US20050272974A1 - In-vivo extendable element device and system, and method of use - Google Patents

Abstract

An in-vivo device, such as an autonomous imager or other suitable in-vivo device, includes a moveable arm, extendible element, or proboscis. The in-vivo device may include sensors, such as imagers, etc. The device may transmit sensing information via, for example, wireless transmission, or wired transmission.

Description

RELATED APPLICATION DATA
• The present application is a Continuation Application of U.S. patent application Ser. No. 10/694,092, filed Oct. 28, 2003, entitled “IN-VIVO EXTENDABLE ELEMENT DEVICE AND SYSTEM, AND METHOD OF USE”, which claims benefit from prior U.S. Provisional Patent Application Ser. No. 60/421,788 filed on29 Oct. 2002 and entitled “IN-VIVO EXTENDABLE ELEMENT DEVICE AND SYSTEM, AND METHOD OF USE”, incorporated by reference herein in its entirety.
FIELD OF THE INVENTION
• The present invention relates to the field of in vivo diagnosis and therapeutics, more specifically, the present invention relates to a system and a device for in vivo diagnosis and therapeutics including an extendable and/or moveable element.
BACKGROUND
• Devices and methods for performing in-vivo medical procedures and imagery are known in the art. Such devices may be, for example, inserted into a patient's body and advanced through internal lumens or cavities of the body to a site of interest located inside a patient's body
• One group of in-vivo medical devices includes various endoscopic systems. The imaging capabilities of such endoscopic systems may be limited and provide only a partial forward field of vision, although some endoscope systems do allow for the field of view to be changed. Additionally, although a variety of medical instruments may be passed through the endoscopic tube to enable treatment at a site of interest, such instruments are usually relatively cumbersome and may require complicated controls and cause pain or discomfort to a patient.
• Another group of devices for performing in-vivo medical procedures and imagery includes autonomous in-vivo devices. An example of such devices may be a swallowable device such as a capsule having an optical assembly capable of providing images from inside a body cavity or lumen such as the gastrointestinal (GI) tract. The design of autonomous in-vivo devices, such as swallowable capsules, may be subjected to size constraints and other limitations.
• It would be desirable to have a medical instrument having improved qualities such as maneuverability and control and substantially small dimensions that is suitable for a wide variety of medical tasks, and that in addition may include controls or devices for manipulating objects, tools or substances within or external to the device.
SUMMARY OF THE INVENTION
• There is thus provided, according to an embodiment of the present invention, a typically in vivo system and/or device including one or more extendable and/or moveable elements or arms, which may be termed proboscises. The proboscises may, for example, act as one or more “arms” to perform a variety of tasks or, for example, may be used to propel, move, stabilize or hold the device. In some embodiments, the arms or proboscises may be progressively extendable, and the extension of the proboscis may be. omni-directionally controlled by, for example, outside direction by an operator, or autonomously. In another embodiment of the present invention, an autonomous L in vivo device may include one or more proboscises. In alternate embodiments, the extendable element may be Used in a non-medical field or application. The device may be autonomous, and may include an on-board power supply, such as a battery or a power receiving system.
• Various suitable structures for an arm or extendible element may be used. For example, in one embodiment, a plurality of segments may be used. A set of control wires may connect to the arm or element, and if segments are used may connect to individual segments. Devices that may be used to move the arm or element may include, for example, piezo material, shape memory material, motors, or other suitable elements
BRIEF DESCRIPTION OF THE DRAWINGS
• The subject matter regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanied drawings in which:
• FIG. 1A is a block diagram illustration of an in vivo system, according to an embodiment of the present invention;
• FIG. 1B is a block diagram illustration of an autonomous in vivo device, according to another embodiment of the present invention;
• FIG. 1C is a cutaway view of a device including an extendable element and storage tanks according to an embodiment of the present invention;
• FIG. 2A is a front cross sectional view of an extendable element, in accordance with an embodiment of the present invention;
• FIG. 2B is a side-sectional view of an extendable element, in accordance with an embodiment of the present invention;
• FIG. 3 illustrates a side cutaway view of a portion of an extendable element according to an embodiment of the present invention;
• FIG. 4 illustrates a cutaway view of a portion of an extendable element, according to one embodiment of the present invention;
• FIG. 5 illustrates a cross sectional view of the extendable element ofFIG. 4, according to one embodiment of the present invention;
• FIG. 6 illustrates a piezo element of the extendable element ofFIG. 4, according to one embodiment of the present invention; and
• FIG. 7 illustrates a capsule with multiple extendable elements according to an embodiment of the present invention.
• It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.
DETAILED DESCRIPTION OF THE INVENTION
• In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However it will be understood by those of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known methods and procedures have not been described in detail so as not to obscure the present invention.
• Throughout the specification the term “in-vivo procedures” may relate to any diagnostic and/or therapeutic procedures performed inside the human body, for example, but not limited to, procedures of gastroenterology, procedures within or on blood vessels, procedures of gynecology and laparoscopic surgery procedures.
• Embodiments of the present invention relate to an in-vivo system and device including one or more extendable elements or arms, which may be termed proboscises. In alternate embodiments, the extendable element may be used in a non-medical field or application.
