INFLATABLE CHAMBER DEVICE FOR MOTION THROUGH A PASSAGE

• US 20100022947A1
• Filed: 02/12/2008
• Published: 01/28/2010
• Est. Priority Date: 02/12/2007
• Status: Active Grant

• Current Assignee: TECHNION RESEARCH AND DEVELOPMENT FOUNDATION, LTD.
• Original Assignee: TECHNION RESEARCH AND DEVELOPMENT FOUNDATION, LTD.
• Inventors: Shoham, Moshe, Glozman, Daniel, Hassidov, Noam
• Granted Patent: US 8,430,810 B2
• Time in Patent Office: Days
• US Class Current: 604/95.10
• CPC Class Codes: A61B 17/12045 double occlusion, e.g. during anastomosis
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61B 2017/00557 inflatable A61B2017/22051 takes precedence
• CPC Class Codes: A61B 2017/12127 Double occlusion, e.g. for creating blood-free anastomosis site
• CPC Class Codes: A61B 2017/22055 with three or more balloons
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61M 25/0116 self-propelled, e.g. autonomous robots A61M25/0122 takes precedence
• CPC Class Codes: A61M 25/0122 with fluid drive by external fluid in an open fluid circuit
• CPC Class Codes: F01B 19/00 Positive-displacement machines or engines of flexible-wall type

Abstract

A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, and incorporating a number of novel aspects. To enable easy insertion and use, the rigidity of the device is increased by means of rigid inserts in the balloons, or by use of stiff springs between segments. The working channel can be attached to the distal chamber of the device, such that it is pulled from the leading end of the device during inflation, rather than being pulled from the trailing end of the device during deflation. Lumen wall inspection or treatment facilities are enabled by means of a camera or treatment arm mounted between two distally positioned balloons, the device is able to provide observation capabilities to the lumen wall, yet without becoming excessively dirty by exposure to the front end of the device, as in prior art camera units.

Claims

1. A self-propelled device for locomotion through a lumen, comprising:

a set of serially arranged inflatable chambers, with a distal chamber at one end of said device, and a proximal chamber at the opposite end of said device;

a fluid supply system for inflating said chambers sequentially, such that said device moves with the distal chamber leading; and

an axial channel running axially through said device, said channel being attached to a distal part of said device.

2. A self-propelled device according to claim 1 and wherein motion of said device through said lumen pulls said axial channel with it.

3. A self-propelled device according to claim 1 and wherein said axial channel is attached to either one of said distal chamber and said chamber immediately proximal to said distal chamber.

4. A self-propelled device according to claim 1, further comprising a sheath enclosing said axial channel, and wherein said fluid for inflating said chambers is supplied through said sheath.

5. A self-propelled device according to claim 1 and wherein said fluid for inflating said chambers is supplied through a separate supply tube.

6. A self-propelled device according to claim 4 and wherein said fluid supply system comprises a hermetically sealed rigid chamber, said chamber comprising:

an input port for inputting fluid to said rigid chamber;

an output port for outputting fluid to said sheath for inflating said inflatable chambers; and

a working channel port to which the proximal end of said axial channel is attached after traversing said rigid chamber in a path having a length of slack channel.

7. A self-propelled device according to claim 6 and wherein motion of said distal chamber of said device is operative to pull said axial channel, such that said length of slack channel shortens.

8. A self-propelled device according to claim 1 and wherein said inflatable chambers have the form of an annulus, said axial channel running through said annulus and outside of the inflatable volume of chambers, and wherein said fluid for inflating said chambers is supplied by a tube separate from said axial channel.

9. A self-propelled device according to claim 1 and wherein said axial channel is adapted to accommodate functional leads to either one of a viewing system and an operating tool system carried at the distal end of said device.

10. A self-propelled device for locomotion through a lumen, comprising:

a set of serially arranged inflatable chambers having separator segments between adjacent chambers;

a fluid supply system for inflating said chambers sequentially; and

a stiffening element inserted in at least one of said chambers, said stiffening element essentially filling the length of said at least one chamber when uninflated, such that when said at least one chamber is uninflated, said stiffening element provides said device with axial rigidity between said separator elements associated with said at least one chamber.

11. A self-propelled device according to claim 10 and further comprising an axial member disposed axially along said device, wherein said stiffening element slides along said axial member as said at least one chamber inflates.

12. A self-propelled device according to claim 10, and wherein said stiffening element has a tubular form.

13. A self-propelled device according to claim 10 and wherein said stiffening element is attached to a separator element.

14. A self-propelled device according to claim 10 and wherein said stiffening element comprises at least one of the following (a), (b), and (c):

(a) two overlapping elements, each attached to a separator element at opposite ends of said at least one chamber, one of said overlapping elements sliding within the other as said at least one chamber inflates;

(b) a spring attached to said separator elements at opposite ends of said at least one chamber, said spring having a closed length which essentially fills the length of said at least one chamber when uninflated;

(c) an expandable cylindrical trellis structure attached to said separator elements at opposite ends of said at least one chamber, said trellis structure having a closed length which essentially fills the length of said at least one chamber when uninflated.

17. A self-propelled device according to claim 10 and wherein said at least one chamber has an annular form, said device further comprising a central axial member running through the center of said annular chamber.

15-16. -16. (canceled)

18. A self-propelled device for locomotion through a lumen, comprising:

a set of serially arranged inflatable chambers having separator segments between adjacent chambers; and

a fluid supply system for inflating said chambers sequentially;

wherein at least one of said separator segments is flexible, such that that part of said device in the vicinity of said at least one separator segment can negotiate a bend in said lumen by flexing of said at least one separator segment.

19. A self-propelled device according to claim 18 and wherein said at least one flexible separator segment has an interior that is inflatable, such that the flexibility of said segment can be controlled in accordance with the inflation pressure of said segment.

20-21. -21. (canceled)

22. A self-propelled device for locomotion through a lumen, comprising:

a set of serially arranged inflatable chambers, having at least a distal and a proximal chamber; and

a fluid supply system for inflating said chambers sequentially;

wherein said fluid supply system is connectable to said proximal chamber and to said distal chamber, such that said device can move in either direction in accordance with which of said chambers is supplied with fluid.

23. A self-propelled device according to claim 22 and wherein said fluid supply system is connectable to said proximal and distal chambers either by separate supply lines, or by means of a single supply line directed to one or the other of said proximal and distal chambers by means of a valve.

24. (canceled)

25. A self-propelled device for locomotion through a lumen, comprising:

two sets of serially arranged inflatable chambers, each having least a distal and a proximal chamber, said sets being connected serially; and

a fluid supply system for inflating said chambers of each of said sets sequentially;

wherein said fluid supply system is connectable to a proximal chamber of one set and to a distal chamber of the other set, such that said device can move in either direction in accordance with which of said chambers is supplied with fluid.

26. A self-propelled device according to claim 25 and wherein said fluid supply system is connectable to said proximal and distal chambers either by separate supply lines, or by means of a single supply line directed to one or the other of said proximal and distal chambers by means of a valve.

27-35. -35. (canceled)