Navigation of a lumen traveling device toward a target

• US 20120035437A1
• Filed: 08/05/2011
• Published: 02/09/2012
• Est. Priority Date: 04/12/2006
• Status: Abandoned Application

• Current Assignee: Searete LLC (Intellectual Ventures LLC)
• Original Assignee: Searete LLC (Intellectual Ventures LLC)
• Inventors: Ferren, Bran, Hillis, W. Daniel, Hyde, Roderick A., Ishikawa, Muriel Y., Jung, Edward K. Y., Leuthardt, Eric C., Myhrvold, Nathan P., Nugent, Thomas J. Jr., Sweeney, Elizabeth A., Tegreene, Clarence T., Wood, Lowell L. Jr., Wood, Victoria Y. H.
• Application Number:
  US13/136,674
• Publication Number:
  US 20120035437A1
• Time in Patent Office: Days
• US Class Current: 600/302
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 10/0045 Devices for taking samples of body liquids devices for taking blood samples A61B5/15
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 17/22 Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for dilators A61M29/00
• CPC Class Codes: A61B 17/22012 in direct contact with, or very close to, the obstruction or concrement for removing obstructions in blood vessels by laser A61B18/245
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2010/0077 Cerebrospinal fluid
• CPC Class Codes: A61B 2010/0225 for taking multiple samples
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00345 Micromachines, nanomachines, microsystems
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 5/0022 Monitoring a patient using a global network, e.g. telephone networks, internet
• CPC Class Codes: A61B 5/0031 Implanted circuitry
• CPC Class Codes: A61B 5/0071 by measuring fluorescence emission
• CPC Class Codes: A61B 5/01 Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue clinical contact thermometers G01K13/20
• CPC Class Codes: A61B 5/02007 Evaluating blood vessel condition, e.g. elasticity, compliance
• CPC Class Codes: A61B 5/0215 by means inserted into the body catheters A61M25/00
• CPC Class Codes: A61B 5/026 Measuring blood flow A61B3/1233, A61B3/1241 take precedence
• CPC Class Codes: A61B 5/03 Detecting, measuring or recording fluid pressure within the body other than blood pressure, e.g. cerebral pressure; Measuring pressure in body tissues or organs A61B5/205 takes precedence
• CPC Class Codes: A61B 5/062 : using magnetic field
• CPC Class Codes: A61B 5/07 : Endoradiosondes
• CPC Class Codes: A61B 5/073 : Intestinal transmitters
• CPC Class Codes: A61B 5/076 : Permanent implantations telemetry using implanted circuitry A61B5/0031; implanted stimulators for therapy A61N1/3605, A61N1/362, A61N1/372
• CPC Class Codes: A61B 5/082 : Evaluation by breath analysis, e.g. determination of the chemical composition of exhaled breath A61B5/083, A61B5/091 take precedence
• CPC Class Codes: A61B 5/14539 : for measuring pH
• CPC Class Codes: A61B 5/14546 : for measuring analytes not otherwise provided for, e.g. ions, cytochromes
• CPC Class Codes: A61B 5/4064 : Evaluating the brain A61B5/031, A61B5/369, A61B5/14553 take precedence
• CPC Class Codes: A61B 5/411 : Detecting or monitoring allergy or intolerance reactions to an allergenic agent or substance
• CPC Class Codes: A61B 5/418 : lymph vessels, ducts or nodes
• CPC Class Codes: A61B 5/4839 : combined with drug delivery
• CPC Class Codes: A61B 5/6852 : Catheters
• CPC Class Codes: A61B 7/00 : Instruments for auscultation
• CPC Class Codes: A61F 2/82 : Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents stent-grafts for tubular structures of the body other than blood vessels A61F2/04; stent-grafts for blood vessels A61F2/07; instruments specially adapted for placement or removal of stents or stent-grafts A61F2/95; for closing wounds, or holding wounds closed A61B17/04 - A61B17/115; dilators A61M29/00
• CPC Class Codes: A61N 1/406 : using implantable thermoseeds or injected particles for localized hyperthermia preparations of seeds and particles A61K41/0052
• CPC Class Codes: A61N 7/00 : Ultrasound therapy lithotripsy A61B17/22, A61B17/225; massage using supersonic vibration A61H23/00 ; using ultrasound for introducing media into the body A61M37/0092
• CPC Class Codes: G16H 40/67 : for remote operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass

Abstract

Methods of controlling the operation of a device traveling in a body tube tree, including, for example, moving the device toward a target location in the body tube tree, and performing an action at the target location. 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.

