KR101411560B1 - Lumen-traveling biological interface device - Google Patents

Abstract

Lumen transfer biological interface devices (1952), related methods and systems are described. A moveable lumen transfer biological interface device within the body lumen includes a propulsion mechanism (1956) for generating movement of the lumen transfer device within the lumen, an electrode or other electromagnetic transducer for detecting the biological signal, An electrode, coil or other electromagnetic transducer for delivering an electromagnetic stimulus. The lumen-moving biological interface device may also include additional components such as sensor 1960, active portion 1964, and / or control circuitry 1957.

Lumen transfer device, propulsion mechanism, electromagnetic transducer, electrode, sensor, active part, control circuit

Description

[0001] LUMEN-TRAVELING BIOLOGICAL INTERFACE DEVICE [0002]

Cross reference to related application

The present application relates to, and claims benefit of, the benefit of the first available effective filing date (s) from the application (s) listed below ("Related Applications") (eg, Claiming priority and claiming the benefit under 35 USC § 119 (e) for any and all applications of the related applications, the parent application of the parent application, the parent application of the parent application of the parent application, etc.,

Related Application:

For USPTO exceptional purposes, the present application is directed to Richa Wilson, Victoria W., who is currently pending or where the application of the present pending application is entitled to the benefit of the filing date. H. Vitoria Y.H. Wood, W. Daniel Hillis, Clarence Tee. Clarence T. Tegreene, Muriel Wai. Muriel Y. Ishikawa, and Lowell El. Quot; A CILIATED STENT-LIKE SYSTEM ", filed on September 24, 2004, entitled " Lowell L. Wood, Jr., 10 / 949,186. ≪ / RTI >

For USPTO exceptional purposes, the present application is directed to Lowell EL, which is currently pending or in which the application of the current pending application is entitled to the benefit of the filing date. Filed on April 19, 2004, entitled " SYSTEM FOR PERFUSION MANAGEMENT, "filed on April 19, 2004, constitute a continuation-in-part of U.S. Patent Application No. 10 / 827,576.

For USPTO exceptional purposes, the present application is directed to Lowell EL, which is currently pending or in which the application of the current pending application is entitled to the benefit of the filing date. Filed on April 19, 2004, entitled " SYSTEM WITH A SENSOR FOR PERFUSION MANAGEMENT ", filed on April 19, 2004, which claims priority to U.S. Patent Application Serial No. 10 / 827,578, .

For USPTO exceptional purposes, the present application is directed to Lowell EL, which is currently pending or in which the application of the current pending application is entitled to the benefit of the filing date. Filed on April 19, 2004, entitled " SYSTEM WITH A RESERVOIR FOR PERFUSION MANAGEMENT ", filed on April 19, 2004, which is a continuation-in-part of U.S. Patent Application No. 10 / 827,572, .

For USPTO exceptional purposes, the present application is directed to Lowell EL, which is currently pending or in which the application of the current pending application is entitled to the benefit of the filing date. Filed on April 19, 2004, entitled " A TELESCOPING PERFUSION MANAGEMENT SYSTEM ", filed on April 19, 2004, which is a continuation of part of U.S. Patent Application No. 10 / 827,390.

For purposes of the USPTO exceptional requirements, the present application is directed to Bran Ferren, W. Daniel Hillis, Roderick Ai, who is currently pending or whose application is pending at the time of filing date, Roderick A. Hyde, Muriel Wai. Ishikawa, Edward Kay. Why. Edward K.Y. Jung, Nathan P. Nathan P. Myhrvold, Elizabeth Ae. Elizabeth A. Sweeney, Clarence T. Tegreen, Ricky Wilson, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application Serial No. 11 / 403,230 entitled " LUMENALLY-ACTIVE DEVICE ", filed Apr. 12, 2006, the entire contents of which is incorporated herein by reference.

For USPTO exceptional purposes, the present application is directed to W. Daniel Hillis, Roderick A, who is currently pending or whose pending application is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Elizabeth Ai. Sweeney, Clarence Tee. Tegreen, Ricky Wilson, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application Serial No. 11 / 417,898 entitled " CONTROLLABLE RELEASE NASAL SYSTEM "filed on May 4, 2006, the disclosure of which is incorporated herein by reference.

For USPTO exceptional purposes, the present application is directed to Branferen, W. Daniel Hillis, Roderick A, who is currently pending or whose application is currently pending, is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Edward Kay. Why. Jung, Nathan's blood. Mearbold, Elizabeth Ai. Sweeney, Clarence Tee. Tegreen, Ricky Wilson, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application Serial No. 11 / 478,368 entitled " LUMENALLY-ACTIVE DEVICE "filed on June 28, 2006, the entire contents of which is incorporated herein by reference.

For USPTO exceptional purposes, the present application is directed to W. Daniel Hillis, Roderick A, who is currently pending or whose pending application is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Elizabeth Ai. Sweeney, Clarence Tee. Tegreen, Ricky Wilson, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application Serial No. 11 / 485,619 entitled " CONTROLLABLE RELEASE NASAL SYSTEM "filed Jul. 11, 2006, the entire contents of which is incorporated herein by reference.

For USPTO exceptional purposes, the present application is directed to Branferen, W. Daniel Hillis, Roderick A, who is currently pending or whose application is currently pending, is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Edward Kay. Why. Jung, Nathan's blood. Mearbold, Elizabeth Ai. Sweeney, Clarence Tee. Tegreen, Ricky Wilson, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application Serial No. 11 / 645,357, entitled " LUMEN-TRAVELING DEVICE "filed on December 21, 2006, the entire contents of which is incorporated herein by reference.

For USPTO exceptional purposes, the present application is directed to Branferen, W. Daniel Hillis, Roderick A, who is currently pending or whose application is currently pending, is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Edward Kay. Why. Jung, Nathan's blood. Mearbold, Elizabeth Ai. Sweeney, Clarence Tee. Tegreen, Ricky Wilson, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application Serial No. 11 / 645,358, entitled " LUMEN-TRAVELING DEVICE ", filed on December 21, 2006, the entire contents of which is incorporated herein by reference.

For USPTO exceptional purposes, the present application is directed to Branferen, W. Daniel Hillis, Roderick A, who is currently pending or whose application is currently pending, is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Edward Kay. Why. Jung, Eric. Eric C. Leuthardt, Nathan P .; Mearbold, Elizabeth Ai. Sweeney, Clarence Tee. Te Green, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application No. 11 / 651,946 entitled " LUMEN-TRAVELING DELIVERY DEVICE "filed on January 9, 2007, the entire contents of which is incorporated herein by reference.

For USPTO exceptional purposes, the present application is directed to Branferen, W. Daniel Hillis, Roderick A, who is currently pending or whose application is currently pending, is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Edward Kay. Why. Jung, Eric. Rutadet, Nathan P. Mearbold, Clarence T. Te Green, Lowell El. Wood II, and Victoria Wai. H. U.S. Patent Application entitled " LUMEN-TRAVELING BIOLOGICAL INTERFACE AND METHOD OF USE, " filed by the same assignee as the present invention, Shall constitute part of the continuation application.

For USPTO exceptional purposes, the present application is directed to Branferen, W. Daniel Hillis, Roderick A, who is currently pending or whose application is currently pending, is entitled to the benefit of the filing date. Hyde, Muriel Wai. Ishikawa, Edward Kay. Why. Jung, Eric. Rutadet, Nathan P. Mearbold, Clarence T. Te Green, Lowell El. Wood II, and Victoria Wai. H. U.S. patent application entitled " BIOELECTROMAGNETIC INTERFACE SYSTEM ", filed as substantially the same application as the present application, Shall constitute part of the continuation application.

The United States Patent and Trademark Office (USPTO) publishes a notice that a patent application requires a computer program of the USPTO to refer to a serial number and to indicate whether the application is an ongoing application or part of a continuation application. Stephen. Stephen G. Kunin, Benefit of Prior-Filed Application, USPTO Electronic Gazette, March 18, 2003, http://www.uspto.gov/web/offices/com/sol/og See /2003/week11/patbene.htm . This application provides specific reference to the application (s) to which priority is claimed, as recited by law. Applicant understands that the statute is obvious in its particular reference language and does not require any feature such as an application number or "continuing" or "continuing ". Notwithstanding the foregoing, the Applicant understands that the computer program of the USPTO has certain data entry requirements, and thus the Applicant refers to the present application as a continuation-in-part application of its parent application, Expressly states that it should not be construed in any way as any type of comment and / or acknowledgment as to whether or not it includes any novelty in addition to the gist of the invention (s).

