Temporal control of a lumen traveling device in a body tube tree

• US 9,198,563 B2
• Filed: 08/05/2011
• Issued: 12/01/2015
• Est. Priority Date: 04/12/2006
• Status: Active Grant

• Current Assignee: Gearbox LLC (Intellectual Ventures LLC)
• Original Assignee: The Invention Science Fund I, L.L.C. (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.
• Primary Examiner(s): VU, QUYNH-NHU HOANG
• Application Number:
  US13/136,679
• Publication Number:
  US 20120041291A1
• Time in Patent Office: 1,579 Days
• US Class Current: 1/1
• 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 determining a time based on a signal from a timing device and performing an action based on the determined time, 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 method of operating a lumen traveling device with a lumen traveling device control system, comprising:

activating a propelling mechanism on the lumen traveling device to propel the lumen traveling device within a body tube tree;

determining a time based on a signal from a timing device; and

performing at least one action with an active portion of the lumen traveling device based at least in part upon the determined time.

2. The method of claim 1, further comprising sensing a signal representative of a dimension of a portion of the body tube tree toward which the lumen traveling device is traveling.

3. The method of claim 2, further comprising reversing the direction of travel of the lumen traveling device if the signal representative of the dimension of the portion of the body tube tree indicates that the dimension of the portion of the body tube tree is less than a specified minimum dimension.

4. The method of claim 1, further comprising:

detecting an arrival of the lumen traveling device at a branch point in the body tube tree with at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels;

selecting one of the at least two branch channels; and

directing the lumen traveling device into the selected branch channel.

5. The method of claim 4, wherein determining a time based on a signal from a timing device includes at least one of determining a time based on a signal from a remote timing device, determining a time based on a signal from a timing device located on the lumen traveling device, determining an absolute time measure, determining a relative time measure, determining a relative time measure relative to an event, determining a relative time measure relative to an arrival of the lumen traveling device at the branch point in the body tube tree, or determining a relative time measure relative to a time of day.

6. The method of claim 4, further comprising setting a time fiducial;

wherein performing at least one action with the lumen traveling device based at least in part upon the determined time includes at least one of performing at least one action with the lumen traveling device while the determined time is less than the time fiducial, performing at least one action with the lumen traveling device when the determined time is equal to the time fiducial, or performing at least one action with the lumen traveling device when the determined time is greater than the time fiducial.

7. The method of claim 4, further comprising storing information regarding the selected branch channel.

8. The method of claim 7, further comprising generating a map of at least a portion of the body tube tree.

9. The method of claim 8, wherein generating a map of at least a portion of the body tube tree includes at least one of generating a topological map of at least a portion of the body tube tree, generating a metric map of at least a portion of the body tube tree, or generating a conformal map of at least a portion of the body tube tree.

10. The method of claim 7, wherein storing information regarding the selected branch channel includes storing information regarding at least one of the direction or orientation of the selected branch channel, the length of the selected branch channel, the structural configuration of the selected branch channel, the branching pattern of the selected branch channel, at least one lumenal dimension of the selected branch channel, the distance of the selected branch channel from a branch point, or the proximity of the selected branch channel to a valve or other channel restriction.

11. The method of claim 1, further comprising sensing at least one position indicator signal.

12. The method of claim 11, further comprising at least one of storing a representation of the at least one position indicator signal on the lumen traveling device or generating a map of at least a portion of the body tube tree based on the at least one position indicator signal.

13. The method of claim 11, wherein sensing at least one position indicator signal includes sensing at least one encrypted signal, sensing at least one position indicator signal from an inertial navigation method on the lumen traveling device, sensing at least one radiological signal originating from a remote source, sensing at least one ultrasonic signal originating from a remote source, sensing at least one electromagnetic signal originating from a remote source, sensing a signal from an RF beacon, sensing a GPS signal, sensing a signal from a wireless network, or sensing at least one magnetic signal originating from a remote source.

14. The method of claim 1, further comprising:

sensing at least one position indicator signal by sensing a plurality of radiological signals from a plurality of remote sources, and

determining position information from the at least one position indicator signal by determining the attenuation of the plurality of radiological signals from the plurality of remote sources at the lumen traveling device.

