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WO2019226605A1 - Systèmes de commande de propulsion et d'orientation pour dispositifs médicaux intra-corporels miniaturisés pouvant être commandés - Google Patents

Systèmes de commande de propulsion et d'orientation pour dispositifs médicaux intra-corporels miniaturisés pouvant être commandés Download PDF

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Publication number
WO2019226605A1
WO2019226605A1 PCT/US2019/033235 US2019033235W WO2019226605A1 WO 2019226605 A1 WO2019226605 A1 WO 2019226605A1 US 2019033235 W US2019033235 W US 2019033235W WO 2019226605 A1 WO2019226605 A1 WO 2019226605A1
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WIPO (PCT)
Prior art keywords
medical device
host structure
propulsion system
propulsion
lumen
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Ceased
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PCT/US2019/033235
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English (en)
Inventor
Christopher J.P. VELIS
Matthew P. PALMER
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Individual
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Individual
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Publication of WO2019226605A1 publication Critical patent/WO2019226605A1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6861—Capsules, e.g. for swallowing or implanting
    • 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
    • A61B1/00156—Holding or positioning arrangements using self propulsion
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/05—Surgical care
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/08—Measuring devices for evaluating the respiratory organs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/20—Measuring for diagnostic purposes; Identification of persons for measuring urological functions restricted to the evaluation of the urinary system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/42—Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/43—Detecting, measuring or recording for evaluating the reproductive systems

Definitions

  • the present invention relates generally to propulsion and orientation control systems for miniaturized intra-body controllable medical devices. These propulsion and orientation control systems are used for moving the intra-body controllable medical device within a lumen or orifice and/or are used to control the orientation of the device within the lumen or orifice. These propulsion and orientation control systems are externally controllable or fully
  • the invention includes materials and methods for using an intrabody controllable medical device.
  • Natural orifices include the nostrils, mouth, ear canals, nasolacrimal ducts, anus, urinary meatus, vagina, and nipples.
  • the lumens include the interior of the gastrointestinal tract, the pathways of the bronchi in the lungs, the interior of the renal tubules and urinary collecting ducts, the pathways of the vagina, uterus, and fallopian tubes. From within these orifices and lumens, physicians can create an incision to gain access to almost any region of the body.
  • Laparoscopic procedures allow the physician to use a small“key-hole” surgical opening and specially designed instruments to gain access to regions within the body. Initially, laparoscopic instruments were linear in nature, and required a straight obstruction free“line-of-sight” to access regions of the body. Endoscopic procedures allow the physician to access regions of the digestive system by passing flexible instruments through either the mouth or rectum.
  • pill capsules have been invented that allow for a patient to ingest the capsule and as it passes through the digestive system takes pictures. There are no means for: controlling the motion of these devices, tracking or controlling the orientation, speed or location of these devices, accurately knowing where pictures are taken, and performing any type of surgical procedure or delivering therapy.
  • the medical device includes a host structure that has one or more propulsion systems linked to the host structure.
  • the host structure and the propulsion systems are configurable into a peripheral boundary of a size adapted to fit in a lumen or cavity of a living organism such as a human being or animal.
  • the medical device includes one or more power supplies in
  • the medical device includes a control unit in communication with the propulsion systems and the power supplies.
  • the control unit has a computer process controller configured to control the propulsion systems to move the host structure and the propulsion systems in the lumen so that the host structure and the propulsion systems are self-maneuverable within the lumen.
  • propulsion systems include one or more of a sprocket driven track structure in communication with the host structure; a fluid jet stream discharging from the host structure; a plurality of articulating tentacles extending from the host structure; a screw- drive formed on external surfaces of the host structure; a pull device and/or a push device in communication with the host structure; and an arrangement of inflating and deflating balloons, the balloons are in predetermined positions on the host structure and/or in predetermined positions around the host structure.
  • a screw drive includes helical thread on the external surface. The helical thread circumscribes the host structure of the medical device. Rotation of the helix around a central axis of the medical device causes the medical device to advance in the lumen.
  • a sprocket driven track structure includes a track.
  • the track being oriented at least one of along the axis host structure, circumferentially around host structure, and along one or more portions of the host structure. The movement of the track relative to the host structure causes motion or propulsion of the medical device.