• The arm or proboscis may be, for example, progressively extendable. The extension of the proboscis may be, for example, omni-directionally controlled.
• In another embodiment of the present invention, an autonomous in-vivo device may include one or more proboscises.
• Reference is made now toFIG. 1A, which is an illustration of an in-vivo system according to an embodiment of the present invention. Thesystem100 may include one or more extendable arms, elements orproboscises102, atube104 such as an endoscopic tube, and, for example, ahandpiece106. Each of the one or moreextendable proboscises102 are typically located at the distal portion of theendoscopic tube104, but in alternate embodiments may be located at other portions, such as a mid-portion.
• Units such as anillumination source114, one or more in-vivomedical instruments118, and one or more sensors such asimage sensor116 may also be located at the distal portion of thetube104, Other sensors, such as pH sensors, pressure sensors, etc., may be used. The illumination source114 (e.g. one or more LEDs) may be adapted to, for example, illuminate an area inside the patient's body. The image sensor116 (e.g. a CMOS image sensor; other suitable sensors may be used) may be adapted to collect reflected light. In some embodiments, theillumination source114 may be configured to output, and theimage sensor116 may be configured to collect, electromagnetic radiation. Theinstruments118 may be suitable in-vivo medical instruments, such as graspers, blades, clamps, tissue collecting baskets, means for delivering treatment at a specific location, stents, catheters, suturing devices, forceps, dilatation balloons, and others. The sensors may also be suitable sensors, including but not limited to a temperature sensor, a pH meter, a bio-chemical analyte assay or identifier, a sensor for determining electrical impedance of tissues, an optical sensor, such as a spectrometer and other sensors. Thesystem100 may include other components or arrangements of components. For example, in some embodiments, an imaging system may be omitted.
• In some embodiments, an imaging unit placed on thetube104 may transmit images wirelessly. For example, the imaging unit and its use, and a reception and display system which may be used with the imaging unit, are similar to embodiments disclosed in U.S. Pat. No. 5,604,531 to Iddan et al. and/or WO 01/65995 entitled “A Device And System For In Vivo Imaging”, published on Sep. 13, 2001, both of which are hereby incorporated by reference In other embodiments, other imaging units, receivers and processing units may be used.
• In one embodiment, the proboscis is approximately 1 mm in diameter and 15-20 mm in length, but other dimensions may be used. According to some embodiments of the present invention, each of the one or moreextendable proboscises102 may be designed to mimic or include one or more functions of suitable in vivo medical instrument, sensor or imager, including but not limited to graspers, blades, clamps, collecting baskets or containers for tissue or fluid (which may include particles), scalpels, stents, catheters, suturing devices, forceps, dilatation balloons, injectors, forceps, anchors, drug applicators, samplers, biopsy samplers, an electrode or electrodes, suction tubes, temperature sensors, optical sensors, pH meters, and others. Accordingly, theproboscis102 may be adapted to perform, or may include components allowing it to perform a wide variety of functions. For example, theextendable proboscis102 may be adapted to perform tissue cutting, tissue welding, suturing, cauterizing, ablating, clamping, biopsy and tissue sampling, optical sensing, chemical sensing, application of substance, injection of substances, imaging, and temperature sensing, etc. However it should be noted that theextendable proboscis102 of an embodiment of the present invention may not be limited to such functions or procedures, and that theextendable proboscis102 of an embodiment of the present invention may be designed to perform a wide variety of in vivo functions or procedures, or to carry or deliver components capable of performing such functions or procedures. For example, anextendable proboscis102 according to an embodiment of the present invention may include an attachment point allowing a, for example, a blade to be attached and manipulated.
• Theproboscis102 may, for example, be folded or coiled when in an inactive mode, and possibly contained within a storage section or cavity, and may be unfolded when in an extended mode. According to one embodiment of the present invention theextendable proboscis102 may be coiled around itself when in inactive mode and may be partly or fully uncoiled when in extended mode. According to a further embodiment of the present invention the extension of theproboscis102 may be controlled, such that only a selected portion of theextendable proboscis102 may be unfolded or alternatively, theextendable proboscis102 may be completely unfolded. The control of theextendable proboscis102 is discussed in greater detail herein.
• Thetube104 may be designed and fabricated similarly to known catheters, endoscopes, needles, stents, laparascopes, rigid endoscopes and the like, in accordance with specific requirements. For example, thetube104 may include a water/air channel orchannels108, a workingchannel110, for passing instruments and tools, a control channel112 (which may include, for example, one or more control wires115) for passing control wires and conductive wires, and anillumination channel113 for passing illumination fibers through thetube104. Other components and arrangements of components may be used. Thecontrol wires115 and the conductive wires passing through thecontrol channel112 may be operatively connected to one or more of theproboscises102,illumination source114,imaging sensor116,instruments118 and other sensors. The control wires may be adapted to pass control signals to one or more of theproboscises102,illumination source114,imaging sensor116,instruments118 and other sensors. The conductive wires may be adapted to energize one or more of theproboscises102,illumination source114,imaging sensor116,instruments118 and other sensors. Each one of thechannels110,112 and113 passing through thetube104 may extend from the proximal end of thetube104 throughout the length of thetube104 to the distal end of thetube104, or, alternately, may extend part way, if appropriate. It may thus be possible to externally remotely control and energize one or more of theproboscises102,illumination source114,imaging sensor116,instruments118 and other sensors, located inside the patient's body. In addition, it may be possible to deliver illumination through the illumination fibers passing through theillumination channel113 to an area of interest inside the patient's body and also to flush or insufflate an area inside the patient's body by flowing air or water through the air/water channel orchannels108.
