Self-propellable apparatus and method

• US 7,736,300 B2
• Filed: 10/27/2005
• Issued: 06/15/2010
• Est. Priority Date: 04/14/2003
• Status: Active Grant

• Current Assignee: Fujifilm Corporation (Fujifilm Holdings Corporation)
• Original Assignee: Softscope Medical Technologies, Inc. (Fujifilm Holdings Corporation)
• Inventors: Sheridan, Timothy P., Ziegler, Troy J., Ryder, William T.
• Primary Examiner(s): KASZTEJNA, MATTHEW JOHN
• Application Number:
  US11/260,342
• Publication Number:
  US 20060089533A1
• Time in Patent Office: 1,692 Days
• Field of Search: 600/114, 600/130, 600/139, 600/142
• US Class Current: 600/114
• CPC Class Codes: A61B 1/00135 Oversleeves mounted on the endoscope prior to insertion
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/0016 using motor drive units
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 17/3476 Powered trocars, e.g. electrosurgical cutting, lasers, powered knives
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/3435 using everted sleeves
• CPC Class Codes: A61B 2017/3488 Fixation to inner organ or inner body tissue
• CPC Class Codes: A61M 25/0116 self-propelled, e.g. autonomous robots A61M25/0122 takes precedence
• CPC Class Codes: G02B 23/2476 Non-optical details, e.g. housings, mountings, supports

Abstract

A self propelled, endoscopic apparatus formed of a flexible, fluid-filled toroid and a motorized or powerable frame The apparatus may be used to advance a variety of accessory devices into generally tubular spaces and environments for medical and non-medical applications. The apparatus when inserted into a tubular space or environment, such as the colon of a patient undergoing a colonoscopy, is advanced by the motion of the toroid. The toroid'"'"'s surface circulates around itself in a continuous motion from inside its central cavity along its central axis to the outside where its surface travels in the opposite direction until it again rotates into its central cavity. As the device advances within the varying sizes, shapes and contours of body lumens, the toroid compresses and expands to accommodate and navigate the environment. The motion of the toroid can be powered or unpowered and the direction and speed may be controlled. The apparatus may be used to transport a variety of accessory devices to desired locations within tubular spaces and environments where medical and non-medical procedures may be performed.

Claims

1. A propulsion apparatus for transport of at least one accessory device within a body cavity or canal, section of pipe, lumen, or other generally tubular space or environment, the apparatus comprising:

a toroid, the toroid including an enclosed ring comprising a flexible material, the enclosed ring defining a central cavity and having an interior volume, the enclosed ring presenting an exterior surface and an interior surface which move in opposite directions when the apparatus is in motion;

a frame including a support structure located within the interior volume of the enclosed ring, and a housing structure substantially concentrically and substantially coaxially located relative to the support structure and disposed substantially in the central cavity of the enclosed ring;

at least one interlocking member located in association with each of the support and housing structures, the flexible material of the enclosed ring being positioned at least partially between the interlocking members of the two structures; and

a worm gear located at least partially within the housing structure, the worm gear, when powered, configured to impart a motive drive force to the flexible material of the enclosed ring via the at least one interlocking member of the housing structure.

2. The apparatus of claim 1, comprising at least one accessory device.

3. The apparatus of claim 2, wherein the accessory device is connected to a portion of the frame using a collet.

4. The apparatus of claim 2, wherein the at least one accessory device is selected from the group consisting of endoscopes, cameras, fiber optic cables, electronic communication cables, lasers, surgical instruments, medical instruments, diagnostic instruments, instrumentation, sensors, stent catheters, fluid delivery devices, drug delivery devices, electronic devices, tools, sampling devices, assay devices, or one or more combinations thereof.

5. The apparatus of claim 4, wherein the at least one accessory device includes an endoscope.

6. The apparatus of claim 4, wherein the at least one accessory device includes at least one of a camera, a sensor, or an electronic device.

7. The apparatus of claim 1, comprising a power source coupled to the worm gear, the worm gear operatively coupled to the flexible material of the enclosed ring such that, when powered, the motive drive force is imparted to the flexible material along a longitudinal path substantially parallel with an axis of the central cavity.

8. The apparatus of claim 7, wherein the power source includes an external power source, the external power source configured to be positioned outside the body cavity or canal, section of pipe, lumen, or other generally tubular space or environment.

9. The apparatus of claim 7 wherein the power source includes an internal power source, the internal power source configured to be at least partially positioned in the central cavity defined by the enclosed ring.

10. The apparatus of claim 1, wherein the flexible material includes a polymeric material.

11. The apparatus of claim 1, comprising:

a power source for powering the worm gear; and

at least one accessory device.