  • a propulsion system includes a nozzle for discharging fluid.
  • the nozzle can be located on the distal end or the proximal end of the host structure device.
  • the propulsion system can include a propeller or a turbine located within the nozzle. A jet stream of matter turns the turbine thereby generating thrust.
  • a plurality of articulating tentacles is disposed at least one of along the length of the host structure, on a distal end, or a proximal end of the host structure.
  • the plurality of articulating tentacles is at least one of linear, linear with hinged regions, and articulatable throughout their length. Motion of the plurality of articulating tentacles causes propulsion of the medical device.
  • At least one of a pull device and a push device includes a retractable anchor and a tether. Propulsion is generated by retracting the tether, thereby pulling the medical device to a predetermined position.
  • At least one of a pull device and a push device includes a push rod adjacent to a fixed structure. Propulsion is generated by advancing the push rod, thereby pushing the medical device to a predetermined position.
  • At least one of a pull device and a push device includes magnets for generating attractive or repulsive forces to propel the device.
  • an arrangement of inflating and deflating balloons further includes a controller for controlling the flow of a fluid to the balloons.
  • the fluid causes the balloons to expand or deflate and thus creating propulsion of the device.
  • At least one propulsion system includes an orientation control device configured for orientation control of the medical device within the lumen.
  • the orientation control device can be a gyroscope or a stabilization wing.
  • the propulsion system includes an orientation control device configured for orientation control of the medical device within the lumen.
  • the orientation control devices and/or the propulsion systems include one or more of stabilization wings, flippers, anchors, braces, supports, clamps, and a gyroscope and ballast systems.
  • the host structure includes at least one of a clinically inert material, a sterilizable material, an elastomeric material, a chemically reactive material, a chemically inert material, a disintegrable material, a dissolvable material, a collapsible material and a material having physical and chemical properties to withstand exposure to bodily fluids for a predetermined period of time.
  • the medical device has a diameter of about 25mm and a length of about 75mm.
  • the medical device has a diameter less than about l5mm and a length less than about 50mm.
  • a method for using the medical device of any one of the above described devices is disclosed herein.
  • the method being directed to at least one of use in a gastro/intestinal tract, use in urology applications, use in a lung, use in a bladder, use in a nasal system, use in a
  • TURBT Transurethral Resection of Bladder Tumors
  • TURP Transurethral Resection of the Prostate
  • trans rectal prostate ultrasound, biopsy, and radiation treatment use in trans rectal prostate ultrasound, biopsy, and radiation treatment.
  • a method for treating a patient utilizing a medical device for intra-body conveyance includes a host structure defining an interior area. At least one propulsion system is linked to the host structure. The host structure and the at least one propulsion system are configurable into a peripheral boundary of a size adapted to fit in a lumen of a living organism. At least one power supply is in communication with the at least one propulsion system. A control unit is in communication with the at least one propulsion system and the at least one power supply. The control unit has a computer process controller configured to control the at least one propulsion system to move the host structure and the at least one propulsion system in the lumen so that the host structure and the at least one propulsion system are self- maneuverable within the lumen.
  • propulsion systems include one or more of a sprocket driven track structure in communication with the host structure; a fluid jet stream discharging from the host structure; a plurality of articulating tentacles extending from the host structure; a screw-drive formed on external surfaces of the host structure; a pull device and/or a push device in communication with the host structure; and an arrangement of inflating and deflating balloons, the balloons are in predetermined positions on the host structure and/or in predetermined positions around the host structure.
  • At least one propulsion system includes an orientation control device configured for orientation control of the medical device within the lumen.
  • the host structure includes at least one of a clinically inert material, a sterilizable material, an elastomeric material, a chemically reactive material, a chemically inert material, a disintegrable material, a dissolvable material, a collapsible material and a material having physical and chemical properties to withstand exposure to bodily fluids for a predetermined period of time.