• Thehandpiece106 may be operatively connected to the proximal tip of theendoscopic tube104, and possibly, to each one of the channels, wires, fibers or the like, passing therethrough Thehandpiece106 may thus be adapted to control one or more of theproboscises102,illumination source114,imaging sensor116,instruments118 and other sensors, specifically, but not exclusively, when located inside the patient's body. Thehandpiece106 may also be adapted to control the air/water supply to the air/water channel108, and the delivery of electromagnetic radiation to the illumination fibers. Thehandpiece106 may include buttons, levers, pulleys or the like for controlling or regulating one or more aspects of the operation of one or more of the elements of the in-vivomedical system100.
• The in-vivomedical system100 may further include, for example, adisplay unit121, aprocessor122 andcontroller124.Controller124 may be, for example, a microcontroller, microprocessor, computer on a chip, or a computer such as a personal computer or workstation operating software. Thedisplay unit121 may receive image data or image signals, or other data, from theimage sensor116 or from other sensors included within system100 (e.g , temperature, pressure) and may be adapted to, for example, display an image or series of images corresponding to the image data or signals. Theprocessor122 may receive data from one ormore sensors116 and may be adapted to process the data. The processed data may be input to thedisplay unit121 for display. In addition or in alternative, the processed data may also be input to thecontroller124.
• Thecontroller124 may be operatively connected to one or more of theproboscis102,illumination source114,imaging sensor116,instruments118 or other sensors. Thecontroller124 may be adapted to generate control signals (e g. operation parameters), possibly, in accordance with the input processed data, for controlling one or more aspects of the operation of one or more of theproboscis102,illumination source114,imaging sensor116,instruments118 or other sensors. The controller124 (and/or other suitable components, such as another suitable controller, receiver, transceiver, etc) may react to external operator control, e.g., a human using, for example, a joystick; in such case thecontroller124 translates data input from the joystick to control signals which are sent to theproboscis102 via, for example, control wire(s)115. The controller may react to sensor information and alter theproboscis102 position accordingly. In one embodiment control signals are those such as up/down and left/right, as described herein.
• Thecontroller124 may be operated in conjunction with thehandpiece106 For example, thecontroller124 and thehandpiece106 may be adapted to control different aspects, instruments or functions of the in-vivomedical system100. However, in accordance with other embodiments of the present invention, thecontroller124 and thehandpiece106 may be adapted to control some of the same aspects, instruments or functions of the in-vivomedical system100 and a set of priorities and overrides may be implemented.
• Reference is made now toFIG. 1B, which is a schematic illustration of an in vivo device, according to an embodiment of the present invention. Invivo device200 is typically autonomous and is typically self contained, but need not be. For example, the device may be a capsule or other unit where all the components are substantially contained within a container or shell, and where the device does not require any wires or cables to, for example, receive power or transmit information. The device may communicate with an external receiving and display system to provide display of data, control, or other functions. For example, power may be provided by an internal battery or a wireless receiving system. Other embodiments may have other configurations and capabilities. For example, components may be distributed over multiple sites or units. Control information may be received from an external source. In some embodiments, the in-vivo device and its use, and a reception and display system which may be used with the device, are similar to embodiments disclosed in U.S. Pat. No. 5,604,531 to Iddan et al. and/or International Application publication number WO 01/65995 entitled “A Device And System For In Vivo Imaging”, published on Sep. 13, 2001, each incorporated by reference in its entirety. The system and method of an embodiment of the present invention may be used with other suitable autonomous in-vivo systems, and other suitable reception and display systems, having different structures and different methods of operation.
• The autonomous in-vivo device200 may include a container orhousing201. Within thehousing201, may be, for example, anoptical assembly202, apower assembly224, atransceiver206, one or more antenna(s)208, one ormore storage tanks210A and210B, acontroller212 and one or more extendable elements orproboscises214A and214B. However, some of the above elements or assemblies may be located partially or completely externally to thehousing201.
