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WO2013027182A1 - Capsule pour thérapie locale au moyen d'un emplâtre endoluminal dans le système gastro-intestinal - Google Patents

Capsule pour thérapie locale au moyen d'un emplâtre endoluminal dans le système gastro-intestinal Download PDF

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Publication number
WO2013027182A1
WO2013027182A1 PCT/IB2012/054239 IB2012054239W WO2013027182A1 WO 2013027182 A1 WO2013027182 A1 WO 2013027182A1 IB 2012054239 W IB2012054239 W IB 2012054239W WO 2013027182 A1 WO2013027182 A1 WO 2013027182A1
Authority
WO
WIPO (PCT)
Prior art keywords
capsule
polymeric film
compartment
swallowable
swallowable capsule
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/IB2012/054239
Other languages
English (en)
Inventor
Virginia Pensabene
Edoardo SINIBALDI
Arianna Menciassi
Paolo Dario
Claudio Quaglia
Pietro Valdastri
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.)
Fondazione Istituto Italiano di Tecnologia
Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna
Original Assignee
Fondazione Istituto Italiano di Tecnologia
Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna
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
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Publication of WO2013027182A1 publication Critical patent/WO2013027182A1/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
    • 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
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • 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
    • A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A61B1/2736—Gastroscopes
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
    • A61B5/4839—Diagnosis combined with treatment in closed-loop systems or methods combined with drug delivery
    • 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
    • A61B1/00027—Operational features of endoscopes characterised by power management characterised by power supply
    • A61B1/00029—Operational features of endoscopes characterised by power management characterised by power supply externally powered, e.g. wireless

