Endoscopic smart probe and method

• US 7,914,442 B1
• Filed: 10/09/2002
• Issued: 03/29/2011
• Est. Priority Date: 03/01/1999
• Status: Expired due to Fees

• Current Assignee: West View Research LLC
• Original Assignee: Robert F. Gazdzinski
• Inventors: Gazdzinski, Robert F.
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): Roy, Baisakhi
• Application Number:
  US10/268,392
• Time in Patent Office: 3,093 Days
• Field of Search: 600473-478, 600/109, 600/128, 600/160, 600/176, 600/179, 600/309, 600/437, 600/459
• US Class Current: 600/109
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/00016 using wireless means
• CPC Class Codes: A61B 1/00029 externally powered, e.g. wireless
• CPC Class Codes: A61B 1/00036 Means for power saving, e.g. sleeping mode
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/043 for fluorescence imaging
• CPC Class Codes: A61B 10/02 Instruments for taking cell samples or for biopsy A61B10/0038 and A61B10/0045 take precedence; needle locating or guiding means A61B17/3403; samplers for enzymology or microbiology C12M1/26; sampling or preparing biological specimens G01N33/48
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2018/00494 Stomach, intestines or bowel
• CPC Class Codes: A61B 2560/0209 adapted for power saving
• CPC Class Codes: A61B 5/0071 by measuring fluorescence emission
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/073 Intestinal transmitters
• CPC Class Codes: A61B 5/411 Detecting or monitoring allergy or intolerance reactions to an allergenic agent or substance
• CPC Class Codes: A61B 5/7232 involving compression of the physiological signal, e.g. to extend the signal recording period
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/4472 : Wireless probes
• CPC Class Codes: A61B 8/4488 : the transducer being a phased array
• CPC Class Codes: A61B 8/565 : involving data transmission via a network
• CPC Class Codes: A61N 2/002 : in combination with another treatment
• CPC Class Codes: A61N 2005/1005 : with asymmetrical radiation pattern
• CPC Class Codes: A61N 5/1002 : Intraluminal radiation therapy
• CPC Class Codes: A61N 5/1014 : Intracavitary radiation therapy
• CPC Class Codes: H04L 1/004 : by using forward error control H04L1/0618 takes precedence; coding, decoding or code conversion, for error detection or correction H03M13/00
• CPC Class Codes: H04L 1/0061 : Error detection codes

Abstract

An improved endoscopic device which is introduced into the intestinal tract of a living organism and which operates autonomously therein, adapted to obtain and store or transmit one or more types of data such as visual image data, laser autofluorescence data, or ultrasonic waveform data. In another aspect of the invention, an improved endoscopic device useful for implanting the aforementioned endoscopic smart probe is disclosed. In another aspect of the invention, apparatus for delivering agents including nanostructures, radionuclides, medication, and ligands is disclosed. In another aspect of the invention, apparatus for obtaining a biopsy of intestinal tissue is disclosed. In another aspect of the invention, apparatus for detecting the presence of one or more molecular species within the intestine is disclosed. Methods for inspecting and/or treating the interior regions of the intestinal tract using the aforementioned apparatus are also disclosed.

Claims

1. A method of evaluating first image data generated by a single sensor of a single substantially autonomous intestinal probe, comprising:

collecting a plurality of said first image data obtained from said single sensor of said probe while said probe moved substantially autonomously through the intestinal tract of a living being;

selecting, after collection of said first data, at least one portion of said first image data for evaluation, said selecting comprising selecting at least one frame of interest having a first field of view and also frames of image data contiguous with the selected at least one frame of interest, said frames of image data contiguous with the selected at least one frame of interest having a field of view substantially the same as said first field of view, said selecting being based at least in part on a user input; and

evaluating said selected at least one portion of the first image data in order to identify a physiologic condition of said living being, said identification being enabled based at least in part on comparison of second image data with said selected at least one portion.

2. The method of claim 1, further comprising generating said second image data from a substantially autonomous intestinal probe.

3. The method of claim 2, wherein said second image data comprises autofluorescence data.

4. The method of claim 1, wherein said act of collecting a plurality of first image data comprises collecting a substantially continuous stream of data relating to visual band (wavelength) images.

5. The method of claim 4, wherein said comparison comprises performing digital image matching of said second image data with said selected at least one frame using a computer program.

6. The method of claim 5, wherein said second image data comprises visual band (wavelength) image data obtained from the same living being at an earlier time.

7. The method of claim 1, wherein said act of collecting a plurality of first image data comprises collecting data relating to infrared (IR) band (wavelength) images.