• Theoptical assembly202 may include, for example, anoptical dome216. Theoptical dome216 may be part of thehousing201 Thedevice200 may include one or more illumination sources218 (e.g. white light LED, monochromatic light or any suitable combination thereof, or other suitable illumination sources), one or moresolid state imagers220, such as a CMOS image sensor or a CCD, and one or moreoptical elements222, such as focusing lenses and mirrors. Theoptical dome216 may be transparent to wavelengths used for imaging by theimager220. The one ormore illumination sources218 may be adapted to illuminate a selected area. In some embodiments, theillumination sources218 may be adapted to produce electromagnetic radiation having specific spectra. Filters (not shown) may be used in conjunction with one or more of theillumination sources218 to produce light having specific spectra. Optionally, at least a portion of the electromagnetic radiation may be manipulated by theoptical elements222, prior to exiting thedome216. A portion of the electromagnetic radiation may be reflected back through theoptical dome216, possibly from an area inside the patient's body. At least a portion of the reflected electromagnetic radiation may be received by thesolid state imager220. Optionally, the reflected electromagnetic radiation may be manipulated by theoptical elements222, prior to being received by thesolid state imager220. In alternate embodiments, the system and method of an embodiment of the present invention may be used with an autonomous capsule without an imager.
• Thepower assembly224 may include one ormore batteries224A and224B.Batteries224A and224B may include, for example, silver oxide batteries, lithium batteries, or other electrochemical cells having a high energy density, rechargeable batteries, or the like, but may include other suitable elements. Thebatteries224A and224B may be operatively connected to one or more of the elements of the in-vivo device200, such that thebatteries224A and224B may be adapted to energize one or more of these elements. For example, thepower assembly224 may be operatively connected to one or more of theillumination sources218, thesolid state imager220, theproboscis214A and214B, thestorage tanks210A and210B, thecontroller212, thetransceiver206 and/or the antenna(s)208 According to some embodiments of the present invention, an internal power source may be a device to receive power induced from an external source For example,power assembly224 may include a suitable power receiving unit, for receiving power from an external source. The power may be induced, for example, in the form of radio waves or magnetic waves, from a source located outside the patient's body (not shown) and a converter located within thehousing201, for example part ofpower assembly224, may be adapted receive the waves, convert them to energy and supply the energy to each of the one or more elements located inside thehousing201. The converter may be adapted to convert the energy to a suitable form, including but not limited to, electricity, magnetic field, electromagnetic radiation, chemical potential, or the like. According to another embodiment of the present invention, thehousing201 may be connected to an external energy source (not shown) using one or more wires (not shown). The wires may be operatively connected to thehousing201 at one end, and to the external energy source at the other end. Alternatively, the wires may be operatively connected directly to each of the one or more elements of interest, located inside thehousing201. It may thus be possible to power one or more of the elements located inside thehousing201 using an external power source.
• Transceiver206 may operate using, for example, radio waves, ultrasonic transmission, or other suitable transmission methods. Thetransceiver206 may include one or more receivers and one or more transmitters. Thetransceiver206 may be a receiver or may be a transmitter, or if suitable, both. Altematively, the receivers and transmitters may be combined in a single transceiver element or a transceiver array. In an embodiment where the input of data is not required, thetransceiver206 may be a one-way transmitter.
• Control of thedevice200, including control of theproboscis214A and214B, may be similar to that described above, withFIG. 1A. Thetransceiver206 may be operatively connected to one or more antenna(s)208, which may include an antenna array. Thetransceiver206 together with the antenna(s)208 may be adapted to receive incoming communications from outside the body (e.g., control signals or movement signals), and to transmit outgoing communications from inside thehousing201 to a destination located outside the patient's body. Typically, such transmissions are performed using radio waves, although other transmission methods are possible For example, wired transmission may be used Thecontroller212 may be operatively connected to thetransceiver206 and to one or more of theproboscises214A and214B,illumination source218,solid state imagers220,optical elements222,batteries224A and224B, antenna(s)208 or any other elements within thehousing201.
• Thecontroller212 may include a processor (not shown), such as a microcontroller or a computer on a chip. The processor may input inbound signals received by thetransceiver206 and may process the inbound signal The inbound signals may be, for example, control signals generated by a user externally, for controlling one or more aspects of the operation of the autonomous in-vivo device200. Typically, the autonomous in-vivo device200 may be suitable for a single use. The processor may also receive outbound signals (e.g. image signals from thesolid state imager220, power level of thebatteries224A and224B, treatment parameters obtained by theproboscis214A and214B, etc.), process the outbound signals and output the processed outbound signal to thetransceiver206 for transmission outside of the patent's body. In alternate embodiments, different components or sets of components may be used. For example, thecontroller212 may be part of, combined with, or integrated within thetransceiver206 or a transmitter.Controller212 may, for examples, send movement signals or control signals to an arm or extendible element such asproboscis214.
• In one embodiment, for eachproboscis214, control signals such as up/down and left/right, or up/down for each segment and left/right for each segment, or other signals, are received bytransceiver206, possibly. modified (e.g., amplified, processed to be more suitable for the proboscis), and sent to theproboscis214. Other control signals, such as to operate a tool, open a valve on a tank, inject, etc., may be included and sent to theproboscis214 or appropriate section of the proboscis. Such control signals may be supervised and initiated by an external operator reacting to signals sent from thedevice200; for example video signals. The control signals sent from an external source may be based on, for example, a mathematical model of the proboscis dynamics which may help in generating the proper commands. Alternately, such control signals may be modified by, for example,controller212 ortransceiver206 based on such models.
