WO2010044053A3 - Hybrid active locomotion teleoperated endoscopic capsule - Google Patents

Hybrid active locomotion teleoperated endoscopic capsule Download PDF

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Publication number
WO2010044053A3
WO2010044053A3 PCT/IB2009/054491 IB2009054491W WO2010044053A3 WO 2010044053 A3 WO2010044053 A3 WO 2010044053A3 IB 2009054491 W IB2009054491 W IB 2009054491W WO 2010044053 A3 WO2010044053 A3 WO 2010044053A3
Authority
WO
WIPO (PCT)
Prior art keywords
capsule
locomotion
gastro
patient
auxiliary
Prior art date
Application number
PCT/IB2009/054491
Other languages
French (fr)
Other versions
WO2010044053A2 (en
Inventor
Arianna Menciassi
Paolo Dario
Pietro Valdastri
Claudio Quaglia
Elisa Buselli
Massimiliano Simi
Original Assignee
Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
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 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna filed Critical Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Publication of WO2010044053A2 publication Critical patent/WO2010044053A2/en
Publication of WO2010044053A3 publication Critical patent/WO2010044053A3/en

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
    • A61B1/273—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
    • 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
    • A61B1/00147—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
    • A61B1/31—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 rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Gastroenterology & Hepatology (AREA)
  • Endoscopes (AREA)
  • Laser Surgery Devices (AREA)

Abstract

A teleoperated endoscopic capsule for performing diagnostic and therapeutic activities in the gastro-intestinal tract of a patient, comprising a capsule body (1) extending longitudinally with a forward end (1a) and a rear end (1b), locomotion/orientation means (5) responsive to the action of a magnetic field controlled from the outside of the patient, image acquisition means (4) for acquiring images of at least predefined portions of the gastro-intestinal tract arranged at least at the forward end (1a) of the body (1), a power source (18), microprocessor means (16) for controlling the operation of the capsule, and means for receiving/transmitting signals(16, 17) from and towards an outside operator for transferring the acquired images and for sending control signals. Auxiliary locomotion means (6, 13, 15) are houseable inside the capsule in a rest condition and extendable from it to modify the external profile of the capsule. Sensors (23, 24) detect a stopped locomotion condition of the capsule and send a signal to the microprocessor means (16) to generate an actuation signal of the auxiliary locomotion means (6,13,15).
PCT/IB2009/054491 2008-10-13 2009-10-13 Hybrid active locomotion teleoperated endoscopic capsule WO2010044053A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000195A ITFI20080195A1 (en) 2008-10-13 2008-10-13 REMOTE ENDOSCOPIC CAPS WITH HYBRID ACTIVE LOCOMOTION
ITFI2008A000195 2008-10-13

Publications (2)

Publication Number Publication Date
WO2010044053A2 WO2010044053A2 (en) 2010-04-22
WO2010044053A3 true WO2010044053A3 (en) 2010-08-19

Family

ID=40904166

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2009/054491 WO2010044053A2 (en) 2008-10-13 2009-10-13 Hybrid active locomotion teleoperated endoscopic capsule

Country Status (2)

Country Link
IT (1) ITFI20080195A1 (en)
WO (1) WO2010044053A2 (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITFI20110114A1 (en) 2011-05-31 2012-12-01 Scuola Superiore Di Studi Universit Arie Di Perfe ROBOTIC PLATFORM FOR MINING-INVASIVE SURGERY
DE102011054910B4 (en) * 2011-10-28 2013-10-10 Ovesco Endoscopy Ag Magnetic end effector and means for guiding and positioning same
GB2497544A (en) * 2011-12-13 2013-06-19 Staffordshire University Entpr And Commercial Dev Travelling capsule with two drive mechanisms
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
WO2014113697A1 (en) 2013-01-17 2014-07-24 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
CN103126644B (en) * 2013-03-05 2014-12-31 上海交通大学 Miniature clamping mechanism for gastrointestinal tract robot
CN103637761B (en) * 2013-12-25 2015-08-19 上海交通大学 For gastrointestinal body inner machine people
WO2016040451A1 (en) 2014-09-09 2016-03-17 Vanderbilt University Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings
CN104398230B (en) * 2014-10-08 2016-04-27 上海交通大学 Gastrointestinal robot mechanism
CN106974613B (en) * 2017-04-26 2018-04-10 常州信息职业技术学院 A kind of miniature gastrointestinal robot
WO2019068137A1 (en) * 2017-10-03 2019-04-11 University Of Wollongong A device and method for immobilising a robotic capsule within a body lumen
US11122965B2 (en) 2017-10-09 2021-09-21 Vanderbilt University Robotic capsule system with magnetic actuation and localization
US11426059B2 (en) 2018-06-02 2022-08-30 Ankon Medical Technologies (Shanghai) Co., Ltd. Control system for capsule endoscope
EP3801186A4 (en) * 2018-06-02 2022-03-23 Ankon Medical Technologies (Shanghai) Co., Ltd Control device for capsule endoscope
CN108836241B (en) * 2018-06-20 2021-02-12 北京理工大学 Capsule robot with symmetrical lateral force induction function
US20200000323A1 (en) * 2018-06-27 2020-01-02 Covidien Lp Micro robotic imaging device for laparoscopic surgery
IT201900011526A1 (en) * 2019-07-11 2021-01-11 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna System for the localization and magnetic locomotion of an endoscopic capsule

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003090618A2 (en) * 2002-04-25 2003-11-06 Given Imaging Ltd. Device and method for orienting a device in vivo
WO2005082248A1 (en) * 2004-02-17 2005-09-09 Korea Institute Of Science And Technology Teleoperated endoscopic capsule equipped with active locomotion system
US20070265496A1 (en) * 2005-12-28 2007-11-15 Olympus Medical Systems Corp. Body-insertable device system and body-insertable device guiding method
EP1932462A1 (en) * 2005-10-05 2008-06-18 Olympus Medical Systems Corp. Capsule type medical device, its guidance system and guidance method and examinee insertion device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003090618A2 (en) * 2002-04-25 2003-11-06 Given Imaging Ltd. Device and method for orienting a device in vivo
WO2005082248A1 (en) * 2004-02-17 2005-09-09 Korea Institute Of Science And Technology Teleoperated endoscopic capsule equipped with active locomotion system
EP1932462A1 (en) * 2005-10-05 2008-06-18 Olympus Medical Systems Corp. Capsule type medical device, its guidance system and guidance method and examinee insertion device
US20070265496A1 (en) * 2005-12-28 2007-11-15 Olympus Medical Systems Corp. Body-insertable device system and body-insertable device guiding method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
BYUNGKYU KIM ET AL: "Functional colonoscope robot system", PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. ICRA 2003. TAIPEI, TAWAN, SEPT. 14 - 19, 2003; [PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION], NEW YORK, NY : IEEE, US, vol. 1, 14 September 2003 (2003-09-14), pages 1092 - 1097, XP010667282, ISBN: 978-0-7803-7736-3 *
MENCIASSI A ET AL: "Towards active capsular endoscopy: preliminary results on a legged platform", ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, 2006. EMBS '06. 28TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE, IEEE, PISCATAWAY, NJ, USA, 1 January 2006 (2006-01-01), pages 4PP, XP002460282, ISBN: 978-1-4244-0032-4 *

Also Published As

Publication number Publication date
WO2010044053A2 (en) 2010-04-22
ITFI20080195A1 (en) 2010-04-14

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