  • FIG. 1 A illustrates a representative intra-body controllable medical device formed in accordance with the present invention
  • FIG. 1B illustrates a representative intra-body controllable medical device formed in accordance with the present invention
  • FIG. 2 illustrates an alternative representation of an intra-body controllable medical device formed in accordance with the present invention
  • FIG. 3 illustrates an intra-body controllable medical device featuring a helical screw drive propulsion system formed in accordance with the present invention
  • FIG. 4 illustrates an intra-body controllable medical device featuring a sprocket driven track propulsion system formed in accordance with the present invention
  • FIG. 5 illustrates an alternative representation of an intra-body controllable medical device featuring a sprocket driven track propulsion system formed in accordance with the present invention
  • FIG. 6 illustrates an intra-body controllable medical device featuring a fluid/jet stream propulsion system formed in accordance with the present invention
  • FIG. 7 illustrates an intra-body controllable medical device featuring a tentacle propulsion system formed in accordance with the present invention
  • FIG. 8 illustrates an alternative representation of an intra-body controllable medical device featuring a tentacle propulsion system formed in accordance with the present invention
  • FIGS. 9 A, 9B and 9C illustrate an intra-body controllable medical device featuring an anchor and tether propulsion system formed in accordance with the present invention
  • FIGS. 9D and 9E illustrate an intra-body controllable medical device featuring a push type propulsion system formed in accordance with the present invention
  • FIGS. 9F and 9G illustrate an intra-body controllable medical device featuring magnetic field type propulsion system formed in accordance with the present invention
  • FIGS. 10 A, 10B and 10C illustrate an intra-body controllable medical device featuring an inflating / deflating balloon propulsion system formed in accordance with the present invention.
  • FIG. 11 illustrates an intra-body controllable medical device featuring gyroscopic and wing/flipper stabilization systems formed in accordance with the present invention. DESCRIPTION OF THE PREFERRED EMBODIMENT
  • FIG. 1 A illustrates an exemplary intra-body controllable medical device (hereinafter “the medical devices”).
  • the intra-body controllable medical device 5 is capsule shaped.
  • Intra-body controllable medical device 5 has a distal end 10, a proximal end 15, and body 20 connecting the distal end 10 and proximal end 15.
  • a control unit and a power supply system is located within body 20 of the medical device 5, as described herein.
  • the intra- body controllable medical device may be sized according to the anatomy that it will need to navigate, and the method used to deliver it. For example, overall dimensions for an intra-body controllable device operating within the gastrointestinal track has a diameter D of about 25mm and a length L of about 75mm.
  • the device has a diameter D of about 15 mm and a length L of about 50mm. Most preferably, the diameter D is less than about l5mm and a length L of less than about 50mm.
  • Overall dimensions for an intra-body controllable device that is delivered using a scope may have a diameter D of about 20mm in diameter and a length L of about 75mm. More preferably, the diameter D is about l5mm and the length L is about 50mm. Most preferably, the diameter D is less than l5mm and the length L is less than 50mm.
  • the medical device 5 includes the body 20 which is a host structure 320 that has an interior area 20A.
  • a first propulsion system 30A and a second propulsion system 30B e.g., a sprocket and track system similar to those shown and described with reference to FIGS. 4 and 5) are linked to the host structure 320. While the first propulsion system 30A and a second propulsion system 30B are shown and described, the present invention is not limited in this regard as only one propulsion system or more than two propulsion systems may be employed without departing from the broader aspects of the present invention.
  • the first propulsion system 30A e.g. see FIGS.
  • the second propulsion system 30B are configurable into a peripheral boundary 323 (e.g., a skin or exterior surface) of a miniaturized size and are adapted to fit in a lumen 300 (or tissue, muscle or fat) of a living organism, such as a human.
  • the medical device 5 is configured to navigate in bone marrow within a bone.
  • Propulsion systems 30A and 30B are used to move device 5 within lumen 300.
  • propulsion systems 30A and 30B can be used as orientation control device 31A and 31B.
  • the propulsion systems can generate smaller and or finer movements to maintain the position of the device within the lumen 300 and can be used to change the orientation of the device within the lumen 300, tissue, muscle or fat. Controlling the orientation of the medical device 5 within the lumen 300, tissue, muscle or fat allows the device to be adjacent to a region of interest within the lumen, tissue, muscle, bone marrow or fat.
  • a first power supply 40A and a second power supply 40B are in communication (e.g., via power supply conductors or transmission lines or channels generally designated by the dashed lines marked 11P) with the first propulsion system 30A and the second propulsion system 30B. While the first power supply 40A and the second power supply 40B are shown and described as being in communication with the first propulsion system 30A and the second propulsion system 30B, the present invention is not limited in this regard as only one power supply or more than two power supplies may be employed and any of the power supplies (e.g., 30A or 30B) may be in communication with one or more propulsion systems (e.g., 40A or 40B).
