| 摘要 |
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. |