15. The method of claim 1, further comprising sensing at least one position indicator signal by sensing a plurality of ultrasonic signals from a plurality of remote sources, and determining position information from the at least one position indicator signal by determining at least one of the attenuation or phase change of the plurality of ultrasonic signals from the plurality of remote sources.

16. The method of claim 1, further comprising reading map data from a data storage location on the lumen traveling device.

17. The method of claim 1, performed under the control of a lumen traveling device control system on-board the lumen traveling device.

18. The method of claim 1, 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.

19. The method of claim 1, wherein performing an action with the active portion of the lumen traveling device based at least in part upon the determined time includes performing an action with the active portion of the lumen traveling device based at least in part upon the determined time and at least in part upon receipt of an instruction from a remote device.

20. The method of claim 1, further comprising communicating information with at least one remote device.

21. The method of claim 1, further comprising performing the at least one action with the lumen traveling device based at least in part upon the determined time over at least one time interval.

22. The method of claim 21, further comprising performing the at least one action with the lumen traveling device continuously over the at least one time interval or performing the at least one action with the lumen traveling device periodically over the at least one time interval.

23. The method of claim 1, further comprising:

detecting an arrival of the lumen traveling device at a branch point in the body tube tree with at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels;

causing the propelling mechanism to move the lumen traveling device into one of the at least two branch channels;

storing information regarding at least one of the at least two branch channels;

sensing a position indicator signal;

sensing a local parameter value with a parameter sensor on the lumen traveling device; and

performing the at least one action with the active portion of the lumen traveling device based at least in part upon the determined time and at least in part upon at least one of the local parameter value and the position indicator signal.

24. The method of claim 1, further comprising:

determining a current location of a lumen traveling device on a map of at least a portion of a 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;

determining a target location for the lumen traveling device within the body tube tree;

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;

causing movement of the lumen traveling device through the body tube tree along the path of travel;

detecting an arrival of the lumen traveling device at a branch point in the body tube tree with at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels;

selecting one of the at least two branch channels; and

directing the lumen traveling device into the selected branch channel.

25. The method of claim 1, wherein determining a time based on a signal from a timing device includes at least one of determining a time based on a signal from a remote timing device, determining a time based on a signal from a timing device located on the lumen traveling device, determining an absolute time measure, determining a relative time measure, determining a relative time measure relative to an event, determining a relative time measure relative to a time of day.

26. The method of claim 1, further comprising setting a time fiducial;

wherein performing at least one action with the lumen traveling device based at least in part upon the determined time includes at least one of performing at least one action with the lumen traveling device while the determined time is less than the time fiducial, performing at least one action with the lumen traveling device when the determined time is equal to the time fiducial, or performing at least one action with the lumen traveling device when the determined time is greater than the time fiducial.

27. The method of claim 1, wherein performing an action with an active portion of the lumen traveling device based at least in part upon the determined time includes at least one of releasing a material, releasing a device or structure, releasing energy, collecting a sample, collecting a fluid sample, collecting a sample from a wall region of the body tube tree, sensing at least one parameter value representative of an analyte, sensing at least one parameter value representative of glucose or lipids at a specific time relative to a meal, sensing at least one parameter value representative of an analyte at a specific time relative to release of a drug, sensing at least one parameter value representative of an analyte at a specific time relative to the occurrence of a physiological response, collecting a device or structure, attaching a structure to a wall of the body tube tree, delivering a material or structure to a receiving portion of a man-made device, receiving a material or structure from a delivery portion of a man-made device, receiving a signal from a remote source, receiving an encrypted signal, receiving power from a remote source, transmitting a signal to a remote location, transmitting an encrypted signal, performing a surgical step or procedure, removing specific components from at least a portion of a fluid within the body tube tree, exposing a catalyst, generating a localized electric field, generating a localized magnetic field, producing heating, causing cooling, emitting electromagnetic radiation, emitting acoustic energy, applying pressure to at least a portion of the body tube tree, modulating the flow of fluid through at least a portion of the body tube tree, sensing a second local parameter value, or detecting an image.

28. The method of claim 1, further comprising at least one of sensing a parameter value periodically over at least one time interval or receiving a position indicator signal periodically over at least one time interval.