The subject matter of the parent application of the parent application of the parent application, the parent application of the related applications and related applications, the parent application of the parent application, and the parent application of the parent application, are incorporated herein by reference to the extent that they do not conflict with the present specification.

Devices and systems have been developed for use in a variety of body lumens, particularly in the cardiovascular system, digestive tract, and genitourinary tract. Catheters are used to perform a variety of sensing, mass transfer or surgical tasks. The stent is implanted into the blood vessel to prevent stenosis or restenosis of the blood vessel. Capsules have also been developed that include a sensing and imaging mechanism that can be swallowed by the patient and passively move through the digestive tract. Robotic devices intended to travel through the lower portion of the digestive tract under their own power are also under development.

The present application describes a device, system and associated method for performing one or more operations or operations by a lumen moving biological interface device. Disclosed is an embodiment of a device that is capable of moving to a predetermined location through a body lumen and capable of delivering a stimulus to biological tissue or recording a signal therefrom.

In one aspect, the lumen moving device includes a propulsion mechanism capable of generating a directional movement of the lumen moving device through the body lumen, a steering mechanism capable of changing the direction of movement of the lumen moving device, a biomagnetic signal sensed from the target tissue At least one electromagnetic transducer configured for at least one of generating an output signal representative of the target tissue or delivering an electromagnetic stimulus to the target tissue, and a signal processor or electromagnetic transducer capable of processing the output signal from the electromagnetic transducer And a stimulation source capable of generating electromagnetic stimulation for delivery to the target tissue by the stimulator.

In another aspect, the lumen moving device includes a propulsion mechanism capable of generating a directional movement of the lumen moving device through the body lumen, a steering mechanism capable of changing the direction of movement of the lumen moving device, At least one electromagnetic transducer configured for at least one of generating an output signal representative of the target tissue or delivering an electromagnetic stimulus to the target tissue, and a signal processor or electromagnetic transducer capable of processing the output signal from the electromagnetic transducer At least one of a stimulus source capable of generating an electromagnetic stimulus for delivery to the target tissue by the at least one stimulation source, and a sensor capable of sensing local conditions and generating a sensed signal.

In addition to the above, other devices and systems are described in the claims, drawings and detailed description that form part of the present specification.

In one aspect, a method of installing a bio-magnetic signal sensing device includes moving a self-propelled bio-magnetic signal sensing device in a patient's body tube tree toward a target site, When the branch point is reached by the self-propelled bioelectric signal sensing device, entering the self-propelled bioelectric signal sensing device into a branch that extends toward the target area; And stopping the movement of the motor.

In addition to the above, other method aspects are described in the claims, drawings and detailed description that form part of the specification of the present invention.

Various aspects of the operation of the lumen transfer biological interface device may be performed in hardware, software, firmware, or a combination thereof. In one or more aspects, the associated system includes, but is not limited to, circuitry and / or programming for implementing the method aspects referred to herein, and circuitry and / or programming may be implemented in accordance with the design choices of the system designer herein May be substantially any combination of hardware, software, and / or firmware configured to implement the described method aspects.

The foregoing summary is illustrative only and is not intended to be in any sense limiting. In addition to the exemplary aspects, embodiments, and features described above, additional aspects, embodiments, and features will become apparent with reference to the drawings and the following detailed description.

1 is a diagram of an embodiment of a lumen moving device;

Figures 2a-2d illustrate multiple embodiments of lumen moving device structural elements.

Figures 3A-3C illustrate multiple embodiments of lumen moving device structural elements.

Figures 4A and 4B are diagrams of device structures having variable lengths and diameters.

5A-5F are cross-sectional views of multiple embodiments of a lumen transfer device structure.

Figure 6 illustrates an embodiment of a lumen moving device including a motion inhibitor;

7A-7D illustrate multiple embodiments of a lumen moving device active.

8A and 8B are diagrams of a number of additional embodiments of a lumen moving device active.

Figures 9a and 9b show the positioning mechanism of the lumen moving device.

Figures 10a-10h illustrate examples of flow control elements.

11 is a view of a lumen transfer device including a fluid collection structure.

Figure 12 is a diagram of a lumen transfer device including a material collection structure.

Figure 13 illustrates an embodiment of an active portion of a lumen moving device;

Figure 14 illustrates an embodiment of an active portion of a lumen moving device;

15 illustrates an embodiment of an active portion of a lumen moving device;

16 is a diagram of a device including a stored deliverable material.

17 is a cross-sectional view of an embodiment of a device including a stored deliverable material and a barrier release mechanism.

18 is a cross-sectional view of another embodiment of a device including a stored deliverable material and a barrier release mechanism.

Figures 19a and 19b are views of the release of stored deliverable material via a rupturable barrier from a reservoir.

Figures 20a and 20b are illustrations of the release of stored deliverable material via a resolvable barrier from a reservoir.

Figures 21a and 21b illustrate the release of stored deliverable material via a barrier having a permeability that is controllable from the reservoir.

22 is a cross-sectional view of another embodiment of a device including a stored deliverable material.

Figures 23A and 23B are diagrams of release of stored deliverable material from a carrier material.

24 illustrates a lumen moving device including a device releasing structure.

25A and 25B illustrate a lumen moving device including a transfer and receiving structure.

26A is a view of a lumen moving device including a cutting tool.

26B is a cross-sectional view of the lumen moving device of Fig.

Figure 27 is a drawing of a lumen moving device including a scraping tool.

28 is a view of a lumen movement system including an external control.

29A-29E illustrate the propulsion mechanism of the lumen moving device.

30A and 30B illustrate an example of a lumen moving device including an expansion and elongate structure.

Figure 31 illustrates the propulsion mechanism of the lumen moving device;

32A and 32B show another embodiment of the propulsion mechanism.

Figure 33 illustrates another embodiment of a propulsion mechanism;

34 is a schematic diagram of a lumen moving device.

35 is a schematic diagram of a lumen moving device including a remote part;

Figure 36 is a flow diagram of a method implemented with a lumen mobile device.

Figure 37 is a flow diagram of an additional method implemented with a lumen moving device.

38 is a flow diagram of an additional method implemented with a lumen moving device.

39A and 39B are flow diagrams illustrating a number of variations of a method implemented with a lumen moving device.

40A-40F are flow diagrams illustrating additional variations of a method implemented with a lumen moving device.

41 is a block diagram of a lumen transfer device system.

42 is a block diagram of an embodiment of the logic for controlling the lumen moving device;

43 is a block diagram of an additional embodiment of logic for controlling a lumen moving device;

44 is a flow diagram of a method of using a lumen moving device;

45 is a flow chart of a method of using a lumen moving device;

46 is a flow diagram of a method of using a lumen moving device;

47 is a flow chart of a method of using a lumen moving device;

48A-C illustrate an embodiment of a system including two lumen moving devices.

49 is a flow chart of a method of using a lumen moving device.

50A and 50B are longitudinal cross-sectional views of examples of the operation of the lumen moving device within the body lumen.

51A and 51B are longitudinal cross-sectional views of examples of the operation of a lumen moving device within a bodily lumen;

52A and 52B are longitudinal cross-sectional views of examples of the operation of the lumen moving device within the body lumen;

Figures 53A and 53B are longitudinal cross-sectional views of examples of the operation of the lumen moving device in the body lumen.

54 is a schematic diagram of an embodiment of a lumen transfer device.

55 is a schematic diagram of an embodiment of a lumen moving device.

56 is a schematic diagram of an embodiment of a lumen transfer device.

57 is a schematic diagram of an embodiment of a lumen moving device including a remote part;

58 is a flow diagram of a method for installing an electrical stimulation device;

59 is a flow chart showing a modification of the method of FIG. 58;

60 is a flow chart showing a modification of the method of FIG. 58;

61 is a flow chart showing a modification of the method of FIG. 58;

Fig. 62 shows a modification of the method of Fig. 58; Fig.

Fig. 63 shows a modification of the method of Fig. 58; Fig.

Figure 64 shows the delivery of a lumen transfer device into the body by injection;

65 illustrates the release of the lumen moving device from the catheter;

Figure 66 illustrates delivery of multiple lumen transfer devices by injection;

67A and 67B are flow diagrams illustrating yet another variation of the method of FIG. 58;

68 illustrates transmission of a stimulus by a lumen moving device based on a sensed signal;

Figure 69 is a flow chart of a further variant of the method of Figure 58;

Figure 70 is a flow chart of an extension of the method of Figure 58 to include the installation of at least one additional propulsion electromagnetic stimulation device.