• Theextendable proboscises214A and214B may be housed within thehousing201 when in retracted mode (e.g.214B), and may extend out of thehousing201 when in extended (e.g.214A) or partially extended mode. Optionally, when in retracted mode, theproboscises214A and214B may be coiled around themselves. In some embodiments, arms or extendible elements such asproboscises214A and214B need not be retracted within a housing, or retracted or folded (e.g., retracted or folded against a housing) at any point For example, adevice200 may be inserted (e.g., ingested) with arms, extendable elements, or proboscises partially or completely extended.
• According to some embodiments of the present invention, theproboscises214A and214B may be designed to functionally mimic or to carry or move suitable in-vivo medical instruments, sensors or imagers, including but not limited to graspers, blades, clamps, tissue collecting baskets, scalpels, stents, catheters, suturing devices, forceps, dilatation balloons, injectors, forceps, anchors, drug applicators, samplers, biopsy samplers, an electrode or electrodes, suction tubes, temperature sensors, optical sensors, pH meters, and others. Accordingly, theproboscises214A and214B may be adapted to perform any one or more of a wide variety of functions. For example, theextendable proboscises214A and214B may be adapted to perform any of the following functions or procedures: tissue cutting, tissue welding, suturing, cauterizing, ablating, clamping, biopsy and tissue sampling, optical sensing, chemical sensing, application of substance, injection of substances, imaging, and temperature sensing. However, it should be noted that theextendable proboscis214A and214B of an embodiment of the present invention may not be limited to such functions or procedures, and that theextendable proboscises214A and214B of an embodiment of the present invention may be designed to perform a wide variety of in vivo functions or procedures. Not necessarily all of these functions and procedures and the corresponding designs will be discussed herein.Proboscises214A and214B may also perform functions such as moving or propelling thedevice200, or holding thedevice200 in one place.
• Thedevice200 may include, for example, one ormore storage tanks210A and210B. The extendable elements orproboscises214A and214B may be operatively connected to, or may be able to manipulatestorage tanks210A and210B or substances withinstorage tanks210A and210B Thestorage tanks210A and210B may be adapted to store substances, liquids or gasses (e.g. adhesive substances, medication, water, in-vivo samples, etc.) to be applied to area inside a patient's body or collected from a patient The substances, liquids or gasses stored in thestorage tanks210A and210B may be applied to or onto an area inside the patient's body, for example through or by theproboscis214A and214B, which may be suitably configured with a channel or tube, or may be attached to or move a channel, tube, hose or lumen. Thestorage tanks210A and210B may also be adapted to store samples collected from within the patient's body (e.g. gas samples, blood samples, tissue samples, etc.). For example, one or more of theproboscis214A and214B may be adapted to collected gas samples, blood samples, tissue samples, or the like and the samples may be transferred to one or more of thestorage tanks210A and210B, for storage.. In such case, theproboscis214A and214B may be hollow, or may include a lumen, vias or tubes internally or externally. For example, a pump270 (FIG. 1C) may be used to provide suction and transfer materials to a tank, and lumen310 (FIGS. 2A and 2B) may transport materials According to an embodiment of the present invention, the stored samples may be analyzed within thehousing201 and the analyzed data may be transmitted outside the patient's body. The stored samples may also be retrieved and taken for analysis outside the patient's body. In an alternate embodiment, a lumen or channel need not be included, and the extendable elements may be substantially solid.
• FIG. 1C is a cutaway view of a device including one or more moveable elements, arms or proboscises and one or more storage tanks. For clarity, components ofdevice200 shown elsewhere are not shown inFIG. 1C. Referring toFIG. 1C,device200 includes aproboscis214 which includes a typically internal channel, lumen orhose205. One or more tanks210a,210band210cmay provide or collect fluid or other substances (e.g., medicine, bodily fluid) via tubes or pipes274 and pump270. In various embodiments, pump270 may be operated to empty or fill tank(s)210, or to both empty and fill tank(s)210, as the application requires. Valves272a,272band272cmay be provided to open,. close, and control the flow to/from, the tank(s)210.Proboscis214 may be connected to, inter alia, thepump270.Pump270, valves272a,272band272c,and other components typically operate under the control of a controller such as controller212 (FIG. 1B).
• Reference is made now toFIG. 2A, which is front view of a moveable element, arm or proboscis, in accordance with an embodiment of the present invention; and in addition reference is also made toFIG. 2B, which is a side-sectional view of a moveable element, arm or proboscis, in accordance with an embodiment of the present invention. As discussed above, embodiments of theproboscis300 may be attached to or included within ari in-vivo device, such asdevices100 or200. Embodiments of theproboscis300 may be used with other devices, such as devices having non-medical applications. Theproboscis300 may include aproboscis body302. Theproboscis300 may further include any other suitable elements. For example theproboscis300 may include control elements such as wires304 (specified as304A,304B,304C, and304D inFIG. 2A, but not specified for clarity inFIG. 2B), a flexible sleeve, coatings, etc.Proboscis300 may include, for example, a lumen orinner cavity310. While wires and other components are shown having a certain shape, configuration, position, and number, other suitable shapes, configurations, positions, and numbers may be used. For example,wires304A,304B,304C, and304D may be substantially circular in cross section, may be flat or ribbon like, etc.