12. The apparatus of claim 1, comprising a remote controller configured to remotely control the propulsion of the apparatus.

13. The apparatus of claim 1, comprising pre-programming a propulsive parameter of the apparatus.

14. The apparatus of claim 1, comprising an accessory tube, the tube including at least one pathway though which at least one accessory device can be inserted or connected to an external device.

15. The apparatus of claim 1, wherein the worm gear is coupled to a mechanical power transmission providing a spinning mechanical power, the worm gear configured to convert the spinning mechanical power to a linear impelling power that drives the enclosed ring.

16. The apparatus of claim 1, wherein at least one of the interlocking members is supported by a spring.

17. The apparatus of claim 1, wherein at least one of the interlocking members is rotatably held by a suspension mechanism.

18. The apparatus of claim 17, wherein the suspension mechanism comprises at least one of a gimble mechanism or a rubber band.

19. The apparatus of claim 17 wherein the suspension mechanism comprises at least one coiled, leaf or torsion spring.

20. The apparatus of claim 1, wherein at least one of the interlocking members is rotatably supported by an arm.

21. The apparatus of claim 1, wherein the enclosed ring comprises an impermeable material, and the interior volume of the enclosed ring is at least partially filled.

22. The apparatus of claim 1, wherein the toroid includes a substantially unfilled permeable or semi-permeable material.

23. The apparatus of claim 1, wherein the enclosed ring comprises at least a first section and a second section, the second section of the enclosed ring including a more wear resistant material than the first section and positioned at least partially between the interlocking members of the support and housing structures.

24. The apparatus of claim 23, wherein the second section includes at least one surface texture that is configured to engage teeth of at least one of the interlocking members.

25. The apparatus of claim 23, wherein the material of the first section does not contact, or only partially contacts, the interlocking members, and wherein the material of the first section folds when traveling between the support structure and housing structure.

26. The apparatus of claim 23, wherein the material of the second section differs from the material of the first section in at least one of thickness, stiffness, texture, surface finish, surface pattern, durometer, flexibility, durability, friction characteristic, color, hydrophilic or hydrophobic tendency, elasticity, permeability, melting point, biocompability, or solubility.

27. The apparatus of claim 26, wherein the material of the first section has a higher friction characteristic than the material of the second section.

28. The apparatus of claim 23, wherein at least a portion of the first section or the second section comprises a radiopaque material.

29. The apparatus of claim 1, further comprising a communicative engagement with at least one more propulsion apparatus.

30. A propulsion apparatus for transport of at least one accessory device within a lumen environment of varying size, shape or contour, the apparatus comprising:

a toroid configured to be compressible and expandable to accommodate and navigate the varying lumen environment, the toroid including a deformable enclosed ring formed of a flexible material, the enclosed ring defining a central cavity and having an interior volume, the enclosed ring presenting an exterior surface and an interior surface which move in opposite directions when the apparatus is in motion;

a frame including an outer support structure located within the interior volume of the enclosed ring, and an inner support structure disposed in the central cavity of the enclosed ring;

at least one interlocking member located in association with each of the outer and inner support structures, the flexible material of the enclosed ring being positioned at least partially between the interlocking members of the two support structures; and

a driving mechanism configured to propel the toroid, when powered, by imparting a motive drive force to the interior surface of the enclosed ring.

31. The apparatus of claim 30, comprising at least one fluid flow channel extending the length of the apparatus.

32. The apparatus of claim 30, comprising an accessory device ring including a gap extending the length of the apparatus, wherein the gap is configured to allow material flow therethrough in operation.

33. The apparatus of claim 30, comprising at least one accessory device.

34. The apparatus of claim 33, wherein the accessory device is connected to a portion of the frame using a collet.

35. The apparatus of claim 33, wherein the at least one accessory device is selected from the group consisting of endoscopes, cameras, fiber optic cables, electronic communication cables, lasers, surgical instruments, medical instruments, diagnostic instruments, instrumentation, sensors, stent catheters, fluid delivery devices, drug delivery devices, electronic devices, tools, sampling devices, assay devices, or one or more combinations thereof.

36. The apparatus of claim 35, wherein the at least one accessory device includes an endoscope.

37. The apparatus of claim 35, wherein the at least one accessory device includes at least one of a camera, a sensor, or an electronic device.

38. The apparatus of claim 30, comprising a power source coupled to the driving mechanism, the driving mechanism, when powered, imparting the motive drive force to the flexible material of the enclosed ring along a longitudinal path substantially parallel with an axis of the central cavity.

39. The apparatus of claim 38, wherein the power source includes an external power source, the external power source configured to be positioned outside the varying lumen environment.