71 is a flowchart of an extension of the method of FIG. 58;

72 illustrates the use of multiple stimulation or recording devices located around a target tissue;

73A, 73B and 73C illustrate the placement of a bioelectromagnetic interface device at a target site within a body lumen with lumen moving devices;

74 is a flow diagram of a method for configuring a bioelectromagnetic interface system;

75 is a flow chart showing a modification of the method of FIG. 74;

76 is a flow chart showing a modification of the method of FIG. 74;

77 is a flow chart of a method of installing a bioelectronic interface system;

78A-78B illustrate simultaneous introduction of a plurality of biointerface devices.

79 illustrates the use of multiple stimulation or recording devices located within a target tissue;

80 is a flow chart showing a modification of the method of FIG. 77;

81 is a flow chart showing a further modification of the method of FIG. 77;

82 is a flow chart showing a further modification of the method of FIG. 77;

83 is a flow chart showing a further modification of the method of FIG. 77;

84 is a flow chart showing a further modification of the method of FIG. 77;

85 is a flow chart of a method of installing a nerve stimulation device.

86 is a flow chart showing a number of variations of the method of FIG. 85;

FIG. 87 is a flow chart showing a further modification of the method of FIG. 85; FIG.

88 is a flow chart showing a further modification of the method of FIG. 85;

89 shows another variation of the method of FIG. 85;

90 is a flow chart of a method of installing a bio-magnetic signal sensing device;

91 is a flow chart showing a number of variations of the method of FIG. 90;

92 is a flow chart showing a further modification of the method of FIG. 90;

93 is a flowchart showing a further modification of the method of FIG. 90;

94 is a flow chart of a method for installing a cardiac stimulation device;

95 is a flow chart showing a number of variations of the method of FIG. 94;

96 is a flow chart illustrating a number of additional variations of the method of FIG. 94;

In the following detailed description, reference is made to the accompanying drawings that form a part hereof. In the drawings, like reference numerals identify components that are typically similar unless otherwise indicated in the context. The illustrative embodiments set forth in the description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized and other modifications may be made without departing from the spirit or scope of the subject matter as set forth herein.

The lumen moving device is an example of a lumen active device. Lumen active devices and related methods and systems are described in U.S. Patent Application No. 11 / 403,230, entitled " Lumenally Active Device, " filed April 12, 2006, which is incorporated herein by reference. . U.S. Patent Application Serial No. 11 / 403,230 describes a lumen activation system that can include a structural element configured to fit within at least a portion of a body lumen, which structural element is configured to contact a lumen wall engagement and fluid in a body lumen A response initiating circuit operatively connected to the sensor and configured to generate a response start signal upon detection of a condition of interest in the fluid by the sensor, And an active portion operatively connected to generate a response upon receipt of a response start signal.

1, an embodiment of the lumen moving device 10 may include a structural element 12 configured to fit within at least a portion of the body lumen 14. The structural element 12 may include a lumen wall engagement portion 16 and a fluid abutment portion 18 configured to contact a fluid in the body lumen. The lumen moving device 10 includes a propulsion mechanism 20 that can generate movement of the structural element 12 through the body lumen 14 in which the structural element is deployed and a sensor A response initiator circuit 24 operatively connected to the sensor 22 and configured to generate a response start signal upon detection of a condition of interest in a body lumen (e.g., a plaque 30) And an active portion 26 operably connected to the response initiation circuitry and capable of generating a response upon receipt of a response initiation signal. The body lumen 14 is formed by a wall portion 28, which may be a wall of blood vessels or another lumen containing structure within the body of an organism. In this example, body fluids flow through the lumen 14 in the direction indicated by the arrows. The fluid flows through the central opening 32 of the structural element 12 and the inner surface of the structural element 12 forms the fluid contact 18. In the embodiment of Figure 1, the sensor 22 and the active portion 26 may be located in the fluid contact 18. The lumen wall engaging portion 16 may be, for example, a rotating wheel, which functions to frictionally engage the wall portion 28 and, in combination with the revolving motor 20, And may also function as a propelling mechanism 34 for moving the mobile device 10. In other embodiments of the lumen moving device, other structures and methods for coupling to the lumen wall and / or propelling the device through the lumen may be used.

An embodiment of a lumen moving device or system may be a device or system of lumen-moving devices or systems that can be used to deliver a portion of the CSF-space (cerebrospinal fluid space) of the nervous system (e. G., The chuck, ventricle, subarachnoid space, etc.) ), Part of the urinary tract (e.g., ureter), part of the lymphatic system, part of the abdominal cavity, part of the thoracic cavity, part of the digestive tract, part of the reproductive organs, female reproductive organs Including various lumens including but not limited to epididymas, vas deferens or ductul deferens, export tubes, ampullar, seminal ducts, appendages, or urethra; bile ducts, nasal passages Or configured for use in a body lumen of an organism including a nasal cavity, oral cavity, digestive tract, tear duct, or glandular system (e.g., configured to fit within a lumen). Other body lumens may be found in the auditory or visual system, or in their interconnection, eustachian tubes, for example. Although some of the devices and systems described herein may be used in a lumen through which a fluid flows, such device or system is not intended to be limited to use in a tubular lumen containing structure comprising a moving fluid, In an application, the lumen moving device may be used in a body lumen that includes a relatively moving or intermittently moving fluid.

The term "body tube tree ", as used herein, refers to a body lumen having a branched structure, i. E. A first region of the lumen is divided into two or more branches or a side lumen branches from the main lumen Quot; includes at least one branch point. "Body contour tree" is not intended to suggest any particular structure, form, level, or configuration, or level of complexity other than those indicated above. Examples of body conduit trees include, but are not limited to, the cardiovascular system, the respiratory system, and the CSF-space.

(E.g., vascular, gastrointestinal, organ, respiratory, ureter, urogenital, and the like), and a variety of different types of implanted stents (eg, vascular, gastrointestinal, An artificial lumen within the body, including a fistula, is also included within the scope of the term "body lumen ".

The term fluid, when used herein, may refer to other compositions, mixtures, or materials that exhibit liquid, gas, and fluid behavior. The fluid in the body lumen may comprise a liquid, or a gas or gas mixture. As used herein, the term fluid may include liquid, gas, or mixtures thereof also including solid particles within the fluid carrier. The liquid may comprise a mixture of two or more different liquids, solutions, slurries, or suspensions. A body fluid can be, for example, a cell, a cell fraction or a collection of components, cells, bacteria, viruses or fungi species, ions, molecules, gas bubbles, dissolved gases, suspended particles, It may contain elements such as groups. The body fluid component may be any substance that is normally present in body fluids, a substance that is naturally induced but does not normally exist in body fluids, or that contains foreign substances (e.g., pathogens, toxins, contaminants, or drugs) But are not limited to these). Examples of liquids present in the body lumen include blood, lymph, serum, urine, semen, digestive fluids, tears, saliva, mucus, cerebrospinal fluid, intestinal contents, bile, epithelium exudate, or esophageal contents. Liquids present in the body lumen may include blood substitutes, or synthetic or introduced liquids such as drugs, nutrients, or salt solutions. The fluid may comprise a liquid containing dissolved gas or gas bubbles, or a gas containing fine droplets or solid particles. The gas or gas mixture found in the body lumen may include, for example, nasal or airway breathing air and breathing air, or intestinal gas.