• Theproboscis body302 may be designed in accordance with or to be integrated with in-vivo medical instruments, including but not limited to graspers, blades, clamps, tissue collecting baskets, scalpels, stents, catheters, suturing devices, forceps, dilatation balloons, injectors, forceps, anchors, drug applicators, samplers, biopsy samplers, an electrode or electrodes, suction tubes, temperature sensors, optical sensors, pH meters, and others.
• For example, aproboscis300 may be designed to mimic or perform the functionality of a scalpel. Such a scalpel proboscis moveable element, or arm may have a sharp edge at, for example, its distal end, suitable for cutting tissue. Another embodiment of aproboscis300 may include an injector. The injector proboscis may be substantially hollow, such that the proboscis may be suitable for injecting material into a site of interest Accordingly, theproboscis300, either individually or cooperatively with additional one or more proboscis300 or other instruments, may be adapted to perform any one or more of a variety of functions.
• According to some embodiments of the present invention theproboscis body302 may be a flexible, elastic or non-elastic, elongated solid rod or hollow tube. The specific design and the properties of eachproboscis body302 may be selected to best suite the intended purpose or function of theproboscis300.. It should be noted however, that a proboscis having a specific design may be suitable for carrying out one or more functions, or for performing more than one procedures. For example, an injector proboscis may also be suitable for taking samples of body fluids such as, for example, blood or GI tract fluids .Proboscis300 is typically biocompatible, and may for example, be made of biocompatible material, such as, silicon or a suitable polymer or plastic. According to some embodiments of the present invention, at least a portion or portions of theproboscis body302 may include a movement device or actuator such as a piezo material. For example theproboscis body302 may include a plastic piezo material, such as Poly Vinlidine Fluoride (PVDF). Other movement devices, motors or actuators may be used. According to other embodiments of the present invention, at least a portion or portions of theproboscis body302 may include shape memory material. For example theproboscis body302 may include a Nickel Titanium alloy (NiTi), also known as NiTinol. A discussion of methods of manipulation and control of theproboscis body302 of these and other embodiments of the present is included herein. Other movement methods may be used with embodiments of the present invention; for example those described in published U.S. application 2003/0069474 to Courvillon, Jr.
• According to some embodiments of the present invention theproboscis300 may further include one or more control wires or conductors such aswires304. While four wires are depicted inFIG. 2A and 2B, other suitable numbers of wires may be used. Thewires304 may be embedded into theproboscis body302. Alternatively, the wires may be coupled (e.g. using any suitable adhesive, or by mechanical methods, or other suitable methods) to the outer surface of theproboscis body302. The wires may be mounted at different spots; for example within theproboscis body302 or within material forming theproboscis300. Optionally, thewires304 may be positioned along two or four orthogonal axis. The wires may be conductive wires capable of conducting energy to theproboscis body302. According to one embodiment, thewires304 may be adapted to conduct electricity According to another embodiment, thewires304 may be heat conductive. In other embodiments of the present invention, the wires may be omitted altogether; for example, the proboscis body itself may be piezo conductive. The wires may be operatively connected to one or more portions of theproboscis body302. According to some embodiments theproboscis body302 may be segmented or partially segmented and one or more wires may be operatively connected to each one of the segments of theproboscis body302. For example, a set (where set may include one) of wires or conductors may be connected to each segment. A set of wires may traverse the proboscis starting at a proximal end, and at each segment, a suitable set of wires may attach or connect electrically to the segment, or to a portion of the segment that is a movement device or actuator; such electrically connected wires typically do not continue their traverse towards the distal end. According to some embodiments of the present invention a set of twoconductive wires304 may be coupled to each segment of the proboscis body along an orthogonal axis. According to another embodiment of the present invention a set of fourconductive wires304 may be coupled to each segment of theproboscis body302 along an orthogonal axis.
• In one embodiment, the set of control wires may include subsets of control wires, each subset being attached to each segment in a set of segments (wherein set and subset each can include one item). Movement may be controlled in more than one direction (such multi-directonal movement need not be controlled by wires). For example, a subset of the control wires (for example various wires in each subset being attached to different segments or portions of the arm or extendible element) may control movement in a first direction, and wherein a subset of the control wires control movement in a second direction. For example, the first direction may be an X direction and the second direction may be a Y direction.
• Referring toFIG. 2A,wires304A,304B,304C, and304D are embedded at generally 90 degree intervals around a segment ofproboscis body302. Typically, the cross section of theproboscis body302 is elliptical, but may haveother shapes Wires304A and304C may be considered to be “tilt” or “vtilt” control wires andwires304B and304D may be considered to be “pan” or “vpan” control wires, however, these labels may be reversed if the viewer's reference is different. Other numbers of control wires per section may be used, and other numbers of possible control directions may be used. The voltage sent along thewires304 is typically under 20 volts, and the current is typically in the micro-ampere range, although other current levels may be used. Each ofwires304A,304B,304C, and304D may attach or connect electrically to a segment, or to a portion of the segment that is a movement device or actuator.
