Event-based control of a lumen traveling device

• US 20120035540A1
• 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:
  US13/136,675
• Publication Number:
  US 20120035540A1
• Time in Patent Office: Days
• US Class Current: 604/95.01
• 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 selecting a direction of travel based on information relating to a previous event associated with a possible direction of travel, 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.

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 identify at least two possible directions of travel of a lumen traveling device through a body tube tree, the body tube tree including a plurality of branched, interconnected channels, and the at least two possible directions of travel corresponding to at least two of the branched, interconnected channels;

one or more instructions that cause the lumen traveling device control system to receive data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel;

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 a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel; 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 the selected direction of travel.

5. The system of claim 1, wherein the non-transitory machine readable media bears one or more instructions that cause the lumen traveling device control system to determine that at least one of the at least two directions of travel is non-navigable by the lumen traveling device, and wherein the 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 a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel include instructions that cause the lumen traveling device control system to avoid the at least one of the at least two directions of travel if it is non-navigable by the lumen traveling device.

12. 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 identify a stop condition based at least in part on the data; 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 the lumen traveling device to stop moving through the body tube tree.

13. 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 store the data in a memory location on the lumen traveling device.

14. 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 store the motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism in a memory location on the lumen traveling device.

15. 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 transmit the data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel from the lumen traveling device to a remote device.

16. 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 transmit motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism from the lumen traveling device to a remote device.

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

18. The system of claim 1, wherein the non-transitory machine readable media is carried by the lumen traveling device.

19. The system of claim 1, wherein the non-transitory machine readable media is carried in part by the lumen traveling device and in part by a remote device.

23. 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 related to 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 possible directions of travel based at least in part on the information related to 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.

44. The system of claim 1, wherein the one or more instructions that cause the lumen traveling device control system to receive data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel include one or more instructions that cause the lumen traveling device control system to receive data relating to at least one of a previous action performed by the lumen traveling device or a parameter value previously sensed by the lumen traveling device.

45. 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 the 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 move through the body tube tree in the selected direction of travel for a pre-determined distance, cause the lumen traveling device to move through the body tube tree in the selected direction of travel for a pre-determined duration, cause the lumen traveling device to move through the body tube tree in the selected direction of travel until a stop instruction is received from a remote device by the lumen traveling device, cause the lumen traveling device to turn, cause the lumen traveling device to continue moving in a current direction of travel, or cause the lumen traveling device to reverse its direction of travel.

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

2-4. -4. (canceled)

6-11. -11. (canceled)

20-22. -22. (canceled)

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

identifying at least two possible directions of travel of a lumen traveling device through a body tube tree, the body tube tree including a plurality of branched, interconnected channels, and the at least two possible directions of travel corresponding to at least two of the branched, interconnected channels;

receiving data representing a stored parameter value relating to a previous event;

selecting a direction of travel from the at least two directions of travel based at least in part on the data representing a stored parameter value relating to a previous event; 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 the selected direction of travel.

35. The method of claim 24, further comprising:

identifying a stop condition based at least in part on the data; and

directing at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause to cause the lumen traveling device to stop moving through the body tube tree.

36. The method of claim 24, further comprising:

storing the data in a memory location on the lumen traveling device.

37. The method of claim 24, further comprising:

storing motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism in a memory location on the lumen traveling device.

38. The method of claim 24, further comprising:

transmitting the data from the lumen traveling device to a remote device.

39. The method of claim 24, further comprising:

transmitting motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism from the lumen traveling device to a remote device.

40. The method of claim 24, further comprising:

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

41. The method of claim 24, performed under the control of a lumen traveling device control system on-board the lumen traveling device.

42. The method of claim 24, performed under the control of a lumen traveling device control system located in part on-board the lumen traveling device and in part on a remote device.

43. The method of claim 24, further comprising:

receiving information related to 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 the direction of travel from the at least two possible directions of travel based at least in part on the information related to 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.

47. The method of claim 24, wherein receiving data representing a stored parameter value relating to a previous event includes receiving data relating to at least one of a previous action performed by the lumen traveling device or a parameter value previously sensed by the lumen traveling device.

48. The method of claim 24, 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 the 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 move through the body tube tree in the selected direction of travel for a pre-determined distance, cause the lumen traveling device to move through the body tube tree in the selected direction of travel for a pre-determined duration, cause the lumen traveling device to move through the body tube tree in the selected direction of travel until an stop instruction is received from a remote device by the lumen traveling device, cause the lumen traveling device to turn, cause the lumen traveling device to continue moving in a current direction of travel, or cause the lumen traveling device to reverse its direction of travel.

25-34. -34. (canceled)