The lumen moving device may be configured to fit within a particular lumen through appropriate selection of device dimensions, material properties, and propulsion mechanisms. Configuration aspects may include size, shape, strength / flexibility, porosity, and biocompatibility, which may depend, among other things, on both the material and structure of the device. The dimensions of the lumen moving device may be selected such that the device is small enough to fit within a minimum predicted dimension of the lumen of interest. Biocompatible and sufficiently durable materials for use in the selection lumen may be selected based on well known standards well known to those skilled in the art. Whenever a lumen moving device or system is to be used, the dimensions and mechanical properties (e.g., stiffness) of the structural elements of the lumen moving system, particularly the lumen moving system, provide for reliable positioning of the device and include body lumens May be selected for compliance with the location of use to prevent damage to the lumen-containing structure. The propulsion mechanism may be selected for the type and characteristics of the lumen to be moved. Lumens with relatively uniform cross-sections (height and / or width) over the length to be moved can be traversed by most propulsion mechanisms. A lumen whose cross section varies significantly over the length to be moved may have problems with several propulsion mechanisms that engage the lumen wall in all respects, but it may be difficult to walk or roll along one side of the lumen, The lumen moving device utilizing the mode may be well adapted to changes in the lumen cross section. A lumen moving device that can change its dimensions (e.g., change its length and diameter) may also have practicality in some applications. See, for example, U.S. Patent Application Publication No. 2005/0177223, which is incorporated herein by reference in its entirety. However, in many cases, it may be desirable to design a lumen moving device of a fixed size suitable for a particular application, to provide a set of lumen moving devices of multiple sizes and to select the best size for that particular use or for a particular patient, It may be possible to consider the variability of the lumen dimensions between the lumen dimensions. The lumen moving device may comprise a structural element carrying at least one of a propulsion mechanism, a motion control circuit, a sensor, a response initiating circuit or an active portion. Various materials may be used in the construction of the structural elements. For example, the structural element may comprise a self-expanding material, an elastic material, or a mesh-like material. Flexibility may also be provided by the material as well as the construction, for example the structural element may comprise a slotted structure. The structural element may comprise a biocompatible material as described above, and may also comprise a bioactive component (such as a drug release coating or bioactive material incorporated into the structural element or incorporated into the structural element).

2A-2D illustrate a number of possible configurations of structural elements of a lumen moving device for use in a body lumen. In some embodiments, the structural element may be a substantially tubular structure. The structural element may include one or more lumens in fluid communication with the body lumen. In some embodiments, the structural element may have an adjustable diameter. The structural element may be a short cylinder 50 as shown in Figure 2a, an annulus 52 as shown in Figure 2b, a cylinder 54 as shown in Figure 2c, And may be in the form of a helical body 56 as shown in Fig. Helical structures include, for example, the " Temperature Characteristics of Nitinol Spiral Stents " of Bezrouk et al., Which is incorporated herein by reference in its entirety; Scripta Medica (BRNO); August 2005, October 2005, pp. 219-226, Vol. 78, No. 4. The elongated shape, such as the cylinder 54 or helical body 56, may be suitable for use in tubular lumen containing structures, such as, for example, blood vessels.

The structural element may be formed of a variety of materials including metals, polymers, fabrics and various composites including those of inorganic or organic character, including those organic features, are selected to provide suitable biocompatibility and mechanical properties, Includes materials of all of biological origin. In the examples of these and other structural elements, additional elements such as sensors, circuits and propulsion mechanisms may be attached or connected to the structural elements, fabricated on the structural elements, or formed integrally with the structural elements But these additional components are not shown in these figures.

In some embodiments, the structural element may comprise a self-expanding material, or an elastic material. In some embodiments, the material as well as the shape of the structural element may contribute to the expansion or curvature characteristics of the structural element. For example, the structural elements may be formed of or comprise a mesh-like material or a slotted structure.

As shown in Figs. 3A-3C, the basic form of the structural element is, for example, perforated as shown in the structural element 60 of Fig. 3A, shown in the structural element 62 of Fig. 3B As well as the inclusion of one or more slots 64 of the structural elements 66 of Figure 3C. The slot 64 extends along the entire length of the structural element 66, and in other embodiments one or more slots (or meshes or perforations) may be present in only a portion of the structural element. Elastic, resilient or self-expanding / self-contracting structural elements can be formed by using a helical, mesh or slotted structural element formed from an elastic material (as in Figures 2d, 3b and 3c) . Self-expanding or self-contracting structural elements can facilitate positioning of structural elements within the body lumen of an organism. In some embodiments, a flexible material having adjustable diameter, taper, and length characteristics may be used. For example, some materials may be changed from a longer and narrower shape 70 as shown in Figure 4a to a shorter and wider shape 72 as shown in Figure 4b, Or may be tapered over a length. Structural elements that may exhibit this type of expansion / contraction properties may include, for example, a mesh structure formed of various metals or plastics and some polymeric materials. Examples of possible shape modification materials are described in "Agile new plastic change shape with heat ", MIT News Office, Massachusetts Institute of Technology, November 20, 2006, pp. 1-4, http://web.mit.edu/newsoffice/2006/triple-shape.html, and "A new thermoformed plastic change geometry", MIT Tech Talk, November 2006 22, p.5 (1 page), SHAHINPOOR, MOHSEN, KIM, KWANG, J ["Ionic Polymer Metal Composites: IV. Industrial and medical applications; Smart materials and structures; 2005; pp.197-214; Vol. 14; Institute of Physics Publishing), all of which are incorporated herein by reference in their entirety.

The exemplary embodiment shown in Figs. 2A-2C, 3A-3C, and 4A-B is a substantially cylindrical, hollow tubular shape with a single central opening. Thus, the outside of the cylindrical structural element can be brought into contact with the wall of the body lumen to engage, and the interior of the structural element (within a single central opening) can form a fluid contact of the structural element. However, the lumen moving device according to various embodiments is not limited to a cylindrical structural element having a single central opening. Alternatively, the structural element may move in contact along a portion of the wall of the body lumen to contact or engage the lumen wall over a portion of the cross-section without disturbing fluid movement within the body lumen, As opposed to contacting the lumen wall). This embodiment may be approximately hemispherical or semi-elliptical with the cross-section shown in Fig. 5A. Other embodiments may be a pill or capsule type configured to move through a central portion of the body lumen.

Figures 5A-5F illustrate various cross-sectional shapes of the structural elements of the lumen moving device. In FIG. 5A, the lumen moving device 100 is located within the lumen 102 of the lumen containing structure 104. The fluid contact 106 may be the surface of the structural element 100 facing the lumen 102 and the lumen wall engagement 108 may be formed on the surface 100 of the structural element 100, And may include a layer of adhesive. The tissue adhesive may be released from the lumen moving device when it reaches its destination. The lumen moving device 100 may be approximately hemispherical or hemi-ovoid. The lumen wall engagement portion 108 may have a curvature corresponding to a curvature of the lumen.

FIG. 5B illustrates, in cross-sectional view, an additional embodiment of a structural element 150 in the lumen 152 of the lumen containing structure 154. The structural element 150 includes a plurality of openings 156, each of which includes an inner surface 158 defining a fluid contact. The structural element 150 may include one or more hooks or hook structures 160 that function as lumen wall engagement portions for retaining the structural element 150 in place relative to the lumen contact structure 154.

FIG. 5C shows, in cross-section, an embodiment of a structural element 200 in the lumen 202 of the lumen containing structure 204. The structural element 200 includes a large central opening 206 and a plurality of spigot openings 208. The inner surface of each opening 206 or 208 functions as a fluid abutment and the protrusion 210 functions as a lumen wall engaging portion that can frictionally engage or protrude slightly into the wall of the lumen containing structure 204 do.

FIG. 5d illustrates an additional embodiment in which the structural element 250 has a substantially elliptical cross-section and includes a slot 252. FIG. The lumen containing structure 254 may be generally elliptical in cross-section, or it may be sufficiently flexible to deform into the shape of the structural element 250. The structural element 250 may be a compression spring-like structure that creates an outward force as indicated by the black arrows, so that the end 256 of the structural element 250 is pressed against and engages the lumen wall. The inner surface 258 of the structural element 250 serves as the fluid contact of the structural element 250.

5E is a cross-sectional view of the structural element 300 in the lumen containing structure 302. FIG. The structural element 300 includes a plurality of protruding arms 304 that contact the lumen wall 306 of the lumen containing structure 302 and function as a lumen wall engagement. The inner surface 308 of the arm 304 functions as a fluid contact of the structural element 300.

Figure 5f shows another example of a structural element 350 positioned within the lumen containing structure 352 (cross-sectional view). The structural element 350 includes two openings 354. The inner surface 356 of the opening 354 functions as a fluid abutment and the outer surface 358 of the structural element 350 serves as a lumen wall attachment.