• Numerous operational protocols or methods may be used for the operation and control of aproboscis300. The protocols may take into consideration some or all of the characteristics of theproboscis300 and its operation and application. For example, the following characteristics of theproboscis300 may be considered: the type ofproboscis body302, the length of the segments, the type ofwires304, the energy used, the inclusion of shape memory material inproboscis body302, the inclusion of piezo material in theproboscis body302 and/or other characteristics. The protocol may determine one or more of parameters of operation of theproboscis300. For example the protocol may determine the following operation parameters: the amount of energy to be applied, the duration of each period of energy application, the polarity of the energy (e.g. when the energy is electricity) the vector of the force to be applied, which segments are to be energized, the desired level of deformation. Other parameters may also be included. For example, in case theproboscis body302 includes shape memory material, it may be necessary to continue energizing the deformed segments in order to maintain the deformation of those segments. The parameters may be processed and an operation protocol may be devised. The operation protocol may be included in or effective by a controller. For example,controller212,transceiver206,controller124 or an external controller may create appropriate signals or control commands to be sent to wires or other signal transmission devices attached to a proboscis, which may cause various segments or movement control devices on the proboscis to move appropriately. The controller may be adapted to control and to interface the operation of theproboscis300 in accordance with the operation protocol. Accordingly, aproboscis300 may be for example omni-directionally directed or controlled.
• According to some embodiments of the present invention an electrical current may be applied to one ormore wires304 connected to one or more segments of aproboscis body302 including, for example, PVDF, or other suitable material thereby causing those segments to deform or bend
• According to other embodiments of the present invention heat may be applied to one or more segments of aproboscis body302 including, for example, NiTinol or other suitable material throughheat conducting wires304 embedded therein, thereby causing those segments to deform or bend.
• According to further embodiments of the present invention, physical forces may be applied either directly or indirectly to segments of aflexible proboscis body302 using for example, motors including, but not limited to mechanical, electrical, magnetic or chemical motors, and any combination thereof, thereby causing the proboscis body to deform or bend. The forces may be applied to, for example, one ormore wires304 connected to one or more segments of theproboscis body302 and the wires may pull one or more segments of the proboscis body, thereby causing those segments to bend or deform.
• Reference is made now toFIG. 3, which is a side-sectional view (with a cut-away section) of a proboscis, arm, or moveable element operated in accordance with an embodiment of the present invention. Inproboscis400 the distal portion of theproboscis body402 may be segmented into, for example, threeautonomous segments402A,402B,402C. Other numbers of segments may be used. Each of thesegments402A,402B and402C may include one or more movement device or actuators, for example, piezo material areas orsections402A′,402B′ and402C′, including material such as PVDF, that, for example, may be preprogrammed or manufactured to undergo conformational changes when an electrical current is applied to the material. For example the piezo material such as piezo material areas orsections402A′,402B′ and402C′ may be programmed to increasingly deform from a pre-programmed configuration (e g., coiled, straight, bent or other shape) in response to an increase in the current level applied thereto Alternately, piezo material may be programmed to deform in one direction when applied with a first current, and deform in an opposite direction when applied with a second current having an inverse polarity. Electricityconductive wires410,411,412,413,414 and415 may be embedded into or attached tosegments402A,402B and402C and embedded into attached to a movement device, region or actuator such as piezo material areas orsections402A′,402B′ and402C′.Wires410,411,412,413,414 and415 may be embedded or attached at one or suitable more points or continuously for each section; inFIG. 3 wires are connected at one point each. In the embodiment shown a pair ofwires410,411,412,413,414 and415 may be embedded opposite to each other in each of thesegments402A,402B and402C
• A first voltage may be applied bywire414 and/or415 tosegment402C, thereby causing all or a portion of thepiezo material402C′ to react andsegment402C to deform upwards. A second voltage may be applied bywire412 and/or413 tosegment402B, thereby causing all or part ofpiezo material402B′ to react andsegment402B to deform downwards. Typically, the amount of deformation depends on the amount of voltage and current and, typically, the current is a constant DC current, although other currents may be used. According to some embodiments of the present invention, each of thesegments402A,402B and402C may return to its original form (e.g., straight, coiled) when it is no longer energized, thus it may be necessary to maintain the currents for as long as deformation of the correspondingsegments402 is required. The voltages or currents may be adjusted to deform thesegments402A,402B and402C in different directions or angles. In a typical embodiment, additional wires and movement device or actuators (not shown) may be embedded to move thesegments402 at an angle perpendicular to the angle shown.
