Guiding system, position controlling apparatus, and guiding method

A position controlling apparatus for guiding a position of a capsule-type apparatus that is introduced into a subject, the capsule-type apparatus including a capsule-shaped casing, and a permanent magnet fixed to the capsule-shaped casing, the position controlling apparatus comprising:

• a relative position controlling mechanism that changes a relative position between a predetermined axis and the subject;
• a first magnetic field generating mechanism that forms, in a space in which the subject is laid, a component of a trapping magnetic field that attracts the permanent magnet to the predetermined axis
• a second magnetic field generating mechanism that forms, in the space in which the subject is laid, a component of a gradient magnetic field that attracts the permanent magnet in a direction same as or opposite to a direction in which the relative position is changed;
• and
• a controller that is adapted to control the first magnetic field generating mechanism to form the component of the trapping magnetic field and is further adapted to control the second magnetic field generating mechanism to form the component of the gradient magnetic field in addition to the component of the trapping magnetic field formed by the first magnetic field generating mechanism when the position of the predetermined axis with respect to the capsule-type apparatus is at least one of moved, accelerated, and decelerated,
• wherein the controller is adapted to calculate a driving signal for driving the relative position controlling mechanism, and is further adapted to calculate, based on the calculated driving signal for the relative position controlling mechanism, a gradient signal for causing the second magnetic field generating mechanism to generate the gradient magnetic field for cancelling at least one of inertia force, force caused by wave breaking of a liquid in which the capsule-type apparatus is adapted to float within the subject, and friction force between the capsule-type apparatus and the liquid, when the position of the predetermined axis with respect to the capsule-type apparatus is at least one of moved, accelerated, and decelerated, and
• wherein the second magnetic field generating mechanism generates the gradient magnetic field based on the gradient signal calculated by the controller thereby inhibiting the capsule-type apparatus from deviating from the predetermined axis.

A method of guiding a position of a capsule-type apparatus that includes a capsule-shaped casing adapted to be introduced into a subject, and a permanent magnet fixed in the capsule-shaped casing, the method comprising:

• a trapping magnetic field generating step of forming a trapping magnetic field that attracts the permanent magnet to a predetermined axis in a space in which the subject is laid;
• a relative position controlling step of calculating a driving signal for changing the relative position between the predetermined axis and the subject;
• a gradient signal calculating step of a computer processor calculating a gradient signal, based on the calculated driving signal, for forming, in the space, a gradient magnetic field that attracts the permanent magnet in a direction same as or opposite to a direction in which the relative position is changed, the gradient magnetic field is for cancelling at least one of inertia force, force caused by wave breaking of a liquid in which the capsule-type apparatus is adapted to float within the subject, and friction force between the capsule-type apparatus and the liquid, when the position of the predetermined axis with respect to the capsule-type apparatus is at least one of moved, accelerated, and decelerated;
• and
• a gradient magnetic field generating step of generating the gradient magnetic field based on the calculated gradient signal in addition to the trapping magnetic field generated in the trapping magnetic field generating step, thereby inhibiting the capsule-type apparatus from deviating from the predetermined axis.