Definitions

  • the present invention refers to the field of local therapies in the gastrointestinal system and in particular it refers to a swallowable capsule magnetically guided with a device for releasing polymeric films for therapeutic use.
  • pathologies of the gastrointestinal tract manifest themselves with more or less localised chronic inflammations, ulcers and bleeding.
  • pathologies are Crohn's disease or granulomatous regional enteritis, coeliac disease and ulcerative colitis that manifest by lesions typical of inflammation or phlogosis and of chronic inflammation, i.e. formation of granulation tissue and granulomas, abscesses, ulcers, adhesions or fibromas.
  • a first problem encountered in this type of condition is the presence of alterations of the mucosa of the gastrointestinal tract of different type and severity; an alteration that commonly occurs is segmentation (so-called “skip lesions").
  • active diagnostic capsules i.e. which are capable of active movement and/or guided inside the gastrointestinal lumen (for example coil-type capsules, capsules with legs, with magnetic movement etc).
  • capsules of this type that are used to release suture clips (an example of a robotic capsule for releasing a surgical clip is described in EP2163206) or drugs.
  • the drug is released in the lumen mainly in liquid or solid form.
  • US 7,763,014 describes a swallowable capsule that, following a natural movement due to the physiological transit inside the lumen, reaches the desired intestinal tract, where it releases pharmaceutical substances in liquid or powder form. The release occurs through an expulsion mechanism consisting of a piston capable of expelling the drug contained in a chamber formed inside the capsule.
  • Such a type of release although more targeted, cannot however be classified as a topical therapy, but instead it has the problems described earlier for systemic types of administration.
  • Yet another example of capsules for transporting and releasing substances such as drugs, etc. in the gastrointestinal tract is described in WO 2010/022716.
  • swallowable capsules suitable for example for acquiring images and information during exploration of the gastrointestinal tract, therefore equipped with image acquisition means and sensors; an example of such a capsule is described in US 5,395,366.
  • Purpose of the present invention is therefore to provide a capsule that solves the problems described above and allows local (topical) therapy in the gastrointestinal system.
  • figure 1 shows a perspective view of a swallowable capsule for local therapy according to the present invention
  • figure 2 shows the capsule of figure 1 , in which it is possible to clearly see a compartment, made inside the capsule itself, in which a plate is housed to support polymeric film means;
  • figure 3a is a view of the capsule of the previous figures in which, inside the housing compartment, the polymeric film means supported by the plate of figure 2 are visible;
  • figure 3b shows the capsule of the previous figures without the front and rear caps to highlight the magnets and image sensor means contained inside the caps themselves;
  • FIGS. 4a and 4b represent the movement of the plate between two positions, a retracted position A, completely housed inside the compartment, and an extracted position B, outside the compartment, respectively;
  • figures from 5a to 5c illustrate an opening sequence of the housing compartment following the opening of doors;
  • figure 6 shows shape memory means that actuate a leverage for the movement of the polymeric film means, with doors in open position;
  • FIGS. 7a and 7b represent, in greater detail, a system for blocking/unblocking a plate that supports the polymeric film means
  • figure 8 is a perspective view of the capsule of the previous figures in which it is possible to see the system for moving the plate, whereas the other components have not been illustrated for the sake of greater clarity of representation;
  • figure 9 is a further view of the system for moving the plate, and in particular of thrust springs for lifting the plate;
  • figure 10 represents a detailed view of the plate mounted on the body of the capsule and, in particular, of the blocking/unblocking system that frees the lifting of the plate;
  • figure 1 1 is a perspective view from below that shows, in greater detail, the leverage for moving the plate;
  • figure 12 is a functional schematisation of the leverage of the previous figures.
  • capsule we mean substantially a cylindrical container, with rounded ends, of comparable size to that of a pill, so as to be able to be swallowed.
  • the endoscopic capsule comprises a capsule body 1 , with longitudinal development according to an axis X and in particular substantially cylindrical in shape, closed at the two ends 1 a and 1 b, called front and rear, by respective caps 2 and 3 the front cap 2 is at least partially transparent since it houses image sensor means and relative lighting means inside it, generically indicated with 4 and schematically illustrated in figure 3b, where the capsule is represented without the caps.
  • driving means are also housed, such as, according to the described embodiment, but not for limiting purposes, a pair of magnets 5.
  • a pair of magnets makes up a wireless driving and orienting system of the capsule adapted to interact with a magnetic field (not shown) external to the body of the patient that is generated by an external command unit managed by expert medical personnel, so as to be able to command the capsule.
  • the capsule is directed so that the image sensor means 4 face towards the gastrointestinal tract to be analysed.
  • one or more grooves or throats 6 are made, according to the longitudinal axis X, these grooves or throats being suitable, as will be made clearer hereafter, for removing the mucus present on the intestinal wall.
  • the capsule body 1 is equipped with doors 7 that can be opened, in the manner that will be described shortly, to expose a housing compartment 8 inside the body itself.
  • the doors 7, once closed, define a portion of outer surface of the capsule. Therefore, the grooves can also be made on the doors themselves, without interruptions (figure 1 ).
  • the doors are expelled laterally, i.e. they open with a rotary movement to wrap around the capsule; the opening movement is stabilised and ensured to be correct by pivots 7a that project from the doors according to the axis X to engage in respective and suitable guides 70 (see in particular figures 2 and 8) made on the body and in particular on the walls 2a, 3a, which laterally define the compartment 8 and that, at the same time, constitute the walls that divide the compartment from the caps.
  • the guides 70 have a particular curvature that forces the pivot, and therefore the door, in an opening movement to rotate and at the same time move away from the outer surface of the capsule body.
  • the doors 7 also have respective seats 71 , specular with respect to the axis X, for housing a cylindrical head 150 of a rod 15 that sets each of the doors in rotation, as will become clearer hereafter.
  • the rods 15 are therefore four in number and connected in pairs, by transmission shafts 153, arranged along the axis X, and necessary to simultaneously move the rods (figure 8).
  • a support plate 9 is housed, arranged parallel to said longitudinal axis X and having an upper surface 9a facing towards the outside of the compartment and of the capsule, in general, and a surface opposite it, thus lower 9b (figure 7a, 7b).
