DE102007013773A1 - Magnetically leading system, in particular medical system, in particular capsule endoscope system with prediction - Google Patents

Abstract

The present invention relates to a magnetically leading system, in particular a medical system, in particular a capsule endoscopy system with a device (3) for positioning a slide (5) and / or a device (9) for driving coils (11). A conventional magnetically leading system, in particular a capsule endoscopy system, is to be improved in particular such that the slide is not moved jerkily, the consumption of electrical energy is minimal and the required magnetic forces and torques can be generated. The presented magnetically guiding system uses a model of an object region to be examined for predictively calculating an optimum positioning profile of the slide (5) for the device (13) for positioning and / or an optimum time course of the coil currents for the device (9) for driving. The model can be adapted to current object information. The pre-calculations allow the control to be mathematically optimized. The invention is suitable, for example, for capsule endoscopy systems (1).

Description

The The present invention relates to a magnetically leading one System, in particular a medical system, in particular a magnetically guided capsule endoscope system according to the Preamble of the main claim.

at The magnetic capsule endoscopy is a body or patient on an examination table or chair in a magnet coil system. A capsule is introduced orally or rectally into the body which contains a permanent magnet, which is preferably parallel or diametrically or perpendicular to the capsule longitudinal axis is magnetized. To all theoretically possible magnetic To cover degrees of freedom, the magnetic coil system must have at least 8 coils.

The DE 103 40 925 B3 discloses a magnetically leading system, namely a magnet coil system for non-contact movement of a magnetic unit in a working space having 14 coils. With the magnetic coil system of 14 individually controllable individual coils, a magnetic unit is to move without contact in a working space. For this purpose, three magnetic field components and up to five linearly independent magnetic field gradients are to be generated by the coil system. The individual coils are preferably arranged on pairwise opposite frontal or lateral surfaces and on a tubular, the working space enclosing lateral surface. That is, the described 14-coil system is, similar to a magnetic resonance magnet, cylindrical and has a clear inner diameter of about 600 mm. The total of 14 coils are all air coils and are composed of two times four quarter-circle-shaped saddle coils, four of which form a cylinder. Both saddle coil cylinders are at the same angle about the cylinder axis, that is, the center axis of the coil system, set immediately behind one another. Around the two saddle coil cylinders are four larger flat coils or quarter-circle saddle coils, which together form a cuboid or a cylinder. The two inner saddle-coil cylinders are rotated 45 ° relative to the outer saddle-coil cylinders. At the two end faces of the coil system is ever a flat coil with a square or circular coil eye. The coil system, in particular the length and the conductor cross-section of the individual coils, is designed so that sufficiently strong magnetic fields and magnetic gradient fields can be generated at each point in a given working volume in order to apply the magnetic torques and forces required for capsule navigation to the capsule can. The centered around the center of the coil system work volume is assumed to be circular cylindrical, wherein the cylinder axis is the center axis of the coil system. The circular-cylindrical working volume has a diameter of approximately 30 cm and an axial length of, for example, 12 cm to 20 cm. Typically, the power and power requirements increase as the capsule moves toward the edge of the working volume and beyond. This means that magnetic capsule navigation is still possible in the vicinity, but outside the working volume, but possibly only with reduced torques or forces or only for a limited time. Reduced torques or forces are therefore provided because the maximum power of the power amplifiers driving the coils is achieved. It is available only for a limited time because the maximum cooling of the power amplifier output stages as well as the coils can not dissipate the resulting power loss, whereby the temperature rises, so that upon reaching a temperature threshold, the current must be restricted by suitable means ,

The US 2004/0181127 A1 discloses another magnetically-leading system, namely a capsule endoscopy system with a capsule endoscope, the movement of which is controlled by an externally applied magnetic field, with at least one magnetic field generating unit for generating a one-point control of the movement of the person lying on a stage in a body cavity moving capsule endoscope focused magnetic field, and with a table driving unit for moving the stage relative to the magnetic field generating unit.

According to this The state of the art is almost at a magnetic working volume reduced one point. A translational capsule movement in the patient can only about the movement of the patient table and so that the patient done. Such controlled object table or patient table generated during a procedure disadvantageous Way strong or jerky accelerations.