The structural elements shown in Figures 1 to 5f are intended to serve as examples and are in no way limiting. The choice of the structural element size and shape suitable for a particular body lumen can be selected by one skilled in the art. The structural elements can be constructed from various materials by various manufacturing methods. Suitable materials may include metals, ceramics, polymers, and composite materials having suitable biocompatibility, bactericidal, mechanical and physical properties, as is known to those skilled in the art. Examples of materials and selection criteria are described, for example, in The Biomedical Engineering Handbook , Second Edition, Volume I, D. Edited by JD Bronzino, Copyright 2000, CRC Press LLC, pp. IV-1-43-31. Manufacturing techniques may include injection molding, extrusion, die cutting, rapid sampling, self-assembly, etc., and may depend on the choice of material and device size and shape. The sensing, active, and propulsion mechanisms or structures of the lumen moving device as well as associated circuits (not shown in FIGS. 2A-5F) can be fabricated on the structural elements using a variety of micro fabrication and / or MEMS techniques , Or may be individually constructed as one or more discrete components and subsequently assembled to the structural elements. Examples of micro-fabrication techniques are described, for example, in U.S. Patent Application Publication Nos. 2005/0221529, 2005/0121411, 2005/0126916 and NYITRAI, ZOLT, ILLYEFAVI- VITEZ ZSOLT, PINKOLA, JANOS, "Preparing Stents with Masking & Etching Technology"; 26th International Spring Seminar in Electronic Technology, May 8, 2003, May 11, 2003, pp.321-324, which are incorporated herein by reference in their entirety .

6, the lumen moving device 400 includes a motion inhibitor 402, a fluid contact portion 402 configured to contact the fluid in the body lumen and to at least intermittently permit fluid flow through the body lumen, (406) capable of generating a movement of the lumen moving device through a body lumen in which the lumen moving device is deployed, at least partially operating by the lumen moving device to control the propulsion mechanism (406) A motion control circuit 408 configured to control movement of the lumen moving device 400 through the lumen, a sensor 410 that may detect a condition within the body lumen and generate a sense signal 412 that directs detection of the condition of interest ), A response activation signal 416 upon activation of a sensing signal operatively connected to the sensor to indicate detection of a condition of interest in the body lumen And an active portion 418 operatively connected to the response initiating circuit and capable of generating a response upon receipt of a response initiating signal. In some embodiments, the conditions of interest may be local conditions of interest (e.g., conditions associated with the presence of an injury or disease tissue, anatomical features, etc.).

A motion control circuit may be operatively connected to the sensor and configured to control the propulsion mechanism in response to receipt of a sensing signal that at least in part indicates detection of a condition of interest in the body lumen.

The motion blocking portion may include, for example, at least one hook or hook as shown in Fig. 5B, an anchor that can be at least temporarily attached to the lumen wall as shown in Fig. 6, Including at least one adhesive material as shown, or glue, a shutoff for a braking or propelling mechanism opposite the action of the propelling mechanism. In some embodiments, the motion blocking portion may include an inversion mechanism for the propulsion mechanism, which may need to provide sufficient propulsion in the reverse direction to oppose the flow of fluid through the body lumen to stop motion . The motion blocking portion may be part of or associated with the propulsion mechanism (e.g., a blocking portion for the propulsion mechanism), or may be a separate mechanism (such as an adhesive, a hook or a claw-like structure, a fixture, etc.).

The lumen moving device may include an active portion capable of generating a response upon receipt of a response start signal. The lumen moving device may comprise a single active portion or multiple active portions, which may be the same or different types. The active portion may perform an associated or complementary function. A number of different types of active portions may be used in an embodiment of a lumen moving device, wherein the lumen moving device may include one or more active portions, and each active portion may perform one or more actions.

7A-27 provide examples of different active portions that may be included in a lumen moving device. Some active portions may be best suited for use with lumen moving devices on the move, and some active portions may be best suited for use by lumen moving devices that are idle in the body lumen. A number of examples of active portions described herein may be configured for use under each situation.

The active portion may include a heating element 450 operatively coupled to the response initiation circuit 451 as shown in FIG. 7A and configured to generate heating in response to receiving the response initiation signal. The heating element can be a resistive element that generates heat when an electric current passes through it, or it can be a magnetically active material that generates heat upon exposure to an electromagnetic field. Examples of magnetically active materials are permanent magnetizable materials, ferromagnetic materials such as iron, nickel, cobalt and alloys thereof, ferrimagnetic materials such as magnetite, ferromagnetic materials such as ferrous materials, ferrous materials, quartz , Paramagnetic materials such as silicates or sulfides, and antiferromagnetic materials such as tilted antiferromagnetic materials that behave similarly to ferromagnetic materials, examples of which include ferroelectrics, piezoelectric materials and dielectrics. In some embodiments, the heat may be generated via an exothermic chemical reaction. U.S. Patent Application Publication Nos. 2002/0147480 and 2005/0149170 provide examples of heating and / or cooling mechanisms and structures, and are incorporated herein by reference.

Alternatively, the active portion may include a cooling element 452 operatively coupled to the response initiating circuit 453 and configured to generate cooling in response to receiving the response start signal, as shown in Figure 7B . Cooling can be generated by a number of mechanisms and / or structures. For example, cooling may be generated by an endothermic reaction (such as a mixture of ammonium nitrate and water) initiated by operation of the vessel or opening of the valve in response to a control signal. Other methods and / or mechanisms for generating cooling may include, but are not limited to, thermoelectric (Peltier effect) and liquid-gas-vapor (Joule-Thomson) devices.

In some embodiments, the active portion includes an electromagnetic radiation source 454 operatively coupled to an answer initiation circuit 455 and configured to emit electromagnetic radiation in response to receiving the response initiation signal, as shown in Figure 7C. . Electromagnetic radiation sources may include, for example, sources such as light emitting diodes and laser diodes, or other sources of electromagnetic energy or radiation, radio waves, microwaves, ultraviolet rays, infrared rays, optical rays, terahertz beams,

The active portion is coupled to an acoustic energy source 456 (e.g., a piezoelectric element) that is operatively coupled to the response initiation circuit 457 and configured to emit acoustic energy in response to receiving the response start signal, as shown in Figure 7D . The acoustic energy source may generate pressure pulses at various frequencies, including audible frequency, subsonic frequency, and ultrasonic frequency. Microscale acoustic transducers may be constructed, for example, in U.S. Patent No. 5,569,968, which is incorporated herein by reference.

The active portion may include a pressure source operatively coupled to the response initiation circuit and configured to apply pressure to the body lumen in response to receiving the response initiation signal. The applied pressure may be a positive pressure (e.g., to create a pressure fit of the lumen wall and the device as described above, or to apply pressure to a particular position, for example to stop bleeding) or a negative pressure For example, a vacuum to secure a portion of the lumen wall or position the device to the lumen moving device, for example, to seal a leak or an aneurysm as described above). The pressure applied to the body lumen may affect the contents of one or both of the lumen walls or the lumen and in some cases the application of pressure to the body lumen may increase the pressure of the fluid (gas or liquid) in the body lumen Or reduction). The pressure source expands through the absorption of water or other matter and expands or contracts due to the generation or consumption of gas or is released by chemical reaction or temperature change, electrically generated Maxwell stress, osmotic stress generator, etc. And may include materials that alter the conformance. 8A shows a negative pressure source 460 that can apply a negative pressure (in this example, a substantially radial inward force) to the lumen wall 461 and FIG. (Inflated or expanded) source 462 capable of applying pressure (in this example, a substantially radial outward force).

As shown in Fig. 8A, the application of negative pressure to pull the lumen wall inwardly to form a seal by the lumen moving device is useful for restoring or compensating for aneurysms or other structural damage or imperfections in the lumen wall . Applying and / or expanding the positive pressure by the lumen moving device may serve to secure the lumen moving device in place in the lumen or open the constrained lumen as shown in Figure 8B. The expansion of all or a portion of the lumen moving device may include the expansion of the structural element or a portion thereof, which may include the expansion of one or more chambers by liquid or gas, or the expansion or alteration of the shape- Lt; / RTI >