  • the plate 9 is moveable, along a direction of application Y of the film, perpendicular to said longitudinal axis X, between a retracted position A, completely inside the compartment 8 and an extracted position B, in which the plate is raised outside of the capsule body.
  • a movement from the retracted position to the extracted position corresponds to the simultaneous opening of the doors
  • the plate 9 is engaged on two support pivots 10 that ensure the correct sliding along the direction of application Y.
  • the plate 9 is kept in retracted position by a trigger 1 1 that, engaging with a protrusion 90 that extends from the plate itself, forces the plate into position; the trigger and its hooking on the plate is shown in greater detail in figures 7a, 7b.
  • the trigger 1 1 is fixedly connected to the capsule body 1 and it is also housed inside the compartment
  • the trigger 1 1 is actuated by a leverage wholly indicated with 12 moved by shape memory means (figure 6), consisting of a shape memory wire 13.
  • figure 10 shows the wire 13 in which a fixed end 13a of the wire 13 engages fixedly connected to the capsule body 1 and is connected, as will be described more clearly hereafter, to an electrical power source (not shown), whereas the other free end 13b engages with a control pulley 12a.
  • the wire 13 also winds on a further idle pulley 12b opposite the control pulley and arranged aligned with the latter along the axis X.
  • From the control pulley 12a a control pivot 12c rises, centrally and in direction Y, housed inside the capsule body and, specifically, inside the rear cap 3.
  • a ring 12d is inserted (figure 8) to the periphery of which (thus in decentred position) a first end 120e of a lever arm 12e is fixed.
  • the lever arm 12e is arranged perpendicular to th e control pivot 12c, and extends between the aforementioned ring 12d and the central body 120f of a control spring 12f, to which it is fixedly connected through a second end 121 e.
  • the control spring 12f comprises the central body 120f on which an oval-shaped slotted seat 122f is made that engages on a first of the two support pivots 10 that force the plate to move in just direction Y.
  • some seats 123f are made (specular with respect to the first support pivot according to the longitudinal axis X and opposite to the end 121 e in direction Y) suitable for housing a head 120g of a second arm 12g (figure 10) of the leverage 12.
  • the second arm 12g is thus connected to the trigger 1 1 through a system of levers that defines, together with the second arm and with the trigger themselves, an articulated quadrilateral leverage.
  • the second arm is L- shaped and at the elbow 121 g is hinged on a first fixed rotation axis 12m integral to the body of the capsule.
  • the first fixed rotation axis 12m is arranged, beneath the plate inside the compartment 8, according to an axis Z perpendicular to said axis X and to said direction Y to form with X and Y a tern of Cartesian axes.
  • a free end 122g of the second arm 12g acts on a first lever 12h rotatably connected, with one end, to the trigger 1 1 and with the opposite end, to a second lever 12i with respect to which it is hinged according to said direction Z.
  • the second lever 12i is rotatably connected at its two ends to the first lever and to the first fixed rotation axis 12m.
  • the second lever 12i is therefore adjacent in direction Z to said second arm 12g.
  • the trigger 1 1 is hinged on a second fixed rotation axis 12n parallel to the first fixed rotation axis 12m and spaced with respect to it along the axis X (figure 1 1 ).
  • the articulated quadrilateral leverage has four rotary connection points: C (corresponding to the first fixed axis 12m, connection point between second arm 12g and second lever 12i), D (corresponding to the second fixed axis 12n, hinge point of the trigger 1 1 ), E (rotary connection between first and second lever), F (rotary connection between first lever and trigger).
  • C corresponding to the first fixed axis 12m, connection point between second arm 12g and second lever 12i
  • D corresponding to the second fixed axis 12n, hinge point of the trigger 1 1
  • E rotary connection between first and second lever
  • F rotary connection between first lever and trigger
  • the trigger engages with a protrusion 90 that rises at the bottom from the plate 9.
  • the thrust springs 14 are arranged at the periphery of the compartment along the axis X and, according to the example described, are four in number and in opposite pairs to generate the thrust directed according to the direction of application Y necessary for the translation of the plate.
  • the springs therefore extend between the capsule body, to which they are fixed through an end, and the plate, which has suitable hinges 91 for interlocking with opposite ends of the springs, visible in figures 7 to 1 1 .
  • the plate also has, again at the bottom, on the side from which the protrusion 90 projects, a wedge 92 (figures 5a, 5b, 5c) shaped like a T that engages with lips 151 of the rods 15; the translation of the plate in direction Y thus corresponds, through the engagement of the lips 151 on the inclined sides of the T-shaped wedge, to the rotation of the doors 7.
  • the wedge 92 acts on just one pair of rods that are specular with respect to the axis X; the motion is transmitted to the remaining rods through the drive shafts 153.
  • a polymeric film 16 (figure 3a) able to be loaded, as will be seen shortly, with d rugs or other, for the purposes of medical therapy of a target site of the gastrointestinal tract, is positioned on the plate 9, and in particular on the surface 9a of the plate intended to be exposed towards the outside of the compartment.
  • the film 16 is therefore contained inside the capsule when the plate 9 is in retracted position A and is exposed to the outside when the plate 9 is in extracted position B.
  • extracted position B the film 16 is outside the capsule and can come into contact with the wall of the target area, adhering to it.
  • the polymeric film 16 preferably has a ratio between the characteristic size associated with the surface (for example the side or the diagonal in the case of a square shape) and thickness of over 10.
  • the film can be thin (with thickness that can vary from 1 mm to ⁇ ⁇ ) or ultrathin (with thickness that can vary from 1 m to a few nanometres).
  • the surface area can range between 1 mm 2 and a few cm 2 .
  • the film 16 can be made up of many layers of polymer and, in this case, it can be made through known formation techniques (layer-by-layer, spin assisted deposition, Langmuir blodgett or dipping, casting and subsequent curing of polymeric substances or other).
  • the polymer used for the formation of the film can be of natural or synthetic origin including, for example, polylactic acid and chitosan or collagen.
  • the adhesion of the film 16 to the mucosa is made possible precisely by the properties of the aforementioned films, in particular physical properties (like for example the extremely low thickness that promotes the action of the forces of cohesion and capillarity), chemical properties (hydrophilicity) or, furthermore, the presence of specific chemical substances on the surface of the film, or, finally, the presence of mucoadhesive or bioadhesive substances.
  • the adhesion of the film 16 to the gastrointestinal wall can be promoted, as well as by the temperature and the pH of the mucosa, by the increase in contact force between the film and the gastrointestinal wall by exploiting the magnetic coupling between capsule and the external driving system.