Another prior art document is the US 5,681,260 A1 , This document discloses a guiding device for guiding an insertable body into an object under examination with an insertable body inserted into an object to be examined, with a part provided and magnetically guided in at least part of the insertable body, and with an outside of the object being examined Guiding device for the magnetic guidance of the guided part. The guide device includes a guide part for guiding the guided part and a drive device for moving the guide at least two-dimensional part. The guided part and the leading part generate a magnetic force acting between them. The leading part serves to guide the guided part with the magnetic force.

It is the object of the present invention, a conventional magnetically leading system, in particular a medical magnetically leading system, in particular a capsule endoscope system to improve. This will be a magnetically leading system in particular developed such that in a whole procedure the slide is positioned such that high or jerky accelerations of the slide can be avoided. Furthermore, the consumption of electrical energy in the temporal Means minimized and / or over an entire procedure the required magnetic forces and torques on the magnetically guided unit, in particular on the capsule endoscope, actually generated by a magnetic field generating device can be.

The Task is by a system according to the main claim solved.

By Creating a generic model can be a predictive one Calculation and a corresponding control of a magnetically leading Systems take place. This control relates to the positioning of the slide, for example, a stage or is an object chair, and / or relates to the coil currents or coil voltages or coil powers in the magnetic field generating device.

One magnetically leading system leads, controls and / or moves a magnetically guided unit or a magnetic Unit by means of a slide and a magnetic field generating device. These move the magnetic unit in a working space without contact. A magnetically leading system has in particular a Device for positioning a slide relative to a magnetic field generating device and a device for Control of coils of the magnetic field generating device. The magnetically guided unit can be a permanent magnet and is inserted in an area within an object. A magnetically leading system is for example a Capsule endoscope system with a magnetically guided endoscope capsule. An object is, for example, a body, for example the body of a human or an animal or a physical one or technical body. An object area is at a magnetically leading system located inside the object, in which the magnetically guided unit or the magnetic unit can be inserted. An object area For example, a gastrointestinal tract or a gullet be.

The generic model is specific to the specific circumstances of the specific Situation in the object area or body area, for example of a human body, adaptable. change the generic model, its characteristics easily adapted. It only needs the changed Elements are taken into account.

The Target trajectory characterizes, as a function of time, the path, the trajectory or the spatial curve along which the center of gravity to move the magnetically guided unit. It will be the Target trajectory defined as belonging to the model.

By the predictive calculation, in particular by means of continuity secondary conditions, can For example, ensure that no jerky movements or accelerations of the slide carried out become. Through the predictive calculation, in particular by means of Integral and differential calculations, for example, can ensure that the consumption of electrical energy in the time average or over the entire procedure is minimal. By the predictive calculation, in particular By means of differential calculations, for example, can be ensured be that the required magnetic forces and Torques on the magnetically guided unit of the magnetic field generating device actually can be generated.

The calculated assigned local and temporal courses are used by the predictive calculation facility, in particular for a certain period of time, in particular up to one Forecast horizon or an end time calculated in a forward-looking manner.

through the predictive calculations are arbitrarily optimizable or arbitrarily assigned positioning time profiles of the slide for the device for positioning and / or any optimizable or arbitrarily assigned time courses of Coil currents and / or coil voltages and / or coil powers provided for the device for driving. The Optimization of calculated time courses is based on the required criteria, such as vibration-free Energy consumption and / or required magnetic forces or torques are.

The positioning of the object or body magnetically guided unit, such as a capsule endoscope, within the coil system via the positioning of the slide, on which the object, for example a Human or an animal, lies. It is assumed that a stage during a procedure is automatically moved at least in the axial direction. In addition, this can be pivotable about an axis parallel to the central axis of the coil system in the coil system, that is, with the pivoting of the slide, the body is rotated, for example, in left or right lateral position. Moreover, it is possible that the object table can be tilted to a slight extent about the horizontal axis perpendicular to the body longitudinal axis or coil system longitudinal axis in order, for example, to slightly lower the head of a patient relative to the legs. A stronger tilt in this direction requires that the entire magnet coil system is also tilted. Basically, a slide is displaceable in all directions and rotatable about all axes.

