1. A medication administration system, comprising:
a first medical device and a second medical device which are ingested within a living body, and a unit external to the living body which is disposed outside the living body, wherein
a) the first medical device comprises:
a marking device which makes markings on body tissue of the living body; and
an acquisition device which acquires in-vivo information while establishing a correspondence with the positions of the markings;
b) the second medical device comprises:
a drug retention section which retains a drug for administration within the living body;
a release device which releases the drug retained in the drug retention section;
a detection device which detects the markings made by the marking device;
a second medical device transmission device which transmits information regarding the markings which have been detected by the detection device towards the unit external to the living body;
a second medical device reception device which receives a control signal for causing the release device to operate; and
a release control device which causes the release device to operate, when the control signal has been received by the second medical device reception device; and
c) the unit external to the living body comprises:
a reception device external to the living body which receives the information regarding the markings which has been transmitted from the second medical device transmission device;
a medication determination device which determines whether or not to administer medication for a site which is indicated in the in-vivo information based upon the in-vivo information which has been acquired by the acquisition device;
a specification device which specifies a marking which indicates a site to administer medication from among the markings which have been made within the living body based on the determination by the medication determination device;
a decision device for deciding whether or not a marking which has been detected by the detection device is the marking which has been specified by the specification device based on the information regarding the markings which have been received by the reception device external to the living body; and
a transmission device external to the living body which transmits the control signal towards the second medical device reception device, when the decision device has decided that the marking which has been detected by the detection device is the marking which has been specified by the specification device.
2. A medication administration system according to claim 1, wherein:
the first medical device further comprises a first medical device transmission device which transmits the in-vivo information which has been acquired by the acquisition device toward the unit external to the living body;
the reception device external to the living body receives the in-vivo information which has been transmitted by the first medical device transmission device; and
the medication determination device determines whether or not to administer medication for the site which is indicated in the in-vivo information based on the in-vivo information which has been received by the reception device external to the living body.
3. A medication administration system according to claim 1, wherein:
the first medical device further comprises a first memory which establishes the in-vivo information which has been acquired by the acquisition device; and
the medication determination device determines whether or not to administer medication for the site which is indicated in the in-vivo information based on the in-vivo information established in the first memory.
4. A medication administration system according to claim 1, wherein each of the first and second medical devices is formed in a capsule-shape.
5. A medication administration system according to claim 1, wherein
the decision device comprises a counter for counting the number of the marking detections by the detection device, every time the detection device detects each of the markings which have been made within the living body, further wherein
the decision device decides that the marking which is detected by the detection device is the specified marking, when the number of the marking arrives a specified number.
6. A medication administration system according to claim 1, wherein the marking device comprises a liquid chemical release device which releases a liquid chemical within the living body.
7. A medication administration system according to claim 1, wherein the acquisition device comprises an observation device, the observation device has an imaging device which forms an image of the interior of the living body and an illumination device which illuminates the interior of the living body.
8. A medication administration system according to claim 1, wherein the acquisition device comprises a blood sensor which detects hemorrhage within the living body.
9. A medication administration system, comprising a first medical device and a second medical device which are ingested within a living body, wherein
a) the first medical device comprises:
a marking device which makes markings on a body tissue of the living body;
an acquisition device which acquires in-vivo information while establishing a correspondence with the positions of the markings;
a medication determination device which determines whether or not to perform medication for a site which is indicated in the in-vivo information based on the in-vivo information which has been acquired by the acquisition device; and
a specification device which specifies a marking which indicates a site to perform medication from among the markings which have been made within the living body based upon the determination by the medication determination device;
b) the second medical device comprises:
a drug retention section which retains a drug for administration within the living body;
a release device which releases the drug retained in the drug retention section;
a detection device which detects the markings made by the marking device;
a second memory which establishes information regarding the marking which has been specified by the specification device;
a decision device decides whether or not a marking which has been detected by the detection device is the marking which has been specified by the specification device based on the information regarding the marking established in the second memory; and
a release control device which causes the release device to operate, when the decision device has decided that the marking which has been detected by the detection device is the marking which has been specified by the specification device.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method of servo writing a disk of a disk drive, the disk drive comprising the disk and a head actuated over the disk, the head comprising a read element and a write element, the method comprising:
positioning the read element over a first track on the disk and the write element over a second track on the disk;
synchronizing a phase locked loop (PLL) to first sectors previously written on the first track;
writing second sectors to the second track using the PLL, and saving a plurality of phase errors corresponding to the second sectors;
computing a correction value corresponding to a selected one of the second sectors, wherein the correction value is computed in response to a plurality of the phase errors generated for a plurality of the second sectors leading the selected sector;
positioning the read element over the second track on the disk and the write element over a third track on the disk;
synchronizing the PLL to the second sectors using the correction value; and
writing a third sector to the third track using the PLL, and saving a phase error corresponding to the third sector.