• FIG. 4 depicts an alternate structure for an extendable element according to an embodiment of the present inventionFIG. 5 illustrates a cross sectional view of the extendable element ofFIG. 4, according to an embodiment of the invention. Referring toFIG. 4 andFIG. 5, arm, proboscis orextendable element500 includes movement devices, regions or actuators such aspiezo elements510 controlled by electric current delivered byconductors520 Theextendable element500 may include aninner shell530, an outer shell535 (not depicted inFIG. 4 for the sake of clarity), and possibly a lumen orinner space540. Theinner shell530 andouter shell535 may be non-conductive, insulating, and may protect thepiezo elements510 from, for example, external body fluids or from substances flowing within thelumen540. Theinner shell530 andouter shell535 may be flexible, but rigid enough to keep a certain shape whenpiezo elements510 are not active.
• When current is applied viaconductors520 topiezo elements510,extendable element500 may move in a controlled manner. Theextendable element500 may be stored as, for example, a spiral or coil. Theextendable element500 may be pre-stressed so that, when no current is applied, it is shaped as a spiral or coil. In one embodiment, piezo element is a tube approximately 1 mm in diameter, approximately 15-20 mm in length, and may be stored as a spiral having an average diameter of approximately 3 mm. In one embodiment, about 200 sets of four piezo elements are used (each piezo element spaced at a 90 degree interval around the extendable element, as depicted inFIG. 5), and each piezo element typically extends approximately 100 microns along the length of the extendable element and provides approximately 5 degrees of curvature, when fully activated. Different dimensions and different numbers of piezo elements or other suitable movement devices, regions or actuators may be used.
• FIG. 6 illustrates a piezo element of the extendable element ofFIG. 4, according to an embodiment of the invention. Other suitable piezo elements, having other suitable structures may be used, and other suitable movement devices, regions or actuators may be used. Referring toFIG. 6,piezo element510 may include a firstpiezo material512, an inner conductive layer514 (which may include, for example, metal foil, conductive polymer, or other suitable material), and a secondpiezo material514. Positive,conductor520A may be connected to firstpiezo material512,negative conductor520C may be connected to secondpiezo material516, andcentral conductor520B may be connected to innerconductive layer514, to provide a circuit forconductors520A and520C
• In operation, when positive voltage is applied topositive conductor520A and firstpiezo material512, the firstpiezo material512 expands When negative voltage is applied tonegative conductor520C and secondpiezo material512, the secondpiezo material512 contracts. As a result of current being applied toconductors520A and520C, thepiezo element510 bends, creating a radius of curvature. This operation may be similar to an operation which is described in, for example, “Electroactive Polymer Actuators as Artificial Muscles,” Y. Bar-Cohen, Ed., Spie Press, 2001, incorporated herein by reference in its entirety.
• Theconductors520 are typically connected to a controller, such as discussed elsewhere herein. By proper activation of certainpiezo elements510, the shape and motion of theextendable element500 may be controlled.
• In alternate embodiments other numbers and arrangements of piezo elements and control elements may be used. Other structures may be used; for example, inner and outer shell elements need not be used or may be of different construction, and the extendable element may have a different cross section (e.g., oval, substantially rectangular, etc.).
• Referring toFIG. 7, there is shown a device such as a capsule with two proboscises.Device200 includes a dome or cover216, animager220, and one ormore illumination devices218. Theproboscises214A and214B may, for example, manipulate objects in the filed of view of the imager.
• Device200 may achieve greater maneuverability and control by, for example, using one or more proboscis arms to move, hold or propel thedevice200, for example, by pushing the device against lumen walls or other structures, grasping lumen walls or other structures, or by propelling the device in fluid. The proboscises may, for example, act as an arm to perform a variety of tasks and/or may be used as a leg to propel the device; as discussed above tools or other devices may be attached to or part of the proboscis Graspers may be included at the end of such proboscises to aid motility.
• Those with ordinary skill in the art may appreciate that other embodiments of the present invention may enable a controlled omni-directional deformation of the proboscis. It may thus be possible to attach an instrument or sensor, for example an image sensor, to the tip of the proboscis body, and the proboscis can be deflected, for example, to enable a view of lateral and rear areas
• It will be appreciated by those skilled in the art that while the invention has been described with respect to a limited number of embodiments, many variations, modifications and other applications of the invention may be made which are within the scope and spirit of the invention.

Claims (16)

1. An autonomous in-vivo device comprising:

a storage tank, wherein said storage tank is to store a substance; and

a movable arm.

2. The device according toclaim 1 wherein the substance is medication.

3. The device according toclaim 1 wherein the substance is in-vivo

sample.

4. The device according toclaim 3 wherein the sample is a tissue sample.

5. The device according toclaim 1 comprising a pump.

6. The device according toclaim 5 wherein the pump is to transfer

material to said tank.

7. The device according toclaim 1 comprising a grasper.

8. The device according toclaim 1 comprising a sampler.

9. A method for in-vivo sampling with an autonomous in-vivo device comprising:

inserting an autonomous device in vivo, wherein said device comprises an extendable arm and a storage tank;

storing a substance in the tank.

10. The method according toclaim 9 wherein the substance is medication.

11. The method according toclaim 9 wherein the substance is an in-vivo sample.

12. The method according toclaim 9 comprising collecting tissue samples.

13. The method according toclaim 9 comprising pumping a substance into said storage tank.

14. The method according toclaim 9 comprising controlling said arm from an external source.

15. The method according toclaim 9 comprising analyzing the substance within the storage tank.

16. The method according toclaim 15 comprising transmitting analyzed data outside a patient's body.

Images