The Control relates alternatively or cumulatively the coil currents or coil voltages or coil powers in the magnetic field generating device.

According to this The design determines the device based on the model Calculation cumulative or alternatively anticipatory an associated Driving time history for a device for driving of coils of the magnetic field generating device. This means the coil power supply or the coil currents and / or Coil voltages are in terms of their time course calculated in advance. It can be any way this way optimized or arbitrarily assigned control time profiles to be provided.

The fact that the current and power requirements of the coils increase with the distance to the center of the coil system does not generally apply. For example, the capsule or the capsule endoscope along the center axis of a coil system according to the DE 103 40 925 B3 aligned, and if the capsule is to be rotated about its longitudinal axis, the required rotating magnetic field can be generated either from the outer saddle cylinder, which are four coils, or from one of the two inner Sattelspulenzylinder, which are also four coils. Since the inner saddle coils are closer to the capsule, it is cheaper in terms of power and power consumption in this case, to use one of the two inner saddle coil cylinder. The optimal capsule location for the magnetic capsule rotation is always in the center of the energized coils, ie in this case outside the working volume. This example illustrates that for the optimal capsule location in terms of current and power requirements, it is not always the case that the capsule is as close as possible to the center of the working volume or magnet coil system.

The calculated time courses according to main and Ancillary claims are particularly optimized or assigned to this effect or adapted that the required magnetic Forces and torques at each position of the magnetically guided Unit and at any time throughout the procedure be achieved; the peak performance of power amplifiers is not exceeded at any time during the procedure; one in particular patient comfort adjustable threshold value of the patient table acceleration is not exceeded at any time during the procedure; thermal Effects, such as heating of the power amplifiers, as well as the coils, and temporal sluggish effects, so considered are that there can be no overheating; the whole During the procedure consumed electrical energy as low as possible is. Associated means that a calculated time course is still is not optimal. It can be an adaptation of the calculated time courses take place until an optimum has been achieved.

Further advantageous embodiments can be found in the subclaims.

According to one Another advantageous embodiment is in a magnetically leading System the magnetically guided unit a surgically, therapeutically and / or diagnostically acting entity. This means, The magnetically leading system controls one magnetically guided unit, which in terms of their function varied is. In this case, the magnetically guided unit, for example Capture and / or influence parameters of the environment of the unit.

According to one Another advantageous embodiment is the magnetically guided Unit a capsule endoscope, a catheter tip, a scalpel and / or thermally acting such that, for example, in medicine pathological Tissue is eliminated. The unit can, for example, by induction be heated.

According to a further advantageous embodiment, a first device for adapting the created model to individual object or body information is provided which has been determined by means of manual and / or automatic measurement of the body, for example by means of a laser, a computer tomograph or a magnetic resonance device. The generic model is adapted to the body or patient to be examined prior to the start of the procedure by manually measuring and inputting body measurements and position of the body on the slide, for example the shoulder position, the pelvic position, the hip width, the abdominal height of medical assistants or automatically, for example by means of Lasers, measured and made available to a control algorithm. Likewise, a computed tomography or magnetic resonance scan of a, for example, capsule endoscopically to be examined body portion may be known, which can be used to adapt the generic model to the body. Due to the generic model, before the beginning of a procedure, for example an examination procedure, there is a desired trajectory of the magnetically guided unit. The desired trajectory associated with the model is adaptable to the object, the body or the patient.

According to one Another advantageous embodiment is a second device to adapt the created model to further individual body information provided by means of a detection device during an associated positioning and / or associated control were recorded. These are for example positions, speeds and / or orientations of the magnetically guided unit, for example, a capsule, or a capsule endoscope is. Alternatively or cumulatively, sensors are used magnetically information gathered by the unit to adapt the created model used. This information is for example pH values, pressures, temperature, humidity or video information. The means, in addition, contains the magnetic guided unit we sensors a pH sensor, a pressure sensor, a temperature sensor, a humidity sensor or a video device. For example, by means of a capsule sensor can alternatively or cumulatively to the absolute capsule position measurement, a determination the relative position of the capsule in the object or body, in particular in the gastrointestinal tract, done. This is explicit With reference to claim 13 taken.