Claims

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 receive data including at least one target parameter value representing a target location in a body tube tree, the body tube tree including a plurality of branched, interconnected channels, the target location being located within the body tube tree;

one or more instructions that cause the lumen traveling device control system to direct the sensing of at least one parameter value representative of a current location of a lumen traveling device within the body tube tree;

one or more instructions that cause the lumen traveling device control system to determine whether the current location of the lumen traveling device is the target location;

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 if the current location is the target location; and

one or more instructions that cause the lumen traveling device control system to direct at least one of a steering mechanism and a propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in a selected direction of travel if the current location is not the target location.

2. The system of claim 1, wherein the target location is a final destination of the lumen traveling device.

3. The system of claim 1, wherein the target location is an intermediate destination of the lumen traveling device.

4. The system of claim 1, wherein the one or more instructions that cause the lumen traveling device control system to determine whether the current location of the lumen traveling device is the target location include one or more instructions that cause the lumen traveling device control system to compare the at least one parameter value representative of a current location of the lumen traveling device with the at least one target parameter value representing a target location toward which the lumen traveling device is to travel.

5. The system of claim 1, wherein the non-transitory machine readable media further includes:

one or more instructions that cause the lumen traveling device control system to determine the current location of the lumen traveling device from the at least one parameter value representative of a current location of the lumen traveling device;

wherein the one or more instructions that cause the lumen traveling device control system to determine whether the current location of the lumen traveling device is the target location include one or more instructions that cause the lumen traveling device control system to compare the current location of the lumen traveling device with the target location toward which the lumen traveling device is to travel.

23. The system of claim 1, wherein the non-transitory machine readable media further includes one or more instructions that cause the lumen traveling device control system to receive map data representing a map of at least a portion of the body tube tree.

27. The system of claim 1, wherein the non-transitory machine readable media includes:

one or more instructions that cause the lumen traveling device control system to receive data representing at least one parameter value sensed from at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree; and

one or more instructions that cause the lumen traveling device control system to select a direction of travel from the at least two directions of travel based at least in part on the data representing at least one parameter value sensed from at least one of the at least two possible directions of travel of the lumen traveling device through the body tube tree.

29. The system of claim 1, wherein the non-transitory machine readable media includes:

one or more instructions that cause the lumen traveling device control system to receive information indicating whether or not at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device; and

one or more instructions that cause the lumen traveling device control system to select a direction of travel from the at least two directions of travel based at least in part on the information indicating whether or not at least one of the at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device.

74. The system of claim 1, wherein the non-transitory machine readable media includes:

one or more instructions that cause the lumen traveling device control system to determine the current location of a lumen traveling device on a map of at least a portion of the body tube tree including a plurality of branched, interconnected channels with an operation performed on-board the lumen traveling device, the lumen traveling device located within the body tube tree represented by the map;

one or more instructions that cause the lumen traveling device control system to determine the target location for the lumen traveling device within the body tube tree;

one or more instructions that cause the lumen traveling device control system to plan a path of travel for the lumen traveling device, the path of travel leading at least a portion of the way between the current location and the target location; and

one or more instructions that cause the lumen traveling device control system to direct at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause movement of the lumen traveling device through the body tube tree along the path of travel.