  • the attraction force between capsule and wall increases, thus increasing the pressure with which the film 16 is taken to adhere to the wall itself.
  • the film 16 can be loaded, for the purposes of the medical therapy to be undertaken, with:
  • drugs including multifunctional microparticles (i.e. particles - of characteristic size ranging from 1 ⁇ to fractions of a 1 mm - that can be stimulated with, for example, electromagnetic and/or sound waves to obtain certain responses);
  • multifunctional microparticles i.e. particles - of characteristic size ranging from 1 ⁇ to fractions of a 1 mm - that can be stimulated with, for example, electromagnetic and/or sound waves to obtain certain responses
  • nanoparticles particles of characteristic size ranging from 0.1 nm to 1 ⁇
  • the film 16 can also be loaded with bubbles, containing liquids or gases, of maximum size of the order of 1 mm.
  • the capsule In order to supply the electrical power necessary to actuate the shape memory wire 13, to the means for receiving images 4, possible data acquisitions etc., the capsule is equipped with an on-board electrical energy source, such as a battery or an electrical supply wireless system (not shown).
  • the battery used can be of the rechargeable type with polymers of Lithium ions. I t ca n a l so be provided a transcutaneous electromagnetic energy transfer, based on the resonance of two coupled antennae, one external to the patient and one on-board the capsule (see for example R. Carta, et al., "Wireless power supply as enabling technology towards active locomotion in capsular endoscopy", Biosensors and Bioelectronics, 2009, Vol. 25, No. 4, pgs. 845-851 )
  • DC motors that may or may not be brushless, for actuating sensors or on-board actuators.
  • control unit in order to transmit and receive commands, transmit videos and/or images, acquire data if the capsule is also equipped with sensors.
  • the control unit comprises microcontrollers, wireless transmitters/receivers etc.
  • CMOS or CCD image sensor As with the components of the capsule intended to detect external factors, they can comprise a CMOS or CCD image sensor, which makes it possible to acquire images in real time in combination with lighting means associated with the image receiving means. The flow of data and images can then be sent to the external control unit through a wireless connection.
  • the external control un it comprises mechatronic systems for generating locomotion carried out, for example, through robotic arms that support permanent magnets or through systems of windings run through by electric current, both able to interact with the magnets inside the capsule.
  • the driving and control unit also comprises systems for controlling locomotion that include subsystems for locating and tracking the capsule, for transmitting data and images (potentially used to control, in a closed cycle, navigation and the intervention to release the film), for commanding the system for releasing the plate.
  • a user interface is also provided, suitable for integrating all of the aforementioned functionalities so as to optimise the performance and the control of such functions by the operator.
  • the operation of the capsule according to the invention is therefore as follows.
  • the capsule is driven along the gastrointestinal lumen through the magnetic force that is created between the inner magnets 5 and the external magnetic field and directed so as to view the intestinal wall and identify areas of interest on it. Thereafter, it is positioned so as to place the portion of the capsule body on which the grooves 6 are made in contact with the intestinal wall that needs therapy.
  • Through roto-translation movements of the capsule obtained by modifying the external magnetic field so as to make the capsule rotate around the longitudinal axis X, the mucus is removed from the intestinal wall to make the subsequent adhesion of the polymeric film easier, through the scraping action generated by the grooves on the wall.
  • the film 16 sticks to the intestinal wall, separating from the plate of the capsule when it is taken away by the capsule itself going away.
  • a manual return system of the plate into the retracted position A from the extracted position B may be provided.
  • the trigger 1 1 has an elastic lip 1 1 a (figure 7a) that allows the loading of the elastic release mechanism of the plate 9 through the simple manual displacement of the plate itself, from the extracted configuration B to the retracted one A.
  • the lip of the trigger is in contact with a surface (not shown in the figures) of the capsule body. This contact generates a load on the lip itself 1 1 a, which however is not able to trigger the release of the trigger, by virtue of the sizing of the articulated quadrilateral below.
  • the shape of the lower end of the trigger 1 1 ensures that the upper end thereof is unequivocally positioned so as to allow the correct engagement of the trigger 1 1 with the protrusion 90 during the return stroke from configuration B to configuration A (i.e. during the stroke with which the mechanism reloads).
  • the capsule has d i m en sions su ch as to be swa l l owed; in a preferred embodiment the capsule is cylindrical with a section of diameter between 10-15mm and a length of between 25-40mm.
  • the capsule carries out a topical treatment, localised to the area suffering from the pathology, without dispersion of the drug in the gastrointestinal tract (as typically occurs in the case of systemic treatment).
  • the release through polymeric film can lead to a reduction in the amount of drug needed with benefits relating to the health of the patient.
  • the treatment with the capsule according to the invention is minimally invasive, painless and easy to tolerate for patients undergoing it. Precisely for these reasons it can be carried out in outpatient conditions without anaesthetic.
  • the capsule can also be used in the early diagnosis of some pathologies involving the gastrointestinal tract, such as cancer of the colon-rectum, neoplasia also in the asymptomatic phase, ulcerative colitis (inflammatory disease of the intestinal mucosa), Crohn's disease etc.
  • a further advantage of the capsule according to the invention is that, thanks to the ability to capture images, it makes it possible, in the endoscopic examination step, to recognise tissues potentially suffering from pathologies and/or compromised by them (for example, tissues that have blotches, redness, ulcers, bleeding etc).
  • the capsule can also be used for intervention treatments and in particular for suturing treatments; in these cases the polymeric film will not necessarily be loaded with a drug but the adhesion action of the film to the gastrointestinal wall will be sufficient to carry out the required suturing.
  • the leverage 12 also considering the low friction, makes it possible to transmit a force sufficient to keep the trigger in position given the low power required for electrical actuation. This makes it possible to reduce the size of the capsule, reducing the size of the on-board power supply means.
  • the manual return of the plate to the retracted position described above is particularly advantageous for the purposes of loading the plate with the polymeric film. Indeed, it is easier to load the film on the extracted plate, since, as the plate projects from the capsule body, there is no risk of bumping the film against the walls of the capsule; even light contact, considering that the film is extremely thin and very yielding, could cause the film itself to break.