According to one Another advantageous embodiment is a third device for adapting the desired trajectory of the created model in an automatic Detection of an event provided, for example one Circulation.

According to one further advantageous embodiment, a device is provided, for the repeated activation of the devices for adaptation, anticipatory calculation, the associated positioning and / or for the associated control of the coils and for detection, over several Periods until the end time of the entire procedure. about the position measurement of the magnetically guided unit and the additional sensor signals from the magnetically guided Unit is obtained during the capsule movement new information about the actual course of the object or body region, being this new information for the quasi-continuous Adaptation of the model with the desired trajectory of the magnetically guided Unit or magnetic unit can be used.

According to one further advantageous embodiment calculates the forward-looking calculating device over a forecast period, up to an associated forecast horizon, for predicted discrete time steps ahead, and it will be each one over the first discrete time step, looking ahead calculated assigned time histories of the facilities used for positioning and / or control.

The associated gradients are advantageous time courses the position of the slide and advantageous time courses the coil currents or coil powers. Based on the adjusted body region model with the adjusted target trajectory be over a period of time, that is to the so-called forecast horizon, for given ne discrete time steps the advantageous time courses of Slide positions and the advantageous time courses calculated with respect to the coil currents and coil powers. This is done in such a way that the required criteria up to the forecast horizon are fulfilled. The forecast horizon or the Prediction period is typically for computational reasons shorter than the predicted total duration of the procedure, but can also last until the end of the procedure. From the thus calculated, time-discrete slide positions and coil powers, only the first time step is implemented. During this time step, the magnetic moves guided unit, and the position and orientation of the Unit become typical during this time step measured several times. For the next time step the slide and coil power control is repeated Now the procedure of the first time step.

According to one Another advantageous embodiment, the device is repeated Control over further first discrete time steps from constant left, each time shifted one step into the future Forecast periods, up to one last forecast horizon, the last predicted end time corresponds to an entire procedure. That is, if the Prediction period in the first time step not the predicted Covered duration of the procedure, this is left constant and just shifted one step into the future. Otherwise, the forecast horizon is chosen to be the new one predicted end time corresponds to the procedure.

According to another advantageous embodiment staltung are the time steps of the predictive calculation of the slide positions integer multiples of the time steps of predictive computing the coil powers, coil currents or coil voltages. That is, although slide positions and coil drive can be jointly optimized and / or assigned, it is not necessary to calculate both magnitudes on the same discretized time scale. Advantageously, for example, the coil currents can be calculated with a finer temporal discretization than the slide positions. The time steps of the slide position calculation should meaningfully be integer multiples of the time steps of the coil power calculation.

• 1.) pH-Wert-Erfassung: Erfassung des Übergangs vom Magen zum Duodenum, dies betrifft die Pylorus-Position.
• 2.) Druck-Erfassung:
• a) Mit einer Kapsel, in deren zylindrischen Außenwand ein Drucksensor eingelassen ist, kann durch Drehen der Kapsel beziehungsweise des Kapselendoskops um ihre Längsachse festgestellt werden, ob die Darmwand die Kapsel vollständig umschließt. Falls ja, ist das Lumen des Darmabschnitts geringer als der Kapselquerschnitt.
• b) In einem mit Wasser gefüllten Magen kann der Drucksensor über die Höhe der über der Kapsel befindlichen Wassersäule Aufschluss geben.
• c) Im Dünndarm können aus dem Zeitverlauf des Druckmesswertes Rückschlüsse auf die Peristaltik-Bewegung und damit auf die Lage innerhalb des Dünndarms gezogen werden.
• 3.) Videoüberwachung: Die sichtbare Fältelung und Zottendichte gibt Aufschluss über die relative Lage im Dünndarm, da Fältelung und Zottendichte im Verlauf des Ileums abnehmen.