The active portion may include a positioning element operatively coupled to the response initiating circuit and configured to secure the lumen moving device to a position in the body lumen in response to receiving the response initiation signal. The locating element may be a hook or hook structure that may penetrate or engage into the surface of the lumen wall as shown in Figure 5B, such that the lumen moving device can form a pressure fit with the lumen, as shown in Figure 8B. An adhesive material or glue as shown in Figure 5A, or other structure or material capable of bonding to the lumen wall. The locating element may also include a suction (negative pressure) generation mechanism that allows the lumen moving device to be secured to the wall of the body lumen by, for example, suction, as shown in Figure 8A. The hook or hook type structure may be fixed type or movable type. The movable structure may include mechanical elements and / or materials that change shape or stiffness in response to temperature, electric field, magnetic field, or various other control signals. By way of example, FIGS. 9A and 9B illustrate a lumen moving device 554 including a positioning element 556. FIG. Positioning elements, such as position setting element 556, may be used as an active portion in some embodiments of the present invention. FIG. 9B is an enlarged view showing details of the portion 558 and the positioning element 556 of the lumen moving device 554. FIG. Positioning element 556 is shown in an expanded configuration (indicated by solid line outline), but may also be retracted (as indicated by dashed outline and reference numeral 560 ). For example, the positioning element 556 may change shape when exposed to electrical current from a current source 562 connected to the positioning element 556 via circuit 564. [ Positioning element 556 can be a hook-like protrusion that can be moved or extended to enter the lumen wall to position lumen moving device 554 against the lumen wall. Positioning element 556 may enable the lumen moving device to be held at a desired location within the lumen for short periods of time or for an extended period of time. For example, the positioning element may be expanded to temporarily hold the lumen moving device in place and subsequently retract to allow the lumen moving device to continue moving through the lumen. Alternatively, the lumen moving device may move through the lumen until it reaches the point of interest, and then the positioning element may be substantially permanently extended to retain the lumen moving device substantially permanently at the point of interest. Various other types of positioning elements may be used as well. For example, hooks, clips, tensile elements, expansion elements, and adhesives are all examples of positioning elements that can be used to hold the lumen moving device in place. A particular positioning element may be suitable for holding the lumen moving device for an extended period of time and another positioning element may be more suitable for holding the lumen moving device for only a short period of time.

The active portion may be operatively connected to the response initiating circuit and may comprise a flow conditioning element configured to adjust the flow of fluid through at least a portion of the body lumen in response to receiving the response start signal. The flow regulating element can modulate the flow of fluid through the body lumen to alter the flow rate, volumetric flow rate, flow rate, flow direction, or other flow characteristics of the flow. The flow control element may be, for example, a valve, a louver, a flow-oriented element, a splitter or flow divider, a filter, a baffle, a channel limiter, a channel extension, Or may be another structure that can change fluid flow rate in accordance with known fluid dynamics principles. 10A shows a lumen moving device portion 600 including a first channel 602 and a second channel 604 in which valves 606 and 608 are located, respectively. Valve 606 permits fluid flow in the open position as indicated by the arrows. The valve 608 is in the closed position to block fluid flow. Valves 606 and 608 may be any of various types of controllable valves or microvalves.

10B shows a lumen moving device 610 that includes a louver 612 located within the lumen 614. [ The louvers 612 may change the flow of fluid in the lumen 614, for example, by reducing turbulence or decreasing the flow rate. The fluid can flow on one side of the louver 612 as indicated by the arrows.

FIG. 10C shows a lumen moving device 620 that includes a fluid-oriented element 622. FIG. The flow-directing element 622 directs the flow of fluid within the lumen 624 such that the fluid tends to move towards a particular location of the lumen.

10D shows a portion 630 of a lumen moving device that includes a splitter (or flow divider) Fluid may flow into main channel 634 to be dispensed and flow into branch channels 636 and 638 which may lead to additional structures within the lumen moving device or within the body lumen Branch channels 636 and 638 can lead to specific blood vessels that diverge from the larger vessels in which the lumen moving device is present), if a lumen moving device is used in the vascular system. A valve disposed across the main channel inlet 640 or across the inlet of one or both of the branch channels (e.g., at the inlet 642 of the branch channel 636) controls the operation of the splitter 632 Can be used.

10E shows a lumen moving device 650 that includes a filter 652 within a bodily lumen defined by the lumen wall 654. The lumen moving device 650 includes a filter 652, The filter 652 may be formed of a screen, mesh, fiber, or sintered material selected to remove particles of a particular size range or having a specific affinity or binding characteristic from the fluid flowing through the filter.

10F shows a lumen moving device 660 that includes a baffle 662 for changing the flow of fluid through the central opening 664 of the lumen moving device 660. [ In some embodiments, baffle 662 may be rotatable on shaft 664 to move the baffle into or out of the channel, as shown, for example, in FIG. 10F to provide controlled adjustment of fluid flow.

10G shows a lumen moving device portion 670 having a center channel 672 with a channel restricting portion 674. In Fig. The channel restricting portion 674 may be formed by a protrusion 676 extending around the circumference of the channel 672. The protrusion 676 may be an inflatable or inflatable structure to provide a controllable channel restriction.

FIG. 10h shows lumen moving device portion 680 having a central channel 682 leading to channel extension portion 684. The channel extension 684 may be formed by the contraction of the inflatable or inflatable structure 686 extending around the circumference of the channel 682. The inflatable or inflatable structure 686 is shown in a contracted configuration 686a (thus forming a channel extension 684) and an inflated configuration 686b in which substantially no channel extension is formed . The inflatable or inflatable structure 686 may be inflated to various degrees to form channel extensions of various sizes.

In some embodiments, the active portion of the lumen moving device may include a separator operatively connected to the response initiating circuit and configured to selectively remove a particular component from the fluid in response to detecting the condition of interest. The separator can be, for example, a molecular sieve or a mechanical filter (e.g., a screen, mesh, or other structure as shown in FIG. 10E) having an aperture dimensioned to allow passage of particles or structures of a particular size or size range. Filters, and the like), or chemical or biochemical separators based on binding affinity, charge, surface energy, etc., as is known to those skilled in the art. For example, U.S. Patent Application Publication No. 2005/0126916, which is incorporated herein by reference, provides examples of micro-fabricated meshes. The separator may remove unwanted components from the fluid (e.g., because they are foreign and harmful), or may be removed to collect samples for analysis. Thus, in a related embodiment, the active portion may comprise a sample collector. Fluid or solid (e.g., tissue) samples may be collected or captured according to the type and / or design of the sample collector. Examples of sample collection structures and mechanisms are described in U.S. Patent Nos. 6,435,120 and 6,712,835, HANNA, DARRIN M., OAKLEY, BARBARA A., STRIKER GABRIELLE Quot; using a System-on-a-Chip Implantable Device to Filter Blood or Lymphs "for filtering infected cells circulating in the blood or lymph, IEEE Proceedings of Nanobiotechnology, January 25, 2003, March 2003, pp 6-13; Vol. 2, No. 1, IEEE, all of which are incorporated herein by reference. Another mechanism for capturing solid materials is a grasper as disclosed in U.S. Patent No. 6,679,893, which is incorporated herein by reference.

In some embodiments, the active portion may include a fluid catcher configured to operably couple to the response initiator circuit to capture the detected matter of interest. FIG. 11 shows a device 700 that includes a fluid acquisition portion 706. The lumen transfer device 700 includes a sensor 702, a response initiation circuit 704, and a fluid acquisition portion 706. The fluid enters the fluid capture portion 706 via the inlet 708. Fluid capture portion 706 may be, for example, a reservoir in which fluid is drawn by negative pressure generated by the pump or by capillary action. The captured fluid may be treated and released or simply stored. In some applications, the stored fluid may be analyzed.

The sample collection portion can be a fluid capture portion configured to passively collect fluid and / or its components in a matrix material, including cells or other biologics, which in some embodiments can be located external to the lumen moving device , Or in other embodiments, in the chamber (e.g., fluid capture portion 706 of FIG. 11). The matrix material may be selected from the group consisting of cotton, cellulose, natural or artificial sponges, gels (natural gels such as agarose, natural and / or synthetic polymer gels, hydrogels), colloids, gum bases such as acacia gum, May include the same absorbent. The sample collecting part may comprise a lipid monolayer, a lipid bilayer, a liposome, a dendrimer, a ligand-affinity resin having conjugated peptides or antibodies, an iontransfer carrier, a hydrosol, a sol gel, a xerogel, an airgel, a smart gel, And may include ferrogel. Many types of porous hydrogels are known, such as those used in wound dressings of U.S. Patent No. 6,372,248, which is incorporated herein by reference in its entirety. Alternatively, the sample collector may comprise a synthetic or natural absorbing material, such as a packed polymer, such as proteoglycan or polylysine, to facilitate adhesion of one or more fluid components, such as cells or proteins, for example. can do. Other materials may possibly contain the anti-specific or non-specific absorber such as a portion of the matrix material, and silica (SiO ₂₎ or alumina (Al ₂ O ₃₎ a gel or an ion exchange resin. Additional examples of materials for sample collection are disclosed in U.S. Patent Nos. 6,861,001 and 6,475,639, which are incorporated herein by reference. Alternatively or additionally, the sample collector may include one or more recognition elements of the type capable of recognizing and / or specifically coupling the components of the fluid. Such recognition elements include biologics such as a Staphylococcal protein A complex that binds immunoglobulin in general, binding peptides or proteins such as immunoglobulins, DNA binding proteins and / or gene engineering proteins, nucleic acids, possibly aptamers ), Carbohydrates, lipids, co-liquids, or synthetic molecules such as artificial antibodies or other mimetics. U.S. Patent Nos. 6,255,361, 5,804,563, 6,797,522 and 5,831,012 and U.S. Patent Application Publication No. 2004/0018508 provide examples of such mimics, which are incorporated herein by reference in their entirety.

