Autonomous in-vivo device

• US 7,643,865 B2
• Filed: 12/30/2004
• Issued: 01/05/2010
• Est. Priority Date: 06/30/2004
• Status: Expired due to Fees

• Current Assignee: Given Imaging Limited (Medtronic Plc)
• Original Assignee: Given Imaging Limited (Medtronic Plc)
• Inventors: Iddan, Gavriel J., Gilad, Zvika
• Primary Examiner(s): Casler; Brian
• Assistant Examiner(s): Shahrestani; Nasir
• Application Number:
  US11/025,604
• Publication Number:
  US 20060004276A1
• Time in Patent Office: 1,832 Days
• Field of Search: 600/407, 600/424, 600/153, 600/302, 600/172, 600/476, 600/547, 600/114, 600/350, 600/593, 600/582, 600/477, 600/109, 600/473, 600/160, 600/101, 348/81, 348/68, 348/76, 348/77, 348/301, 348/370, 128/899, 359/708, 385/12
• US Class Current: 600/424
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence

Abstract

The present invention may provide a system, method and device containing a motor. The motor may propel an in-vivo device by rotating a propeller situated for example outside of an outer shell of such device with an electromagnetic field generated by for example a plurality of electrical coils situated for example within such device.

Claims

1. An autonomous in-vivo device, comprising:

a capsule;

said capsule comprising a rotor, being a propeller, rotatably connected to a shaft;

a plurality of electric coils positioned around said rotor;

a controller to control current flow through said electric coils causing the rotor to rotate and causing the rotor to tilt towards at least one of said electric coils thereby providing direction and a forward or backward thrust of said device.

2. The device as in claim 1, comprising a duct to channel liquid to said rotor.

3. The device as in claim 1, wherein said rotor includes at least one permanent magnet.

4. The device as in claim 1, wherein said plurality of electric coils are enclosed within an outer shell of said device.

5. The device as in claim 4, wherein said outer shell has a tows shaped end.

6. The device as in claim 1, wherein said plurality of electric coils are mounted on a flexible circuit board.

7. The device as in claim 1, wherein the rotor shaft is attached to a ball and socket joint.

18. The device of claim 1, wherein the controller changes strength of current on a first of said electric coils with respect to current on a second of said electric coils, and to thereby tilt rotor relative to said electric coils to control the direction of thrust.

8. A method of propelling an in-vivo device, comprising:

providing an autonomous in-vivo capsule imaging device within a gastro-intestinal tract of a subject;

generating an electromagnetic field from a plurality of electric coils positioned within said device around a propeller of said device;

rotating said propeller in response to changes in said field to provide forward thrust or backward thrust for said device; and

tilting said propeller towards at least one of said electric coils in response to changes in said field to provide a direction of said forward or backward thrust.

9. The method as in claim 8, comprising channeling fluids in an in-vivo area to said propeller.

10. The method as in claim 8, wherein said tilting comprises changing strength of current flow through a first coil relative to strength of current flow through a second coil where the first coil is positioned on a first side of said propeller and the second coil is positioned on a second side of said propeller.

11. The method as in claims 10, comprising transmitting a signal from an external operator to said in-vivo device to change said strength of said current in said first coil.

12. The method as in claim 8, comprising changing a direction of a thrust from said propeller.

19. The method of claim 8, wherein tilting said propeller comprises changing strength of said field at certain portions around said tiltable propeller relative to other portions around said tiltable propeller.

13. A system comprising:

an in-vivo capsule imaging device comprising;

a sensor for generating data;

a rotor, being a propeller, providing forward thrust or backward thrust when caused to rotate;

a plurality of electric coils positioned around said rotor;

a controller to control current flow through said plurality of electric coils causing the rotor to rotate and tilt towards at least one of said plurality of electric coils where said tilting provides a direction for a forward or backward thrust;

a transceiver for receiving data from the sensor and transmitting said data; and

an external transceiver for receiving data from the device and transmitting signals to the device.

14. The system as in claim 13, wherein said in-vivo device comprises a duct to channel a liquid to said rotor.

15. The system as in claim 13, wherein said rotor is connected to said device with a ball and socket joint.

16. The system as in claim 13, comprising a flexible circuit board upon which said electrical coils are arranged.

17. The system as in claim 13, comprising a housing in which said electrical coils are completely enclosed.

20. The system of claim 13, wherein said in vivo device further comprises:

a controller coupled to said electric coils via at least one switch to change strength of current in coils on a first side of the rotor with respect to current in coils on a second side of the rotor to thereby tilt said rotor relative to said device; and

wherein said plurality of electric coils is used to generate an electromagnetic field from inside said device around said rotor.