A capsule endoscope guidance system according to the present invention comprises a capsule endoscope having a magnetic field response unit and an imaging unit, and a capsule endoscope guiding system including a capsule endoscope having a magnetic field response unit and an imaging unit and a propulsion direction of the capsule endoscope based on position information specified in the in-A propulsion direction vector setting section for setting a propulsive direction vector shown in the figure, an optical axis direction vector setting section for setting an optical axis direction vector indicating an optical axis direction with respect to the propulsion direction vector, a propulsion direction vector and an optical axis direction vector , A magnetic field setting section for setting an induced magnetic field to be applied to the magnetic field responsive section and a magnetic field setting section for applying an induced magnetic field to the magnetic field response section and maintaining the attitude of the capsule endoscope in the direction of the optical axis direction vector, And a magnetic field generator for propelling the endoscope in a direction designated by a propulsion direction vector.本発明にかかるカプセル型内視鏡誘導システムは、磁界応答部および撮像部を有するカプセル型内視鏡と、被検体内画像において指定された位置情報に基づいてカプセル型内視鏡の推進方向を示す推進方向ベクトルを設定する推進方向ベクトル設定部と、推進方向ベクトルに対する光軸方向を示す光軸方向ベクトルを設定する光軸方向ベクトル設定部と、推進方向ベクトルと光軸方向ベクトルとをもとに、磁界応答部に印加する誘導磁界を設定する磁界設定部と、誘導磁界を磁界応答部に印加して、カプセル型内視鏡の姿勢を光軸方向ベクトルの方向に維持しつつ、カプセル型内視鏡を推進方向ベクトルで指定された方向に推進させる磁界発生部と、を備えた。