  • a control unit 350 is in communication (e.g., via signal transmitting lines, wires or wireless channels, generally designated by dashed lines marked 11S) with the first propulsion system 30A, the second propulsion system 30B, the first power supply 40 A and the second power supply 40B.
  • the control unit 350 includes a computer process controller 355 that is configured to control the first propulsion system 30A, the second propulsion system 30B to move the host structure 320, the first propulsion system 30A and the second propulsion system 30B in the lumen 300 so that the host structure 320, the first propulsion system 30A, the second propulsion system 30B and the control unit 350 are self- maneuverable within the lumen 300.
  • a tracking device 351, a signal transmitter 352 and a signal receiver 353 are in communication with the control unit 350 via signal lines 11S for tracking and guiding the medical device 5 within the lumen 300.
  • the intra-body controllable medical device 5 is octopus shaped.
  • the intra-body controllable medical device has a main body 30, and appendages 35. Appendages 35 are used for propulsion, covering or wrapping the host structure 20, forming a portion of the host structure 20, for orientation control of the medical device 5 or to perform a therapeutic or diagnostic task.
  • a control unit and power supply systems similar to those shown and described with reference to FIG. 1B, are located within main body 30 and/or appendages 35 of the device or in the interior areas of the host structure 20.
  • the present invention is generally directed to an intra-body controllable medical device and more particularly to propulsion systems for moving and controlling the orientation of the intra-body controllable medical device within a lumen or orifice.
  • the propulsion systems include one or more orientation control devices 31 A, 31B per FIG. 1B, for controlling the orientation of the device within the lumen or orifice.
  • the intra-body controllable medical device is sized to travel through lumens and/or orifices tethered and/or untethered.
  • the intra-body controllable medical device is equipped with one or more propulsions systems, including but not limited to: (1) a sprocket driven track structure in communication with the device; (2) fluid jet stream discharging from the device; (3) an arrangement of inflating and deflating balloons in predetermined positions on and/or around the device; (4) a plurality of articulating tentacles extending from the device; (5) a screw-drive formed on external surfaces of the device and (6) stabilization wings, flippers, anchors, braces, supports and/or clamps, as described herein.
  • the intra-body controllable medical device may also move within the body through peristalsis of the digestive system.
  • a propulsion system is used to move device 5 to a region of interest. The device may then exit the body passively through peristalsis or may be withdrawn from the body by a tether.
  • FIG. 3 an intra-body controllable medical device with a screw-drive propulsion system is shown.
  • the screw drive propulsion system has a helical thread on the external surface of the device.
  • the helix 40 circumscribes the body 20 of the intra-body controllable medical device.
  • a screw thread 45 is swept around the helix 40.
  • Rotation of the helix 40 around the central axis of body 20 causes the intra-body controllable medical device to advance in the lumen 300 or orifice. Switching the direction of rotation of the helix 40 causes the intra-body controllable medical device to advance in the opposite direction.
  • FIG. 4 and FIG. 5 an intra-body controllable device with a sprocket driven track structure in communication with the device is shown.
  • the track 50 is oriented either along the axis A of the body 20 (FIG. 4),
  • a sprocket (not shown) is housed within the proximal end 10 and distal end 15 of the device (FIG. 4) or central to the body 20 (FIG. 5). Movement of the track 50 relative to the body 20 of the intra-body controllable medical device 5 generates motion of the medical device.
  • an intra-body controllable medical device with a fluid/gas jet stream discharge propulsion system is shown.
  • the jet stream 55 of matter e.g., gas, liquid, gel, or particles
  • the orifice 60 is located on the distal end 10 and/or the proximal end 15 of the device.
  • the jet stream 55 matter is stored within body 20 of the device.
  • the matter may be harvested from the body (e.g. gastric juice).
  • the fluid may be harvested from the body (e.g. gastric juice) and reacted with a compound stored within device 20 (e.g.
  • fluid/gas jet stream discharge propulsion system may be used as an orientation control system 31 A and 31B.