8. A method of evaluating data obtained from a substantially autonomous intestinal probe, comprising:

receiving a substantially continuous stream of data relating to a single image, said data obtained using said probe while said probe moves substantially autonomously through the intestinal tract of a living being;

temporally dividing said substantially continuous stream of data into at least two stream portions; and

evaluating said at least two stream portions in parallel.

9. The method of claim 8, wherein said data comprises image data, and said act of evaluating comprises viewing said at least portions of each of said at least two portions contemporaneously on the same display device.

10. The method of claim 9, wherein said act of obtaining occurs over a finite period of time, and said act of dividing comprises dividing said plurality of data into at least two portions each relating to non-identical portions of said finite period of time.

11. The apparatus of claim 10, wherein said act of dividing comprises dividing into at least two portions relating to portions of said finite period of time which have no significant temporal overlap with each other.

12. A method of evaluation using data obtained from at least two substantially autonomous intestinal probes, comprising:

obtaining a plurality of first data from a first of said at least two probes while said first probe moves substantially autonomously through the intestinal tract of a living being;

obtaining a plurality of second data from a second of said at least two probes while said second probe moves substantially autonomously through an intestinal tract of a second living being; and

conducting said evaluation using at least portions of said first and second data in parallel in order to reduce the time needed to evaluate both said first and second data as compared to evaluating them serially or individually.

13. The method of claim 12, wherein said first data comprises visual-band image data, and said second data comprises visual-band image data, at least one disease or physiologic abnormality of said second living being at least partly visible in said second visual-band image data.

14. The method of claim 12, wherein said first data comprises image data, and said second data comprises image data, and wherein said conducting said evaluation using at least portions of said first and second data in parallel comprises visually comparing said first and second image data in a substantially side-by-side or over-under disposition on a common electronic color display screen so as to identify one or more maladies of one of said living beings, said maladies selected from the group consisting of:

(i) polyps, (ii) carcinomas, and (iii) ulcerations.

15. Apparatus adapted to evaluate first data generated by a single sensor of a substantially autonomous intestinal probe, comprising:

at least one digital processor; and

at least one computer program recorded on a computer readable medium, said medium in data communication with said at least one processor, said program adapted to run on said at least one processor, said at least one program further being adapted to;

obtain a plurality of said first data, said data previously generated by said single sensor with a substantially fixed field of view while said probe moved substantially autonomously through the intestinal tract of a living being;

select at least one portion of contiguous frames of said first data for evaluation based on user input; and

present said selected at least one portion of said first data along with second data in order to facilitate identification of one or more physiologic conditions of said living being, said identification being enabled based at least in part on comparison of said second data with said selected at least one portion of said first data on a common display device.

16. The apparatus of claim 15, wherein said first data comprises visual-band image data, and said second data comprises visual-band image data collected from a different living being than said living being from which said first data was collected.

17. The apparatus of claim 16, wherein said second data comprises visual-band image data collected using a substantially autonomous intestinal probe.

18. The apparatus of claim 15, wherein said second data comprises visual-band image data collected from a living being having at least one disease or physiologic abnormality that is at least partly visible in said second visual-band image data.

19. The apparatus of claim 18, wherein said at least one disease or physiologic abnormality is selected from the group consisting of:

(i) polyps, (ii) carcinomas, and (iii) ulcerations.

20. Apparatus adapted to evaluate data obtained from a substantially autonomous intestinal probe, comprising:

at least one digital processor;

at least one display device operatively coupled to said at least one processor; and

at least one computer program recorded on a computer readable medium, said medium in data communication with said at least one processor, said program adapted to run on said at least one processor, said at least one program further being adapted to;

receive a substantially continuous stream of said data relating to a single image obtained using said probe, said data generated while said probe moved substantially autonomously through the intestinal tract of a living being;

divide said substantially continuous stream of data into at least two stream portions representing different temporal periods; and

display at least a portion of said at least two stream portions in parallel on said at least one display device, said displaying comprising displaying video of said at least two stream portions so that a user can complete review of said plurality of data more rapidly than if said division and display in parallel had not been performed.

21. The apparatus of claim 20, wherein said at least one program is further adapted to adjust the duration of at least one of said at least two portions such that said at least two portions have substantially similar duration when displayed on said at least one display device.

22. A method of processing image data derived from a sensor disposed on a substantially autonomous intestinal probe having a digital processor, comprising:

obtaining a plurality of image data from said sensor, said image data generated while said probe moves substantially autonomously through the intestinal tract of a living being;

processing at least a portion of said plurality of image data using at least said digital processor, said processing comprising purposely and selectively eliminating at least some of said image data using a computer program running on said processor so as to reduce off-probe transmission bandwidth requirements;

transferring at least a portion of said plurality of data off-probe; and

processing at least a portion of said transferred portion of data off-probe.

