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WO2011072060A2 - Capsule à propulsion magnétique thérapeutique et diagnostique, et procédé d'utilisation de celle-ci - Google Patents

Capsule à propulsion magnétique thérapeutique et diagnostique, et procédé d'utilisation de celle-ci Download PDF

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Publication number
WO2011072060A2
WO2011072060A2 PCT/US2010/059546 US2010059546W WO2011072060A2 WO 2011072060 A2 WO2011072060 A2 WO 2011072060A2 US 2010059546 W US2010059546 W US 2010059546W WO 2011072060 A2 WO2011072060 A2 WO 2011072060A2
Authority
WO
WIPO (PCT)
Prior art keywords
capsule
magnetic
electromagnets
longitudinal axis
magnetic field
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2010/059546
Other languages
English (en)
Other versions
WO2011072060A3 (fr
Inventor
Yehoshua Shachar
Laszlo Farkas
Bruce Marx
David Johnson
Shawn Hakim
Winston Wu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Magnetecs Inc
Original Assignee
Magnetecs Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Magnetecs Inc filed Critical Magnetecs Inc
Priority to EP10836642.8A priority Critical patent/EP2509492A4/fr
Publication of WO2011072060A2 publication Critical patent/WO2011072060A2/fr
Publication of WO2011072060A3 publication Critical patent/WO2011072060A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes
    • A61B5/073—Intestinal transmitters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00025—Operational features of endoscopes characterised by power management
    • A61B1/00036—Means for power saving, e.g. sleeping mode
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—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
    • A61B5/062—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 using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue
    • A61B5/14539—Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value ; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid or cerebral tissue for measuring pH

Definitions

  • Scaling Factors - are the technique of scale modeling as it applies to magnetic field problems. Simple relations for modeling static and dynamic linear devices are presented first. Particular attention is then given to the problem of scale modeling of nonlinear ferromagnetic devices. While static nonlinear fields can usually be modeled with good accuracy, time-varying fields in nonlinear ferromagnetic materials have severe modeling limitations.
  • Tissue Displacement !Vlap The movement of the tissue with respect to an external reference.
  • the capsule includes a permanent magnet and or multiple articulated permanent magnets to enable manipulation of capsule or a surgical tool by the use of the magnetic cavity to generate mixed magnetic fields.
  • the use of multiple permanent magnetic elements with different coercivity (H c j) values, will result in a "primary bending mode” and a “secondary bending mode” on the same axis (relative to the electromagnetic field axis), while using for example, sintered Nd-Fe-B with different values, e.g. N45, N50 and N52.
  • the GCE's servo system has a correction input that compensates for the dynamic position of a body part (peristaltic), thereby offsetting the response such that the capsule moves substantially in unison with the dynamic position (e.g., with the peristaltic motion). Further, synchronization of dynamic position of the capsule with the appropriate magnetic field force and direction is accomplished by the response of the MGCE's regulator and its resulting field's intensity and field ' s geometry.
  • Fig. 35A is an orthographic representation of a magnetic aperture and the resultant flux line geometry.
  • Fig. 18 is an illustration of the torques and forces created in a magnetic dipole dependent upon its position with respect to a positive magnetic null.
  • the capsule 100 has an embedded magnetic dipole 101 which is oriented with the magnetic null 602.
  • the positive magnetic gradient pulls it in the direction of the coil.
  • the opposing coil's field gradient repels the dipole in the direction of the magnetic null.
  • a torque is induced in the dipole that rotates it toward the direction of the magnetic null. Elsewhere, the dipole experiences a combination of torque and force.
  • Fig. 22 is an illustration of the torques and forces acting upon a capsule in an AC/DC closed-loop control scheme.
  • the closed-loop control system To maintain position within a magnetic null, the closed-loop control system must maintain a balance between the torques and forces.
  • the closed-loop control system To move the capsule 100, the closed-loop control system must generate, or allow a net torque or force to exist.
  • the DC magnetic field 605 is generated as to place the magnetic null at the desired capsule position.
  • the direction of the DC magnetic field null specifies the desired orientation of the capsule.
  • the position of the capsule in the DC magnetic field generates a net DC force 612 and DC torque 611.
  • the force of gravity adds a downward force, mg 613.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Endoscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Magnetic Treatment Devices (AREA)

