Control of a lumen traveling device in a body tube tree
First Claim
Patent Images
1. A system comprising:
- non-transitory machine readable media, for use in a lumen traveling device control system, including;
one or more instructions that cause the lumen traveling device control system to activate a propelling mechanism on a lumen traveling device to propel the lumen traveling device within a body tube tree;
one or more instructions that cause the lumen traveling device control system to determine an arrival of the lumen traveling device at a branch point in the body tube tree based upon a signal from at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels;
one or more instructions that cause the lumen traveling device control system to select one of the at least two branch channels substantially randomly;
one or more instructions that cause the lumen traveling device control system to direct the propelling mechanism on the lumen traveling device to move the lumen traveling device into the selected branch channel;
one or more instructions that cause the lumen traveling device control system to store information regarding at least one of the at least two branch channels;
one or more instructions that cause the lumen traveling device control system to direct sensing of a local parameter value from a parameter sensor on the lumen traveling device; and
one or more instructions that cause the lumen traveling device control system to direct an active portion of the lumen traveling device to perform an action based at least in part upon the local parameter value.
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Abstract
Methods of controlling the operation of a device traveling in a body tube tree, including storing information regarding portions of the body tube tree and performing an action based on sensed parameters, implemented with a control system located partially or fully on the lumen traveling device. Various actions can be performed by the device for, e.g., medical or therapeutic purposes. Machine-readable media including instructions for performing the methods are also described.
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Citations
194 Claims
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1. A system comprising:
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non-transitory machine readable media, for use in a lumen traveling device control system, including; one or more instructions that cause the lumen traveling device control system to activate a propelling mechanism on a lumen traveling device to propel the lumen traveling device within a body tube tree; one or more instructions that cause the lumen traveling device control system to determine an arrival of the lumen traveling device at a branch point in the body tube tree based upon a signal from at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels; one or more instructions that cause the lumen traveling device control system to select one of the at least two branch channels substantially randomly; one or more instructions that cause the lumen traveling device control system to direct the propelling mechanism on the lumen traveling device to move the lumen traveling device into the selected branch channel; one or more instructions that cause the lumen traveling device control system to store information regarding at least one of the at least two branch channels; one or more instructions that cause the lumen traveling device control system to direct sensing of a local parameter value from a parameter sensor on the lumen traveling device; and one or more instructions that cause the lumen traveling device control system to direct an active portion of the lumen traveling device to perform an action based at least in part upon the local parameter value. - View Dependent Claims (7, 10, 14, 18, 25, 27, 69, 72, 73, 88, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186)
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91. A method of operating a lumen traveling device with a lumen traveling device control system, comprising:
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activating a propelling mechanism on the lumen traveling device to propel the lumen traveling device within a body tube tree; detecting an arrival of the lumen traveling device at a branch point in the body tube tree with at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels; selecting one of the at least two branch channels substantially randomly; causing the propelling mechanism on the lumen traveling device to move the lumen traveling device into the selected branch channel; storing information regarding at least one of the at least two branch channels; sensing a local parameter value with a parameter sensor on the lumen traveling device; and performing an action with an active portion of the lumen traveling device based at least in part upon the local parameter value. - View Dependent Claims (100, 104, 155, 159, 172, 174, 187, 188, 189, 190, 191, 192, 193, 194)
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Specification