23. The method of claim 22, wherein said digital processor comprises a digital signal processor (DSP).

24. The method of claim 22, wherein said act of processing at least a portion of said plurality of data comprises compressing at least a portion of said plurality of data according to a digital data compression algorithm.

25. The method of claim 22, wherein said act of processing at least a portion of said plurality of data comprises filtering at least a portion of said plurality of data.

26. A method of expediently evaluating data obtained from at least two substantially autonomous intestinal probes within different beings, comprising:

obtaining a plurality of first data from a first of said at least two probes while said first probe moves substantially autonomously through the intestinal tract of a living being;

obtaining a plurality of second data from a second of said at least two probes while said second probe moves substantially autonomously through the intestinal tract of a second living being; and

evaluating at least portions of said first and second data substantially simultaneously in order to reduce the time needed to evaluate both said first and second data.

27. The method of claim 26, wherein:

said living being and said second living being are disposed at geographically remote locations;

said evaluating is performed at a single location on a single display screen by the same individual; and

at least one of said first or second data is received over a network from the first or second locations, respectively.

28. A method of processing image data derived from a sensor disposed on a substantially autonomous intestinal probe having a digital processor, comprising:

obtaining a plurality of image data from said sensor, said image data generated while said probe moves substantially autonomously through the intestinal tract of a living being and being part of an image data stream;

processing at least a portion of said plurality of image data using at least said digital processor, said processing comprising purposely and selectively eliminating substantially all of the image data of said image data stream occurring between a first time and second time using a computer program running on said processor, said eliminating reducing off-probe image data review burden;

transferring at least a portion of said plurality of data off-probe; and

processing at least a portion of said transferred portion of data off-probe.

29. The method of claim 28, wherein said digital processor comprises a digital signal processor (DSP).

30. The method of claim 28, wherein said act of processing at least a portion of said plurality of data further comprises compressing at least a portion of said plurality of data according to a digital data compression algorithm.

31. The method of claim 30, wherein said act of processing at least a portion of said plurality of data comprises filtering at least a portion of said plurality of data.

32. A method of processing image data derived from a sensor disposed on a substantially autonomous intestinal probe having a digital processor, comprising:

obtaining a plurality of image data from said sensor, said image data generated while said probe moves substantially autonomously through the intestinal tract of a living being;

processing at least a portion of said plurality of data using at least said digital processor, said processing comprising purposely and selectively eliminating at least some of said image data using a computer program running on said processor so as to reduce off-probe review burden;

transferring at least a portion of said plurality of data off-probe; and

processing at least a portion of said transferred portion of data off-probe.

33. The method of claim 32, wherein said digital processor comprises a digital signal processor (DSP).

34. The method of claim 32, wherein said act of eliminating comprises removing image data which does not correlate to one or more features of interest.

35. The method of claim 34, wherein said removing image data which does not correlate to one or more features of interest is performed using a computer program which attempts to correlate portions of said image data to known disease features.

36. The method of claim 32, wherein said act of eliminating comprises filtering at least a portion of said plurality of data using a filtering algorithm running on said digital processor.

37. A method of expediently evaluating data obtained from at least two substantially autonomous intestinal probes within different beings, comprising:

obtaining a plurality of first data from a first of said at least two probes while said first probe moves substantially autonomously through the intestinal tract of a living being;

obtaining a plurality of second data from a second of said at least two probes while said second probe moves substantially autonomously through the intestinal tract of a second living being; and

evaluating at least portions of said first and second data substantially simultaneously as first and second data streams, respectively;

wherein, a rate of presentation of at least one of said first and second data streams is selected so as to;

enable a reviewer thereof to review both streams substantially simultaneously without missing any significant portion of either said first or second data; and

reduce the time needed to evaluate both said first and second data as compared to evaluating them individually.

38. A method of expediently evaluating data obtained from at least two substantially autonomous intestinal probes within different beings, comprising:

obtaining a plurality of first data from a first of said at least two probes while said first probe moves substantially autonomously through the intestinal tract of a living being;

obtaining a plurality of second data from a second of said at least two probes while said second probe moves substantially autonomously through the intestinal tract of a second living being; and

evaluating at least portions of said first and second data substantially simultaneously in order to reduce the time needed to evaluate both said first and second data;

wherein said substantially simultaneous evaluation is performed in order to initially identify one or more regions of interest within said intestinal tract of said first or second living being.