Abstract

La présente invention concerne une capsule à propulsion médicale guidée, entraînée par une forte interaction électromagnétique entre un générateur de lobe à gradient magnétique CA/CC externe et un ensemble d'éléments conducteurs ferreux particulièrement magnétisés contenus dans la capsule. Ladite capsule est guidée à travers les lumières et les cavités du corps humain, sans câble et sans aucun contact physique, à des fins de diagnostic médical, d'administration de médicament ou d'autres procédures avec le générateur de champ de guidage magnétique externe au corps humain. La capsule est équipée d'au moins deux ensembles de bagues, disques et/ou plaques magnétiques qui possèdent chacun des propriétés magnétiques anisotropiques. Les champs de gradients magnétiques externes procurent les forces de gradient et les moments de torsion sur les éléments magnétiques et conducteurs internes requis pour entraîner le déplacement, l'inclinaison et la rotation de la capsule dans les lumières et les cavités du corps en fonction des commandes d'un opérateur.
PCT/US2010/059546 2009-12-08 2010-12-08 Capsule à propulsion magnétique thérapeutique et diagnostique, et procédé d'utilisation de celle-ci Ceased WO2011072060A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP10836642.8A EP2509492A4 (fr) 2009-12-08 2010-12-08 Capsule à propulsion magnétique thérapeutique et diagnostique, et procédé d'utilisation de celle-ci

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US26766309P 2009-12-08 2009-12-08
US61/267,663 2009-12-08

Publications (2)

Publication Number Publication Date
WO2011072060A2 true WO2011072060A2 (fr) 2011-06-16
WO2011072060A3 WO2011072060A3 (fr) 2011-10-13

Family

ID=44146167

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2010/059546 Ceased WO2011072060A2 (fr) 2009-12-08 2010-12-08 Capsule à propulsion magnétique thérapeutique et diagnostique, et procédé d'utilisation de celle-ci

Country Status (3)

Country Link
US (1) US8684010B2 (fr)
EP (1) EP2509492A4 (fr)
WO (1) WO2011072060A2 (fr)

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CN104146676A (zh) * 2014-07-23 2014-11-19 深圳市资福技术有限公司 一种胶囊内窥镜控制设备及系统
CN104244816A (zh) * 2011-11-22 2014-12-24 阿森松技术公司 导丝跟踪
CN104739411A (zh) * 2015-04-01 2015-07-01 南京医科大学 一种使用磁传感器对磁性目标进行检测定位的方法
US9149172B2 (en) 2011-12-29 2015-10-06 Given Imaging Ltd. System and apparatus for anchoring and operation of in-vivo medical devices
US10070932B2 (en) 2013-08-29 2018-09-11 Given Imaging Ltd. System and method for maneuvering coils power optimization
WO2021208849A1 (fr) * 2020-04-13 2021-10-21 北京理工大学 Procédé et appareil d'établissement d'une connexion magnétique efficace
EP3820378A4 (fr) * 2018-07-12 2022-04-06 Bionaut Labs Ltd. Mécanisme de propulsion magnétique pour dispositifs magnétiques
KR20220109820A (ko) * 2021-01-29 2022-08-05 재단법인 한국마이크로의료로봇연구원 마이크로 로봇 제어용 듀얼 하이브리드 전자석 모듈
CN116076994A (zh) * 2016-09-23 2023-05-09 上海安翰医疗技术有限公司 一种操控磁性胶囊的方法
WO2024085883A1 (fr) * 2022-10-21 2024-04-25 Ko Harvey Wayne Dispositif de stimulus à aimant permanent tenu à la main (dispositif magstim)
US12040131B2 (en) 2018-11-05 2024-07-16 Bionaut Labs Ltd. Magnetic propulsion system for magnetic devices
WO2025110381A1 (fr) * 2023-11-20 2025-05-30 재단법인 한국마이크로의료로봇연구원 Dispositif mobile pour entraîner un microrobot

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US20100305402A1 (en) * 2009-05-29 2010-12-02 Magnetecs,Inc. Method and apparatus for magnetic waveguide forming a shaped field employing a magnetic aperture for guiding and controlling a medical device
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CN103402419B (zh) * 2010-12-08 2016-07-06 基文影像公司 磁性地可操作的体内设备
US10102334B2 (en) 2010-12-30 2018-10-16 Given Imaging Ltd. System and method for automatic navigation of a capsule based on image stream captured in-vivo
ITFI20110114A1 (it) 2011-05-31 2012-12-01 Scuola Superiore Di Studi Universit Arie Di Perfe Piattaforma robotica per chirurgia mininvasiva
DE102011080141B4 (de) * 2011-07-29 2015-08-27 Siemens Aktiengesellschaft Verfahren zur adaptiven Energieübertragung zu einem Lokalspulensystem
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US9375202B2 (en) 2012-05-04 2016-06-28 Given Imaging Ltd. Device and method for in vivo cytology acquisition
WO2013164826A1 (fr) 2012-05-04 2013-11-07 Given Imaging Ltd. Système et procédé de navigation automatique d'une capsule basé sur un flux d'images capturé in vivo
JP5458225B1 (ja) * 2012-05-07 2014-04-02 オリンパスメディカルシステムズ株式会社 誘導装置
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US12089910B2 (en) * 2020-05-28 2024-09-17 The Chinese University Of Hong Kong Mobile-electromagnetic coil-based magnetic actuation systems
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See also references of EP2509492A4
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US20110301497A1 (en) 2011-12-08
US8684010B2 (en) 2014-04-01

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