161. The system of claim 1, wherein the one or more instructions that cause the lumen traveling device control system to direct the sensing of at least one parameter value representative of a current location of the lumen traveling device include one or more instructions that cause the lumen traveling device control system to direct the sensing of at least one of at least one parameter value representative of an orientation of at least a portion of the body tube tree within an absolute coordinate system, at least one parameter value representative of an orientation of at least a portion of the body tube tree within a relative coordinate system, or at least one parameter value representative of an orientation of at least a portion of the body tube tree relative to at least one other portion of the body tube tree.

162. The system of claim 1, wherein the one or more instructions that cause the lumen traveling device control system to direct the sensing of at least one parameter value representative of a current location of the lumen traveling device include one or more instructions that cause the lumen traveling device control system to direct the sensing of at least one parameter value representative of at least one of an orientation of at least a portion of the body tube tree, a rate of fluid flow through at least a portion of the body tube tree, a direction of fluid flow through at least a portion of the body tube tree, an analyte, a temperature, a temperature gradient, a lumenal dimension, a material in or on a lumen wall, a lumen wall mechanical property, a position signal, an electromagnetic field, or a presence of a marker or label.

163. The system of claim 1, wherein the one or more instructions that cause the lumen traveling device control system to direct the active portion of the lumen traveling device to perform an action include one or more instructions that cause the lumen traveling device control system to direct the active portion of the lumen traveling device to release a material, deliver a material to a wall region of the body tube tree, release a device or structure, release energy, collect a sample, collect a fluid sample, collect a sample from a wall region of the body tube tree, collect a device or structure, attach a structure to a wall of the body tube tree, deliver a material or structure to a receiving portion of a man-made device, receive a material or structure from a delivery portion of a man-made device, receive a signal from a remote source, receive an encrypted signal from a remote source, receive power from a remote source, transmit a signal to a remote location, transmit an encrypted signal to a remote location, perform a surgical step or procedure, remove tissue from at least a portion of the body tube tree, remove specific components from at least a portion of a fluid within the body tube tree, expose a catalyst, generate a localized electric field, generate a localized magnetic field, produce heating, cause cooling, emit electromagnetic radiation, emit acoustic energy, apply pressure to at least a portion of the body tube tree, modulate the flow of fluid through at least a portion of the body tube tree, or detect an image.

164. The system of claim 1, wherein the one or more instructions that cause the lumen traveling device control system to direct at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in a selected direction of travel include one or more instructions that cause the lumen traveling device control system to direct at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to stop, cause the lumen traveling device to advance, cause the lumen traveling device to reverse direction, or cause the lumen traveling device to turn.

165. The system of claim 1, wherein the non-transitory machine readable media includes at least one of computer readable media, non-volatile memory in the lumen traveling device, ROM, PROM, EPROM, EEPROM, or Flash memory.

6-22. -22. (canceled)

24-26. -26. (canceled)

28. (canceled)

30-73. -73. (canceled)

75. A method of operating a lumen traveling device with a lumen traveling device control system, comprising:

receiving data including at least one target parameter value representing a target location toward which the lumen traveling device is to travel through a body tube tree including a plurality of branched, interconnected channels, the target location being located within the body tube tree;

sensing at least one parameter value representative of a current location of the lumen traveling device;

determining whether the current location of the lumen traveling device is the target location;

directing an active portion of the lumen traveling device to perform an action if the current location is the target location; and

directing at least one of a steering mechanism and a propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in a selected direction of travel if the current location is not the target location.

76. The method of claim 75, wherein the target location is a final destination of the lumen traveling device.

77. The method of claim 75, wherein the target location is an intermediate destination of the lumen traveling device.

78. The method of claim 75, wherein determining whether the current location of the lumen traveling device is the target location includes comparing the at least one parameter value representative of a current location of the lumen traveling device with the at least one target parameter value representing a target location toward which the lumen traveling device is to travel.

92. The method of claim 78, wherein the target parameter value representing the target location includes at least one of temperature, pressure, fluid flow, optical absorption, optical emission, fluorescence, phosphorescence, index of refraction, electrical resistivity, density, sound speed, pH, osmolality, or concentration.

