Patent ID: 8529433

Claim:
A body-insertable apparatus system comprising a body-insertable apparatus that is inserted into a subject and a control apparatus that controls an operation of the body-insertable apparatus, wherein the body-insertable apparatus comprises a magnetic responding unit that is provided within a casing forming the body-insertable apparatus and has a magnetization direction; and a detecting unit that detects a position and a posture of the body-insertable apparatus; a needle that is protruded and retracted with respect to a surface of the casing, and the control apparatus comprises a magnetic field generator that generates a magnetic field within the subject; and a control unit that causes the magnetic field generator to generate a magnetic field for changing an orientation of the magnetic responding unit based on the magnetization direction of the magnetic responding unit in the body-insertable apparatus, a position of the needle in the body-insertable apparatus, and a distal end direction of the needle, thereby changing an orientation of the entire body-insertable apparatus to enable the protruded needle to puncture a puncture target layer, and the control unit is configured to cause the magnetic field generator to generate a first magnetic field for making the body-insertable apparatus have a first posture to be taken immediately before puncture of the needle and to cause the needle to protrude, and configured to generate a second magnetic field for changing an orientation of the entire body-insertable apparatus from the first posture so that the protruded needle punctures the puncture target layer.