  • FIG. 7 and FIG. 8 an intra-body controllable medical device 5 with a plurality of articulating tentacles extending from the body is shown.
  • a plurality of tentacles 65 is disposed along the length of the body 20 of the device (FIG. 7); alternatively, the tentacles 65 are located on the distal end 10 or proximal end 15 of the device (FIG. 8).
  • the tentacles 65 are linear.
  • the tentacles 65 are linear with hinged regions 70 are able to articulate throughout their length 75. Motion of the tentacles 65 generates propulsion of the intra-body controllable medical device.
  • FIGS. 9A-9C an intra-body controllable medical device 5 with a push or pull propulsion system is shown.
  • a retractable anchor-based propulsion system is shown.
  • An anchor 80 can be any kind of anchor known in the art.
  • the proximal end 15 is at position Pl and the anchor 80 is in the retracted position.
  • the anchor 80 is deployed via an extended tether 85 and attaches to tissue at position P2.
  • the anchor 80 is connected to the intra- body controllable medical device 5 by a tether 85. Propulsion is generated by retracting the tether 85 (FIG. 9C), thereby pulling the medical devices to the position P2.
  • FIGS. 9D and 9E a push propulsions system is shown.
  • the proximal end 15 is at position Pl and push rod 87 is in the retracted position.
  • the end of push rod 87 is adjacent to a fixed structure 86.
  • Fixed structure 86 may be lumen 300, a probe, or a scope.
  • Propulsion is generated by advancing push rod 87 (FIG. 9E) thereby pushing the medical device to the position P2.
  • push and or pull propulsion system utilizes magnets or magnetic fields to move device 5.
  • Magnets may be permanent or electromagnetic.
  • Magnets 88 are located within device 5. Additionally, there are one or more magnets 89 located outside of lumen 300. Magnets 88 and 89 are configured to have either a north pole or a south pole. Magnets 89 are located outside of the organism. Proximal end 15 is located at position Pl.
  • Propulsion is generated by creating an attraction force between magnet 89 and magnets 88 (FIG 9G). An attractive force is generated between magnet 88 A’ s south pole and magnet 89’ s north pole. This attractive force moves the medical device to position P2.
  • magnet 88 A’ s south pole (or north pole) are aligned with magnet 89’ s south pole (or north pole), a repulsive force can be generated and used to push medical device 5.
  • an intra-body controllable medical device 5 with an arrangement of inflating and deflating balloons 90 in predetermined positions in the direction of the arrows R and orientations (e.g., rotational or angular movement as indicated by the arrows R2 and R3) on and/or around the device is shown.
  • the balloon 90 is made of an elastomeric material that can be expanded under pressure yet return to its original configuration when the pressure is released.
  • the balloon 90 is filled with a fluid and/or a gas. When the balloon 90 is filled, the balloon increases in volume and changes shape. As an example, the balloon 90 may change to shape conformation 95 when filled with a fluid and/or gas.
  • the fluid and/or gas may be stored within the body 20 of the medical device 5.
  • the fluid may be harvested from the body (e.g. gastric juice).
  • a fluid may be harvested from the body (e.g. gastric juice) and reacted with a compound stored within the device (e.g. sodium bicarbonate) to create a gas (e.g. carbon dioxide). This gas can then be used to fill and expand the balloon 90.
  • a controller can be located within the device to direct the fluid and/or gas flow to different balloons. The rhythmic expansion and contraction of balloons can create propulsion.
  • an intra-body controllable medical device 5 is equipped with an orientation control device (e.g. stabilization wing 31 A, 31B).
  • the orientation control device e.g. stabilization wing 31 A, 31B
  • the orientation control device is compatible with any of the propulsion systems disclosed herein.
  • the orientation control device e.g.
  • stabilization wing 31 A, 31B can help guide the movement of the medical device 5 within the lumen.
  • the orientation control device e.g. stabilization wing 31 A, 31B
  • Orientation control device may also be a gyroscope 31B.
  • Gyroscope 31B is used to provide stability or maintain a reference direction.
  • the present invention includes materials for manufacture of an intrabody controllable medical devices, and in particular to materials for such devices that are clinically inert, sterilizable, elastomeric (e.g., contractible and expandable), chemically reactive, chemically inert, dissolvable, collapsible and have physical and chemical properties to withstand exposure to bodily fluids for precise predetermined periods of time.
