INFLATABLE CHAMBER DEVICE FOR MOTION THROUGH A PASSAGE

• US 20100041951A1
• Filed: 02/10/2008
• Published: 02/18/2010
• Est. Priority Date: 02/08/2007
• Status: Active Grant

• Current Assignee: TECHNION RESEARCH AND DEVELOPMENT FOUNDATION, LTD. (Technion-Israel Institute Of Technology)
• Original Assignee: TECHNION RESEARCH AND DEVELOPMENT FOUNDATION, LTD. (Technion-Israel Institute Of Technology)
• Inventors: Shoham, Moshe, Glozman, Daniel, Hassidov, Noam
• Granted Patent: US 9,427,143 B2
• Time in Patent Office: Days
• US Class Current: 600/115
• CPC Class Codes: A61B 1/00082 Balloons
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 17/12045 double occlusion, e.g. during anastomosis
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61M 2025/1059 having different inflatable sections mainly depending on the response to the inflation pressure, e.g. due to different material properties
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: A61M 25/0116 self-propelled, e.g. autonomous robots A61M25/0122 takes precedence
• CPC Class Codes: A61M 25/0155 with hydraulic or pneumatic means, e.g. balloons or inflatable compartments
• CPC Class Codes: A61M 25/10 Balloon catheters A61M25/0125 takes precedence; embolectomy A61B17/22032; retractors A61B17/02; inflatable balloons for placing stents or stent-grafts A61F2/958 ; stomach balloons for treatment of obesity A61F5/0003; oesophagal tubes A61J15/00
• CPC Class Codes: F16L 55/30 of the propulsion means, e.g. towed by cables
• CPC Class Codes: F16L 55/34 the pig or mole being moved step by step
• CPC Class Codes: F16L 55/36 jet driven
• CPC Class Codes: F16L 55/44 expandable

Abstract

A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, adjacent chambers being fluidly connected, and a fluid source attached to one end of the set, such that the chambers inflate sequentially. The chambers are constructed of an elastic material and have a wall thickness and dimensions such that they have a characteristic with a non-monotonous relationship between the inflation pressure within the chamber and the chamber'"'"'s inflated size. The characteristic is such that after an initial inflation pressure peak, the non-monotonous relationship adopts a negative slope, such that the volume of the chamber increases more rapidly than the volume of fluid flowing into it, and the inflation pressure of the chamber falls. This effect causes the chamber to inflate and anchor rapidly, while essentially slowing down the inflation of the succeeding chamber until inflation of the first is complete.

Claims

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

a set of serially arranged inflatable chambers, adjacent chambers being connected by at least one connecting port providing fluid communication between said adjacent chambers; and

a fluid source attached to an end one of said set of serially arranged inflatable chambers, such that said set of chambers inflate sequentially,

wherein at least one of said inflatable chambers has characteristics providing a non-monotonous relationship between the inflation pressure within said at least one chamber and its inflated size.

2. A self-propelled device according to claim 1 and wherein said characteristics comprise at least one of the elastic properties of said elastic material, the wall thickness of said at least one chamber, and the uninflated size of said at least one chamber.

3. A self-propelled device according to claim 1, and wherein said characteristics are such that said non-monotonous relationship has an inflation pressure peak at a first inflated size.

4. A self-propelled device according to claim 3, and wherein said characteristics are such that said non-monotonous relationship has a negative slope when the inflated size of said at least one chamber is in a range immediately larger than said first inflated size.

5. A self-propelled device according to claim 3 and wherein said characteristics are such that within said range immediately larger than said first inflated size, the volume of said at least one chamber increases more rapidly than the volume of fluid flowing into said at least one chamber, such that the inflation pressure of said at least one chamber falls.

6. A self-propelled device according to claim 3 and wherein said characteristics are such that the slope of said non-monotonous relationship changes to a positive slope at a second inflated size within said range immediately larger than said first inflated size.

7. A self-propelled device according to claim 6 and wherein said characteristics are such that at said second inflated size, said inflation pressure goes through a minimum as a function of inflated size.

8. A self-propelled device according to claim 1 and wherein chambers in said set having equal inflation pressures can have different inflated sizes.

9. A self-propelled device according to claim 1 and wherein said characteristics are such that said at least one inflatable chamber becomes fully inflated before a second chamber adjacent to said at least one inflatable chamber, and distal to said fluid source, has inflated appreciably.

10. A self-propelled device according to claim 9 and wherein said at least one inflatable chamber becomes fully inflated by virtue of its contact with a wall of said lumen.

11. (canceled)

12. A method of sequential filling a set of serially arranged inflatable chambers, comprising:

providing a set of serially arranged inflatable chambers, adjacent chambers being connected by at least one connecting port providing fluid communication between said adjacent chambers; and

attaching a fluid source to an end one of said set of serially arranged inflatable chambers,

wherein the characteristics of at least one of said inflatable chambers is selected to provide a non-monotonous relationship between the inflation pressure within said at least one chamber and its inflated size.

13. A method according to claim 12 and wherein said characteristics comprise at least one of the elastic properties of said elastic material, the wall thickness of said at least one chamber, and the uninflated size of said at least one chamber.

14. A method according to claim 12, and wherein said characteristics are such that said non-monotonous relationship has an inflation pressure peak at a first inflated size.

15. A method according to claim 14, and wherein said characteristics are such that said non-monotonous relationship has a negative slope when the inflated size of said at least one chamber is in a range immediately larger than said first inflated size.

16. A method according to claim 14 and wherein said characteristics are such that within said range immediately larger than said first inflated size, the volume of said at least one chamber increases more rapidly than the volume of fluid flowing into said at least one chamber, such that the inflation pressure of said at least one chamber falls.

17. A method according to claim 14 and wherein said characteristics are such that the slope of said non-monotonous relationship changes to a positive slope at a second inflated size within said range immediately larger than said first inflated size.

18. A method according to claim 17 and wherein said characteristics are such that at said second inflated size, said inflation pressure goes through a minimum as a function of inflated size.

19. A method according to claim 12 and wherein chambers in said set having equal inflation pressures can have different inflated sizes.

20. A method according to claim 12 and wherein said characteristics are such that said at least one inflatable chamber becomes fully inflated before a second chamber adjacent to said at least one inflatable chamber, and distal to said fluid source, has inflated appreciably.

21. A method according to claim 20 and wherein said at least one inflatable chamber becomes fully inflated by virtue of its contact with a wall of said lumen.

22. A method according to claim 12 and wherein said characteristics comprise at least one of the elastic properties of said elastic material, the wall thickness of said at least one chamber, and the uninflated size of said at least one chamber.

23. A method according to claim 12 further comprising the step of using said set of serially arranged inflatable chambers for providing self-propelled motion through a lumen.