12 depicts lumen migration including a sample collection structure 752 that can collect solid samples 754 for biopsy and / or for removal of injured, diseased or otherwise unwanted tissue, Device 750 is shown. In the example shown in FIG. 12, the solid sample 754 is a solid material (e.g., an arterial plaque) that is found on or immediately below the surface of the lumen defining wall 756. The solid sample 754 is disposed within the storage reservoir 758 by a sample collection structure 752. In a related alternative embodiment, the lumen moving device may include a filter or an optional engagement area for removing material from the fluid moving past the lumen moving device or through the lumen moving device.

In some embodiments, the active portion may comprise a catalyst portion operatively connected to the response initiating circuit and configured to expose or activate the catalyst in response to receipt of a response initiation signal. Examples of catalysts include inorganic catalysts such as metal surfaces, and organic catalysts such as enzymes. Surfaces with catalytic properties (such as metals) or catalytic materials that are bonded or bonded thereto can be exposed or activated by directing the flow of fluid across the surface, altering the chemical properties of the surface, or removing the envelope from the surface . For example, as shown in the cross-sectional view in FIG. 13, the lumen moving device portion 800 may include a channel divider 802 for separating the two channels 804 and 806. The channel 806 includes a catalytic material 808 that can facilitate the reaction with one or more components of the fluid flowing through the channel 806, as indicated by the arrows. The movable gate 810 on the pivot portion 812 can block the flow of fluid into the channel 804 while allowing the flow of fluid into the channel 806 across the catalytic material 808, To block the flow of fluid into the channel 806 while allowing fluid to flow into the channel 806. In some embodiments of the lumen moving device, the active portion may include a catalyst portion operatively connected to the response initiating circuit and configured to expose the catalyst surface to the fluid in response to detecting the condition of interest. The catalytic surface can facilitate, for example, reactions that modify or destroy the substance of interest.

The active portion may include an electric field source operatively connected to the response initiation circuitry as shown in Figure 14 and adapted to apply an electric field to the fluid and / or lumen wall or surrounding tissue in response to receiving the response initiation signal. For example, the lumen moving device 820 shown here in contact with the wall 822 of the lumen 824 includes a first contact 826 and a second contact 828 connected to the source 830 can do. Source 830 may be a capacitor or other charge storage device for generating an electrostatic field, or it may be a current source capable of generating a dynamic electric field.

Alternatively, as shown in FIG. 15, the active portion may be operatively connected to a response initiating circuit to generate a magnetic field source configured to apply a magnetic field to the fluid and / or lumen wall or surrounding tissue . The lumen moving device 840 adjacent the wall 842 of the lumen 844 may include a coil 846 connected to the current source 848 (e.g.). A current flowing from the current source 848 through the coil 846 can generate a magnetic field as shown in Fig. The magnetic field need not include a coil, as is known to those skilled in the art, a magnetic field may be generated by flowing current through various types of structures. Moreover, one or more stationary magnets may be included in the magnetic field source.

In some embodiments, the active portion of the lumen moving device may include a material release structure operatively coupled to the response initiation circuitry and configured to release the material in response to receiving the response initiation signal. Figure 16 shows a delivery device 900 that includes a release structure 908 that includes a structural element 902, a sensor 904, a control signal generation circuit 906, and a release mechanism 910. [ The structural element 902 includes an exterior surface 912 configured to fit within the body lumen and an interior surface 914 defining a central opening 916 through which fluid may flow. The control signal generating circuit 906 can induce release of the material from the material release structure 908 by activating the release mechanism 910. [ The release mechanism 910 may include various different types of release mechanisms including, for example, controllable valves. Various types of valves and microvalves are known to those skilled in the art and can be used to regulate the release of material from the material release structure 908 in response to a control signal from the control signal generation circuit 906 . The control signal generation circuit 906 may activate the release mechanism 910 by providing a transfer control signal, which may be, for example, an electrical signal. In some embodiments, other types of transmission control signals may be used, including magnetic signals, optical signals, acoustic signals, or other types of signals. A combination of multiple types of signals may be used in some embodiments. In some embodiments, the control signal generation circuitry 906 may induce release of material from the material release structure in response to the passage of a specified amount of time, e.g., as monitored by a timekeeping device . In some embodiments, the material release structure 908 may comprise a compressed reservoir of material. In yet another embodiment, the material (or materials) to be released may be generated within the material release structure. In another embodiment, the substance (s) may diffuse from the release structure along a concentration gradient.

FIG. 17 shows a cross-sectional view of a structural element 950 of a lumen moving device located within a lumen containing structure 952. FIG. The reservoir 954 contains a stored deliverable material. Barrier 956 is a controllable barrier that controls the release of stored, transferable material into the central opening 958, and thus through the lumen containing structure 952, into the fluid to be filled and / or flowing.

Figure 18 shows an embodiment similar to that shown in Figure 20, including the structural element 1000 of the lumen moving device located within the lumen containing structure 1002. [ The reservoir 1004 contains a stored deliverable material. Barrier 1006 is a controllable barrier that controls release of stored deliverable material. 18, activation of the barrier 1006 induces release of the deliverable material stored toward the lumen wall of the lumen containing structure 1002, rather than into the central opening 1008. [

Figures 19a, 19b, 20a, 20b, 22a and 22b illustrate a number of alternative embodiments of a material release structure including a controllable barrier. 19A and 19B, the release structure 1150 includes a reservoir 1152 that contains a transferable material 1154 stored therein. As shown in FIG. 19A, when the rupturable barrier 1156 is intact, the stored deliverable material 1154 is contained within the reservoir 1152. As shown in FIG. 19B, when the rupturable barrier 1156 is ruptured (as indicated by reference numeral 1156 '), the deliverable material 1154 may be released from the reservoir 1152 . The rupturable barrier 1156 may be ruptured by an increase in pressure in the reservoir 1152 caused by heating, for example, which can be controlled by the response initiator circuitry. 20A and 20B, the release structure 1200 includes a reservoir 1202 that contains a transferable material 1204 that is stored. As shown in FIG. 20A, when the resolvable barrier 1206 is intact, the stored deliverable material 1204 is contained within the reservoir 1202. As shown in FIG. 20B, the disassembly of the resolvable barrier 1206 into the disassembled form 1206 'allows the stored deliverable material 1204 to be released from the reservoir 1204. Figures 21A and 21B illustrate an unlocking structure 1250 having a reservoir 1252 containing stored deliverable material 1254. Figure 21A shows a barrier 1256 with controllable transmissivity in a first opaque state and Figure 21B shows a barrier 1256 in a second transmissive state (indicated by reference numeral 1256 '). The stored deliverable material 1254 passes through and is released from the barrier 1256 'when in its permeable state. The rupturable barrier as described above may be formed of a variety of materials including, but not limited to, metals, polymers, crystalline materials, glass, ceramics, semiconductors, and the like. Release of material through rupture or decomposition of the barrier is also described in U.S. Patent No. 6,773,429 and U.S. Patent Application Publication No. 2004/0260391, which are incorporated herein by reference. A semi-permeable barrier with variable permeability is described, for example, in U.S. Patent No. 6,669,683, which is incorporated herein by reference. It will be understood by those skilled in the art that a barrier may be formed and operated reversibly through multiple release cycles in addition to the single release functionality available from the rupturable barrier.

22 shows another embodiment of the structural elements of the lumen moving device 1300 in the lumen containing structure 1302. Fig. The lumen transfer device 1300 includes a transferable material 1304 that is dispersed within a carrier material 1306. The transfer material 1304 may be any suitable material. The stored deliverable material 1304 may be released from the carrier material 1306 by the release mechanism 1308 upon activation of the release mechanism 1308. [ Releaseable transferable material 1304 can be released into the central opening 1310 of the lumen transfer device 1300 and / or into the area around the lumen transfer device.