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Abstract

La présente invention concerne le domaine de thérapies locales dans le système gastro-intestinal. En particulier, elle concerne une capsule pouvant être avalée pour thérapie locale sur un site cible, ladite capsule comprenant un corps de capsule avec un axe longitudinal et étant équipée de moyens de détection d'image, ladite capsule comprenant en outre un système sans fil de commande et d'orientation conçu pour interagir avec une unité externe pour recevoir des informations et la commande de ladite capsule, ladite capsule comprenant un compartiment formé dans ledit corps de capsule, ledit compartiment contenant des moyens de film polymère, ladite capsule comprenant en outre des moyens de support et de libération pour déplacer lesdits moyens de film polymère selon une direction d'application perpendiculaire audit axe longitudinal, d'une position rétractée dans laquelle lesdits moyens de film polymère sont contenus à l'intérieur dudit compartiment, à une position extraite dans laquelle lesdits moyens de film polymère font saillie depuis ledit compartiment pour entrer en contact avec ladite cible.
PCT/IB2012/054239 2011-08-23 2012-08-22 Capsule pour thérapie locale au moyen d'un emplâtre endoluminal dans le système gastro-intestinal Ceased WO2013027182A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000185A ITFI20110185A1 (it) 2011-08-23 2011-08-23 Capsula per terapia localizzata tramite cerotto endoluminale nel sistema gastrointestinale
ITFI2011A000185 2011-08-23

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WO2013027182A1 true WO2013027182A1 (fr) 2013-02-28

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US9737364B2 (en) 2012-05-14 2017-08-22 Vanderbilt University Local magnetic actuation of surgical devices
US9826904B2 (en) 2012-09-14 2017-11-28 Vanderbilt University System and method for detecting tissue surface properties
US10485409B2 (en) 2013-01-17 2019-11-26 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
US10758111B2 (en) 2014-09-09 2020-09-01 Vanderbilt University Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings
CN111772558A (zh) * 2020-06-23 2020-10-16 李大欢 一种消化道病变内镜用定位装置
US11122965B2 (en) 2017-10-09 2021-09-21 Vanderbilt University Robotic capsule system with magnetic actuation and localization
US11660436B1 (en) 2015-08-04 2023-05-30 Verily Life Sciences Llc Device, system, and formulation for oral delivery of functionalized particles

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