arranged in the casing (2) and having magnetic poles in the length direction of the capsule endoscope. The tail (4) comprises a rotating shaft which is perpendicular to the length direction of the capsule endoscope. The external magnetic field generating device comprises three groups of electromagnets which are arranged on three orthogonal axes in a relative manner, and each group of electromagnets can make different currents flow between the relative electromagnets.

2. The capsule endoscope system according to claim 1, wherein The permanent magnet in the capsule endoscope is replaced by a cover containing magnetic powder or a cover containing magnets.

3. The capsule endoscope system according to claim 1 or 2, characterized by The oscillating magnetic field is applied in a direction which is substantially perpendicular to the advancing direction of the capsule endoscope.

4. The capsule endoscope system according to claim 3, wherein The oscillating magnetic field is a sawtooth oscillating magnetic field.

5. The capsule endoscope system according to claim 3, wherein The capsule endoscope system comprises a capsule endoscope for examining small intestine and / or large intestine.

6. The capsule endoscope system according to claim 3, wherein The tail comprises a rotating shaft which is perpendicular to the length direction of the capsule endoscope.

7. The capsule endoscope system of claim 1, wherein The permanent magnet in the capsule endoscope is replaced by a tail made of a material containing magnetic powder or a tail containing magnets.

8. The capsule endoscope system according to any one of claims 1 or 2, wherein The specific gravity of the capsule endoscope is substantially the same as that of the fluid in the examined part.

9. The capsule endoscope system according to any one of claims 1 or 2, wherein The permanent magnet comprises a plurality of permanent magnets which are separated along the magnetization direction.

10. The capsule endoscope system of claim 1, wherein The external magnetic field generating device comprises: Three groups of electromagnets which are arranged on three orthogonal axes in a relative manner; A controller for determining the current flowing between each group of electromagnets; An amplifier for amplifying the output of the controller; wherein the amplifier is used for at least one group of electromagnets arranged on three orthogonal axes in a relative manner; and A switch for switching the current output by the amplifier to which electromagnet; The controller outputs a signal to specify which electromagnet in a group of electromagnets the current output by the switch should flow to, and the signal specifying the current flowing to the electromagnet is output to the amplifier.

Images