40. The apparatus of claim 38, wherein the power source includes an internal power source configured to be at least partially positioned in the central cavity defined by the enclosed ring.

41. The apparatus of claim 30, wherein the flexible material includes a polymeric material.

42. The apparatus of claim 30, comprising a power source configured for powering the driving mechanism, and at least one accessory device.

43. The apparatus of claim 30, comprising a remote controller configured to remotely control the propulsion of the apparatus.

44. The apparatus of claim 30, wherein the apparatus is configured to permit pre-programming at least one parameter of the apparatus.

45. The apparatus of claim 30, comprising an accessory tube, the tube including at least one pathway through which at least one accessory device can be inserted or connected to an external device.

46. The apparatus of claim 30, wherein the driving mechanism includes a worm gear, coupled to a mechanical power transmission providing a spinning mechanical power, the worm gear configured to convert the spinning mechanical power to a linear impelling power that drives the enclosed ring.

47. The apparatus of claim 30, wherein at least one of the interlocking members is supported by a spring.

48. The apparatus of claim 30, wherein at least one of the interlocking members is rotatably held by a suspension mechanism.

49. The apparatus of claim 48, wherein the suspension mechanism comprises at least one gimble mechanism.

50. The apparatus of claim 48, wherein the suspension mechanism comprises at least one rubber band.

51. The apparatus of claim 48, wherein the suspension mechanism comprises at least one coiled, leaf or torsion spring.

52. The apparatus of claim 48, wherein the outer support structure comprises a cylinder that comprises a plurality of apertures, wherein the apertures are configured to engage the suspension mechanism to locate the outer support structure cylinder axially, angularly and radially.

53. The apparatus of claim 30, wherein at least one of the interlocking members is rotatably supported by an arm.

54. The apparatus of claim 30, wherein the enclosed ring comprises an impermeable material, and the interior volume of the enclosed ring is at least partially filled.

55. The apparatus of claim 30, wherein the toroid includes a substantially unfilled impermeable, permeable or semi-permeable material.

56. The apparatus of claim 30 wherein the enclosed ring comprises at least a first section and a second section, the second section of the enclosed ring including a more wear resistant material than the first section and positioned at least partially between the interlocking members of the outer and inner support structures.

57. The apparatus of claim 56, wherein the second section includes at least one surface texture that is configured to engage the teeth of at least one of the interlocking members.

58. The apparatus of claim 56, wherein the material of the first section does not contact, or only partially contacts, the interlocking members, and wherein the material of the first section folds when traveling between the outer support structure and inner support structure.

59. The apparatus of claim 56, wherein the material of the second section differs from the material of the first section in at least one of thickness, stiffness, texture, surface finish, surface pattern, durometer, flexibility, durability, friction characteristic, color, hydrophilic or hydrophobic tendencies, elasticity, permeability, melting point, biocompability, or solubility.

60. The apparatus of claim 59 wherein the material of the first section has a higher friction characteristic than the material of the second section.

61. The apparatus of claim 56, wherein at least a portion of the first section or the second section comprises a radiopaque material.

62. The apparatus of claim 30, wherein the driving mechanism includes at least one of a geared mechanical system, a passive mechanical system, a magnetic system, an electrical system, an inductive driven material, an inductive driven fluid within the enclosed ring, a system configured to repeatedly grab or squeeze and pull or push the flexible material of the enclosed ring, or a piezoelectric system.

63. The apparatus of claim 30, wherein the outer support structure comprises a bias-imparting structure configured to support at least one interlocking member and to bias a portion of the enclosed ring against at least one interlocking member of the inner support structure.

64. A propulsion apparatus for transport of at least one accessory device within a lumen, the apparatus comprising:

means for providing an exterior surface and an interior surface which move in opposite directions when the apparatus is in motion, including providing an enclosed toroidal ring defining a central cavity and having an interior volume, which is configurable to enter into and navigate the lumen;

means for supporting the enclosed toroidal ring, including a first support member located within the interior volume of the enclosed toroidal ring, and a second support member coaxially located relative to the first support member and disposed in the central cavity of the enclosed ring;

means for interlocking a relative positioning of the supporting means and the enclosed toroidal ring; and

means for propelling the enclosed toroidal ring using the interior surface.

65. The apparatus of claim 64 wherein the means for propelling the enclosed toroidal ring comprises a driving mechanism including at least one of a geared mechanical system, a passive mechanical system, a magnetic system, an electrical system, an inductive driven material, an inductive driven fluid within the enclosed ring, a system configured to repeatedly grab or squeeze and pull or push the flexible material of the enclosed ring, or a piezoelectric system.