According to a further advantageous embodiment, the body region to be examined is a gastrointestinal tract, so that the model of a corresponding gastrointestinal tract or a section of a gastrointestinal tract is used. That is, in a control algorithm, a generic model of a typical human gastrointestinal tract, or at least a portion to be examined, for example, in an examination procedure, is deposited. Accordingly, the following three examples of the use of a capsule sensor cumulatively to the absolute capsule position measurement, to determine the relative position of the capsule in the gastrointestinal tract arise:

• 1.) pH detection: detection of the transition from the stomach to the duodenum, this affects the pyloric position.
• 2.) Pressure detection:
• a) With a capsule, in the cylindrical outer wall of a pressure sensor is embedded, can be determined by turning the capsule or the capsule endoscope about its longitudinal axis, whether the intestinal wall completely encloses the capsule. If so, the lumen of the intestinal section is less than the capsule cross-section.
• b) In a water-filled stomach, the pressure sensor can provide information about the height of the water column above the capsule.
• c) In the small intestine, conclusions about the peristaltic movement and thus the position within the small intestine can be drawn from the time course of the pressure measurement.
• 3.) Video Surveillance: The visible pleatiness and density of tusks provides information about the relative position in the small intestine, as pleatiness and density of tufts decrease in the course of the ileum.

According to one Another advantageous embodiment, the device for creating a model, the first, the second and the third respective adaptation of the model, the institution for predictive Calculation and the device for repeated activation in an overall control device summarized. In this way, the facilities are simple and functionally summarized.

The The present invention is based on an embodiment described in more detail in connection with the figure. Show it:

1 an embodiment of a magnetically leading system;

2 shows an embodiment of a signal flow plan of the devices and devices of a magnetically leading system.

The magnetically leading system according to 1 has a facility 3 for positioning a slide 5 relative to a magnetic field generating device 7 on. A slide 5 may be, for example, a stage or an object chair. Objects are bodies, for example human, animal, technical or generally physical. In addition, the capsule endoscope system 1 An institution 9 for controlling coils 11 the magnetic field generating device 7 on. The control of the coils takes place 11 in the magnetic field generating device 7 by means of power amplifier 10 for coil control. The according to 1 illustrated capsule endoscopy system 1 is merely one example of a general surgical, therapeutic, and / or diagnostic medical system. The system shown here may also be any magnetically-leading system that moves any arbitrary functional magnetically-guided unit or magnetic unit in a body interior or body area without contact. The present invention generally relates to magnetically-leading systems which can also be used, for example, in material testing in technical fields. The according to 1 illustrated capsule endoscope system 1 also has a facility 15 for creating a model of a body region or body interior to be examined, for example a body cavity of a person on the slide 5 lying object or body (this is not shown) together with a model associated target trajectory of a magnetically guided unit in the body interior. The magnetically guided unit according to 1 is a capsule endoscope or an endoscopy capsule. Alternatively, the magnetically guided unit is also a catheter tip and / or a surgically acting, helical device that is, for example, inductively heated to destroy diseased tissue in a body. The magnetically-guided unit can be surgically, therapeutically and / or diagnostically effective. A diagnosis also includes the diagnosis of technical objects or bodies. The capsule endoscopy system 1 according to 1 also has a facility 17 to the Mo dells taking place, over a period of time, up to an end time point of a procedure looking ahead calculation of an associated positioning time history of the slide 5 for the institution 3 for positioning and an optimal time course of the coil currents, the coil voltages and / or coil outputs for the device 9 for activation. When using a capsule endoscopy system 1 according to 1 the procedure is an examination procedure. The present invention also includes surgical and / or diagnostic or any procedures. Furthermore, the capsule endoscopy system 1 a first facility 19 to adapt the created model to individual body information. Such individual body information can be determined by means of manual and / or automatic measurement of the Kör pers. By means of manual measurement, for example, a shoulder and hip position can be detected manually by means of a ruler. An automatic measurement can be carried out, for example, by means of a laser, a computer tomograph and / or a magnetic resonance apparatus. As a rule, only a single adaptation of the created model to this individual body information is performed by this first device 19 for adaptation. The individual body information once determined in this case usually adjusts the created model once, but may require further model adaptations if the body information changes. Furthermore, the capsule endoscopy system 1 a second device 21 for adapting the created model to further individual body information by means of a detection device 23a and 23b during an optimized or assigned positioning and / or an optimized or associated control have been detected. These further individual body information are, for example, the positions 23a Speeds and / or orientations of the magnetically guided unit or magnetic unit. Likewise, the further individual body information is detected by means of sensors of the magnetically guided unit. The information obtained can be, for example, pH values, pressures, temperatures, humidity, gas values or video information 23b be. The present invention is not limited to these other individual body information. Any individual body information can be used to adapt the created model by means of the second device 21 be captured and processed. 1 shows only an example of a position detection 23a as well as a video information capture 23b , Other individual body information can also be recorded and evaluated. The capsule endoscopy system 1 according to the embodiment also has a device 25 for repeated activation of the devices for adaptation 19 . 21 . 27 for predictive calculation 17 , for assigned positioning 3 , for assigned control 9 the coils 11 by means of the power amplifier 10 and for recording 23 over several periods to an end time of the entire procedure. Thus, the individual body information, in particular by means of the second device 21 be used for the adjustment, constantly updated and repeatedly used for model adaptation. The capsule endoscopy system 1 according to 1 also has a third facility 27 for adapting the desired trajectory of the created model during the automatic detection of an event. Such an event may be bleeding, for example. That is, the third device 27 the model continues to adjust if an unexpected event occurs during the procedure. The capsule endoscopy system 1 has an overall control device 29 on that the device 15 for the creation of the model, the first, the second and the third institution 19 . 21 and 27 to the respective adaptation, the device 17 for predictive calculation, and the device 25 includes for repeated activation. In particular, the device can 15 for creating the model and the three facilities 19 . 21 and 27 be sensibly summarized for the respective adjustment. Likewise, the facilities can 17 for predictive calculation as well as the device 25 for repeated drive to the unit in the overall control device 29 be integrated. The overall control device 29 can by means of a graphical user interface 31 and / or an input unit 33 be operated by an operator. In addition, for example, the model in a central data storage 35 be stored. In this central data store 35 The body information can also be stored. Other compilations of a magnetically-leading system are also included within the scope of the present application. For example, a cooling device can also be created.