2. The method as recited in claim 1, wherein the correction value is at least partially computed according to:
\u03b1\u25a1e(t+m)
where \u03b1 is a constant and e(t+m) is the phase error generated for one of the second sectors leading the selected sector by m sectors.
3. The method as recited in claim 1, wherein the correction value is at least partially computed according to:
\u03b10\u25a1e(t)+\u03b11\u25a1e(t+1)+ . . . \u03b1N\u25a1e(t+N)
where \u03b1-\u03b1N are a plurality of constants and e(t+m) is the phase error generated for one of the second sectors leading the selected sector by m sectors.
4. The method as recited in claim 3, wherein the constants \u03b1-\u03b1N are selected to stabilize the PLL while attenuating phase error propagation from track-to-track.
5. A disk drive comprising:
(a) a disk;
(b) a head actuated over the disk, wherein the head comprises a read element and a write element; and
(c) control circuitry operable to servo write the disk by:
positioning the read element over a first track on the disk and positioning the write element over a second track on the disk;
synchronizing a phase locked loop (PLL) to first sectors previously written on the first track;
writing second sectors to the second track using the PLL, and saving a plurality of phase errors corresponding to the second sectors;
computing a correction value corresponding to a selected one of the second sectors, wherein the correction value is computed in response to a plurality of the phase errors generated for a plurality of the second sectors leading the selected sector;
positioning the read element over the second track on the disk and the write element over a third track on the disk;
synchronizing the PLL to the second sectors using the correction value; and
writing a third sector to the third track using the PLL, and saving a phase error corresponding to the third sector.
6. The disk drive as recited in claim 5, wherein the correction value is at least partially computed according to:
\u03b1\u25a1e(t+m)
where \u03b1 is a constant and e(t+m) is the phase error generated for one of the second sectors leading the selected sector by m sectors.
7. The disk drive as recited in claim 5, wherein the correction value is at least partially computed according to:
\u03b10\u25a1e(t)+\u03b11\u25a1e(t+1)+ . . . \u03b1N\u25a1e(t+N)
where \u03b1-\u03b1N are a plurality of constants and e(t+m) is the phase error generated for one of the second sectors leading the selected sector by m sectors.
8. The disk drive as recited in claim 7, wherein the constants \u03b1-\u03b1N are selected to stabilize the PLL while attenuating phase error propagation from track-to-track.
9. Control circuitry for use in a disk drive, the disk drive comprising a disk and a head actuated over the disk, wherein the head comprises a read element and a write element, the control circuitry operable to servo write the disk by:
positioning the read element over a first track on the disk and positioning the write element over a second track on the disk;
synchronizing a phase locked loop (PLL) to first sectors previously written on the first track;
writing second sectors to the second track using the PLL, and saving a plurality of phase errors corresponding to the second sectors;
computing a correction value corresponding to a selected one of the second sectors, wherein the correction value is computed in response to a plurality of the phase errors generated for a plurality of the second sectors leading the selected sector;
positioning the read element over the second track on the disk and the write element over a third track on the disk;
synchronizing the PLL to the second sectors using the correction value; and
writing a third sector to the third track using the PLL, and saving a phase error corresponding to the third sector.
10. The control circuitry as recited in claim 9, wherein the correction value is at least partially computed according to:
\u03b1\u25a1e(t+m)
where \u03b1 is a constant and e(t+m) is the phase error generated for one of the second sectors leading the selected sector by m sectors.
11. The control circuitry as recited in claim 9, wherein the correction value is at least partially computed according to:
\u03b10\u25a1e(t)+\u03b11\u25a1e(t+1)+ . . . \u03b1N\u25a1e(t+N)
where \u03b1-\u03b1N are a plurality of constants and e(t+m) is the phase error generated for one of the second sectors leading the selected sector by m sectors.
12. The control circuitry as recited in claim 11, wherein the constants \u03b1-\u03b1N are selected to stabilize the PLL while attenuating phase error propagation from track-to-track.