  • materials include polymers, metallic alloys, shape memory polymers, shape memory metal alloys, shape memory ceramics, composites, silicones, thermoplastic polyurethane-based materials, excipients, zeolite adsorbents and styrene-butadiene rubbers (SBR).
  • Materials may further include biodegradable materials such as paper, starches, biodegradable material such as gelatin or collagen.
  • the intra-body controllable medical devices may be disposable, disintegrable and selectively collapsible intra-body controllable medical devices and materials and structures thereof.
  • the intra-body controllable medical devices are manufactured of a material such as an elastomer (e.g., nitrile) that can expand and contract, for example, by inflating and deflating them.
  • the intra-body controllable medical devices are manufactured from a biodegradable, disintegrable or dissolvable material, including paper, starches, biodegradable material such as gelatin or collagen and/or synthetic natural polymers.
  • the collapsible intra-body controllable medical devices are configured to be flattened, extruded, stretched or disassembled in the lumen.
  • the intra-body controllable medical devices are disposed of in the lumen or via discharge therefrom without the need to recover the intra-body controllable medical devices for analysis, inspection or future use.
  • the present invention is directed to methods for using intra-body controllable medical devices in the medical field and in particular for use in administering medications and therapy, deploying medical devices, imaging and surgery.
  • the methods for using intra-body controllable medical devices includes applications in the gastro/intestinal tract (e.g. colonoscopy), urology applications, in the lungs, bladder, nasal and reproductive systems, in performing Transurethral Resection of Bladder Tumors (TURBT), Transurethral Resection of the Prostate (TURP) and transrectal prostate ultrasound, biopsy, and radiation treatment.
  • the methods for using intrabody controllable medical devices include use in procedural environments, operatory/surgical procedures, ambulatory/out-patient procedures and unobtrusive normal routine living.

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Abstract

La présente invention concerne un dispositif médical qui comprend une structure hôte qui a une zone intérieure et un ou plusieurs systèmes de propulsion reliés à la structure hôte. La structure hôte et les systèmes de propulsion peuvent être conçus à l'intérieur d'une limite périphérique d'une taille conçue pour se loger dans une lumière ou une cavité d'un organisme vivant tel qu'un être humain ou un animal. Le dispositif médical comprend une ou plusieurs alimentations électriques en communication avec les systèmes de propulsion. Le dispositif médical comprend une unité de commande en communication avec les systèmes de propulsion et les alimentations électriques. L'unité de commande comprend un contrôleur de processus informatique conçu pour commander aux systèmes de propulsion de déplacer la structure hôte et les systèmes de propulsion dans la lumière de sorte que la structure hôte et les systèmes de propulsion sont auto-manœuvrables à l'intérieur de la lumière.
PCT/US2019/033235 2018-05-21 2019-05-21 Systèmes de commande de propulsion et d'orientation pour dispositifs médicaux intra-corporels miniaturisés pouvant être commandés Ceased WO2019226605A1 (fr)

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US6240312B1 (en) * 1997-10-23 2001-05-29 Robert R. Alfano Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment
US20030167000A1 (en) * 2000-02-08 2003-09-04 Tarun Mullick Miniature ingestible capsule
US20060030754A1 (en) * 2002-02-11 2006-02-09 Given Imaging Ltd. Self propelled device
US20070173691A1 (en) * 2002-03-25 2007-07-26 Olympus Corporation Capsule-type medical device
US20180000503A1 (en) * 2016-06-29 2018-01-04 Elwha Llc Robotic debridement apparatuses, and related systems and methods

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6240312B1 (en) * 1997-10-23 2001-05-29 Robert R. Alfano Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment
US20030167000A1 (en) * 2000-02-08 2003-09-04 Tarun Mullick Miniature ingestible capsule
US20060030754A1 (en) * 2002-02-11 2006-02-09 Given Imaging Ltd. Self propelled device
US20070173691A1 (en) * 2002-03-25 2007-07-26 Olympus Corporation Capsule-type medical device
US20180000503A1 (en) * 2016-06-29 2018-01-04 Elwha Llc Robotic debridement apparatuses, and related systems and methods

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