93. The method of claim 75, further comprising:

determining the current location of the lumen traveling device from the at least one parameter value representative of a current location of the lumen traveling device;

wherein determining whether the current location of the lumen traveling device is the target location includes comparing the current location of the lumen traveling device with the target location toward which the lumen traveling device is to travel.

94. The method of claim 75, wherein sensing at least one parameter value representative of a current location of the lumen traveling device includes sensing at least one parameter value representative of an orientation of at least a portion of the body tube tree.

111. The method of claim 75, further comprising receiving map data representing a map of at least a portion of the body tube tree.

115. The method of claim 75, further comprising:

receiving data representing at least one parameter value sensed from at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree; and

selecting a direction of travel from the at least two directions of travel based at least in part on the data.

117. The method of claim 75, further comprising:

receiving information indicating whether or not at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device; and

selecting a direction of travel from the at least two directions of travel based at least in part on the information indicating whether or not at least one of the at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device.

155. The method of claim 75, further comprising:

transmitting the data from the lumen traveling device to a remote device in encrypted form.

158. The method of claim 75, further comprising:

receiving at least one of encrypted instructions or encrypted data from a remote device.

160. The method of claim 75, further comprising:

determining the current location of the lumen traveling device on a map of at least a portion of a body tube tree, the lumen traveling device located within the body tube tree represented by the map; and

planning a path of travel for the lumen traveling device, the path of travel leading at least a portion of the way between the current location and the target location, wherein directing at least one of a steering mechanism and a propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in a selected direction of travel if the current location is not the target location along the planned path of travel.

166. The method of claim 94, wherein sensing at least one parameter value representative of a current location of the lumen traveling device includes sensing at least one parameter value representative of an orientation of at least a portion of the body tube tree within an absolute coordinate system, sensing at least one parameter value representative of an orientation of at least a portion of the body tube tree within a relative coordinate system, or sensing at least one parameter value representative of an orientation of at least a portion of the body tube tree relative to at least one other portion of the body tube tree.

167. The method of claim 75, wherein sensing at least one parameter value representative of a current location of the lumen traveling device includes sensing at least one parameter value representative of at least one of a rate of fluid flow through of at least a portion of the body tube tree, a direction of fluid flow through of at least a portion of the body tube tree, a chemical, a temperature, a temperature gradient, a lumenal dimension, a material in or on a lumen wall, a lumen wall mechanical property, a position signal, an electromagnetic field, or a presence of a marker or label.

168. The method of claim 111, wherein receiving map data representing a map of at least a portion of the body tube tree includes receiving map data from at least one of a data storage location on the lumen traveling device, receiving map data from a remote source, or receiving encrypted map data.

169. The method of claim 75, wherein directing the active portion of the lumen traveling device to perform an action includes directing the active portion of the lumen traveling device to release a material, deliver a material to a wall region of the body tube tree, release a device or structure, release energy, collect a sample, collect a fluid sample, collect a sample from a wall region of the body tube tree, collect a device or structure, attach a structure to a wall of the body tube tree, deliver a material or structure to a receiving portion of a man-made device, receive a material or structure from a delivery portion of a man-made device, receive a signal from a remote source, receive an encrypted signal, receive power from a remote source, transmit a signal to a remote location, transmit an encrypted signal, perform a surgical step or procedure, remove tissue from at least a portion of the body tube tree, remove specific components from at least a portion of a fluid within the body tube tree, expose a catalyst, generate a localized electric field, generate a localized magnetic field, produce heating, cause cooling, emit electromagnetic radiation, emit acoustic energy, apply pressure to at least a portion of the body tube tree, modulate the flow of fluid through at least a portion of the body tube tree, or detect an image.

170. The method of claim 75, wherein directing at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in a selected direction of travel includes directing at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to stop, to advance, reverse direction, or turn.

79-91. -91. (canceled)

95-110. -110. (canceled)

112-114. -114. (canceled)

116. (canceled)

118-154. -154. (canceled)

156-157. -157. (canceled)

159. (canceled)