2 shows an embodiment of a signal flow plan, the devices and facilities of a magnetically leading system, in particular a magnetically leading medical system, namely a capsule endoscopy system 1 , 2 shows a device 15 for creating a first coarse model of the object area or body area into which the magnetic unit is inserted and moved. This model is made by means of the first device 19 usually only once, by means of the second device 21 and by the third means 27 adapted to the actual object area or the real body area and its interior for adaptation of the model. Further shows 2 An institution 17 for predictive calculation. This device 17 utilizes the current information of the three adaptive Einrich obligations 19 . 21 and 27 to provide optimized or associated slide positioning timing for the device 3 for positioning the slide 5 and / or an optimized or associated Spulenstromzeitverlauf for the device 9 for controlling the coils 11 the magnetic field generating device 7 predictively calculate. Further shows 2 a detection device 23 for example, a capsule position detection 23a or a video capture 23b by means of a respective device. The further body information thus obtained becomes the three facilities 19 . 21 . 27 attributed to the adaptation of the model. Accordingly, the model is adjusted and a new cycle is performed over several cycles until an end time of the entire procedure, which is a screening procedure in a capsule endoscopy system. 2 shows a device 25 for repeated activation of the devices for adaptation 19 . 21 and 27 , for predictive calculation 17 , for assigned positioning 3 , for assigned control 9 the coils 11 , and to capture 23 , over several periods until an end time of the entire procedure. This way shows 2 the essential elements of an overall control device 29 , In this are the furnishings 15 to create a model, the first, second and third institutions 19 . 21 . 27 to the respective adaptation, the device 17 for predictive calculation and the device 25 summarized for repeated activation. According to 2 is the model in the facility 15 to model the model of a gastrointestinal tract (gastrointestinal tract) or a section of a gastrointestinal tract (gastrointestinal tract).

According to 1 and 2 calculates the predictive computing device 17 via a respective prediction period, up to an associated prediction horizon, anticipating for given discrete time steps. In each case, the associated or optimized progressions calculated by the devices over the first discrete time step are calculated in a forward-looking manner 3 and 9 used for positioning and control. The device 25 is created for repeated control over further first discrete time steps of constant left, in each case shifted by a time step into the future forecast periods, up to a last forecast horizon, which corresponds to the last predicted end time of the entire procedure. It is particularly advantageous if the time steps of the predictive calculation of the slide positions are integer multiples of the time steps of the predictive calculation of the coil currents.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10340925 B3 [0003, 0019]
• US 2004/0181127 A1 [0004]
• US 5681260 A1 [0006]

Claims (14)

Magnetically leading system, in particular a medical system, in particular a capsule endoscope system ( 1 ), with - a device ( 3 ) for positioning a slide ( 5 ) relative to a magnetic field generating device ( 7 ); characterized by - a device ( 15 ) for creating a model of an object area of an object on the slide ( 5 ) arranged together with a model associated target trajectory of a magnetically guided unit within the object area; - An institution ( 17 ) on the model-based, predictive calculation of an optimized and / or associated positioning time history for the device ( 3 ) for positioning the slide ( 5 ). System according to claim 1, characterized by the device ( 17 ) for cumulative or alternative predictive calculation, based on the model, of an optimized and / or associated drive time course for a device ( 9 ) for controlling coils ( 11 ) of the magnetic field generating device ( 7 ). System according to claim 1 or 2, characterized by the object is a body, especially a human or animal or a technical body. System according to one or more of the preceding Claims 1 to 3, characterized in that the magnetic guided unit a surgically, therapeutically and / or is a diagnostic unit. System according to one or more of the preceding Claims 1 to 4, characterized in that the magnetic guided unit a capsule endoscope, a catheter tip, a scalpel and / or thermally acting. System according to one or more of the preceding claims 1 to 5, characterized by a first device ( 19 ) for adapting the created model to individual object information which has been determined by means of manual and / or automatic measurement of the object, for example by means of a laser, a computer tomograph or a magnetic resonance apparatus. System according to one or more of the preceding claims 1 to 6, characterized by a second device ( 21 ) for adapting the created model to further individual object information, which by means of a detection device ( 23 ; 23a . 23b ) were detected during an associated positioning and / or associated control, such as positions ( 23a ), Speeds and / or orientations of the magnetically guided unit and / or information detected by sensors of the magnetically guided unit, for example pH, pressure or video information ( 23b ), are. System according to one or more of the preceding claims 1 to 7, characterized by a third device ( 27 ) for adapting the desired trajectory of the created model in the automatic detection of an event, such as a hemorrhage. System according to claim 7 or 8, characterized by a device ( 25 ) for the re-activation of the adjustment facilities ( 19 . 21 . 27 ), for predictive calculation ( 17 ), for the assigned positioning ( 3 ) and / or the associated control ( 9 ) of the coils ( 11 ) and to record ( 23 ), over several periods to an end time. System according to claim 9, characterized in that the predictive calculating means ( 17 ) over a respective prediction period, up to an associated prediction horizon, are calculated in a forward-looking manner for predefined discrete time steps, and in each case the allocated time profiles, calculated over the first discrete time step, from the devices ( 3 . 9 ) are used for positioning and / or driving, wherein a period corresponds to a first discrete time step. System according to claim 10, characterized in that the device ( 25 ) is provided for repeated activation over further first discrete time steps of constantly left, in each case by a time step shifted into the future forecast periods. System according to claim 10 or 11, characterized the time steps of the predictive calculation of the slide positions are integer Multiples of the time steps of predictive computing with respect to the coil drive are. System according to one or more of the preceding Claims 1 to 12, characterized by the model of a Gastrointestinal tract or a section of a gastrointestinal tract. System according to one or more of the preceding claims 1 to 13, characterized in that the device ( 15 ) for the creation of a model, the first, second and third institutions ( 19 . 21 . 27 ) on the respective adaptation, the institution ( 17 ) for predictive calculation and the device ( 25 ) for repeated activation in an overall control device ( 29 ) are summarized.