Figures 23A and 23B show the release of stored deliverable material from the carrier material in more detail. In Figure 23A, deliverable material 1304 is stored in carrier material 1306. The carrier material 1306 can be, for example, a polymeric material, such as a hydrogel, and the deliverable material is dispersed or dissolved in the carrier material 1306. The release mechanism 1308 can be moved, vibrated or heated by a heating element, e.g., a resistive element directly connected to the response initiation circuit, or by an externally applied electric field, as shown in Figure 23B, Responsive material capable of inducing release of a transferable material 1304 from a source 1304 (e.g., 1306). See, for example, U.S. Patent Nos. 5,019,372 and 5,830,207, which are incorporated herein by reference. In some embodiments, the electrically or magnetically active component may be heated by an electromagnetic control signal, and heating of the electrically or magnetically active component may cause the polymer to experience a change in shape. Examples of self-responsive polymers include, for example, the optical, magnetic and dielectric properties of non-liquid crystalline elastomers doped with magnetic colloids, such as Neto et al., Which is incorporated herein by reference. -Liquid Crystalline Elastomers Doped with Magnetic Colloids) "; Physics Journal of Brazil, March 2005, pp. 184-189, Volume 35, Number 1. Other exemplary materials and structures are described in "Magnetically-driven temperature-controlled microfluidic actuators" by Agarwal et al., Pp. 1-5, http://www.unl.im .dendai.ac.jp/INSS2004/INSS2004_papers/ OralPresentations / C2.pdf, or U.S. Patent No. 6,607,553, all of which are incorporated herein by reference. With respect to the release of material and / or the detection of local conditions, in some embodiments the permeability of the lumen wall to the released material is determined by the use of a shrinkable projection that penetrates the lumen wall, as described in U.S. Patent No. 6,991,617 By the introduction of a magnetic field or electromagnetic field [the physical and chemical permeation enhancer in the transdermal delivery of terbutaline sulfate, as described in U.S. Patent No. 6,743,211, by hollow micro-needles capable of penetrating the lumen wall (Physical and Chemical Permeation Enhancers in Transdermal Delivery of Terbutaline Sulphate), AAPS PharmSciTech, 2001; 2 (1) 1-5; http://www.aaspspharmscitech.org/view.asp?art=pt0201_tnl ], can be released from the lumen transfer transfer device with the material or from an individual reservoir or other source, or can be, for example, Or by electroporation and / or iontophoresis as described in U. S. Patent No. 6,022, 316, 6,219, 577, 6, 512, 950, or by electroporation, as described in U. S. Patent No. 6,673, or by phonophoresis using techniques based on those described in U.S. Patent No. 6,322,532 , or by means of an electrotransmitter, such as a voltage source for generating iontophoresis, , All of which are incorporated herein by reference in their entirety. Chemical permeation enhancers can include, for example, isopropyl myristate, bile acid salts, surfactants, fatty acids and derivatives, chelators, cyclodextrins or chitosan. Other techniques useful for improving permeability include iontophoresis, microdialysis, ultrafiltration, electronic techniques, osmosis, electroosmosis, ultrasonography, aspiration, electroporation, thermal poration, , Micro-perforation, micro-fine cannulas, skin penetration techniques, or lasers.

The active portion may comprise a device release structure operatively coupled to the response initiating circuit and configured to release the device in response to receiving the response initiating signal. For example, FIG. 24 shows a lumen moving device 1350 that includes a device releasing structure 1352 (in this example, a phalanx structure) that holds a device 1354 that is released into the body lumen. The response initiating circuit 1356 may receive a sense signal from the sensor 1358 and may generate a response initiating signal for the device releasing structure 1352 to release the device 1354. [ Device 1354 may be any type of device small enough to be carried by the lumen moving device. For example, the device 1354 can be a sensor with a transmitter, a device that releases drugs or other compounds, or an electromagnetic stimulation device. The device type shown in Fig. 24 is only intended as an example, and the device released by the device releasing structure of the lumen moving device may have various forms. It will be appreciated that the device release structure may be designed to be compatible with a particular type of device, or it may be suitable for use with multiple types of devices.

As shown in Figures 25A and 25B, the active portion of the lumen moving device 1400 is operatively coupled to the response initiating circuitry 1404 to provide the receiving device 1410 with a material or structure And a delivery structure 1402 configured to deliver a message 1408 to the user. 25A, lumen moving device 1400 includes a delivery structure 1402 that can be attached to connector 1406 on structure 1408 and allows structure 1408 to be carried by lumen moving device 1400 do. In use, the lumen moving device 1400 can carry the structure 1408 to the receiving device 1410. The response start signal may be generated by the response initiating circuit 1404 when the lumen moving device 1400 is close to the receiving device 1410. The receiving device 1410 may include a receiving structure 1413 comprised of a receiving arm 1414 mounted on a recess 1412 and a pivoting portion 1416. [ The receiving device 1410 may be a non-moving device or structure that is implanted or disposed within the lumen, or, in some embodiments, the receiving device 1410 may be a second lumen moving device. The second lumen moving device may include various features as described above and the active portion may be operatively coupled to the response initiating circuit to receive a material or structure from the delivery device 1400 in response to receipt of a response initiating signal (E.g., the receiving structure 1413 of Figures 24A and 25B) configured to receive a plurality As the structure 1408 is pressed into the receiving recess 1412, the receiving arm 1414 is moved over the pivot portion 1416 to allow the structure 1408 to slide into the recess 1412, where This can be held by the protrusion 1418 as shown in Fig. 25B.

The active portion may include a collection structure operatively coupled to the response initiating circuit and configured to collect structures (including, but not limited to, artifacts) from the body lumen in response to receiving the response initiation signal. The collection structure may correspond to a device release structure as described above and may be collected from the body lumen by attachment to a connector such as connector 1406. [ In a related embodiment, the collection structure can generally hold the body of the collection device as shown in Fig. In another embodiment, the collection structure may be large enough to accommodate the structure to be collected in the body of the lumen moving device.

The active portion of the lumen moving device may include an attachment structure operatively coupled to the response initiating circuit and configured to attach to a structure (particularly an artificial structure) present in the body lumen in response to receiving the response initiation signal. The attachment structure may be a gripper as shown in Fig. 24, or may be a device release structure shown in Figs. 24A and 24B. Other attachment mechanisms may include various other mechanical mechanisms or may be based on magnetic attraction, electrostatic forces, chemical bonds, surface interactions, and the like. The microscale structures for gripping or catching are described in U.S. Patent No. 6,398,280 and in "Zyvex NanoEffector Microgripper, Nanotechnology at Zyvex, December 7, 2006, pp. 1-2, http : //www.zyvex.com/Products/Grippers_Features.html and "Zyvex Nano-Effect Microwaves"; Zyvex.com, 2006, pp. 1-2, described in Zyvex Corporation , All of which are incorporated herein by reference.

The active portion may include one or more tools, particularly surgical tools, such as cutting tools as shown in Figs. 25A and 26B, scraping tools, suturing tools, cauterizing tools, Tools. 26A, the lumen moving device 1450 includes a cutting tool 1452 mounted on a shaft 1454 that can be retracted into a channel 1456 driven by a translation motor 1458. In Fig. In the embodiment shown in FIG. 26A, the lumen moving device 1450 includes a main lumen 1460. A cross section of lumen moving device 1450 taken along section line B-B showing shaft 1454, channel 1456 and main lumen 1460 is shown in Figure 26b. Channel 1456 and main lumen 1460 pass through core portion 1462 of lumen moving device 1450. [

27 shows a lumen moving device 1500 that is generally similar to the lumen moving device 1450 of Figs. 26A and 26B, but includes a scraping tool 1502. Fig. Scraping tool 1502 is mounted on shaft 1504, which is shrinkable within channel 1506. The shaft 1504 also rotates in the channel 1506 during use of the scraping tool 1502 as shown by the double head arrow and the scraping tool 1502 also rotates in the main lumen 1508 to a position shown in phantom. An example of a scraping tool is shown in Japanese Patent Application Laid-Open No. 2005-74229, which is incorporated herein by reference.

Various examples of suturing tools are disclosed and described in U.S. Patent Nos. 7,131,979 and 5,964,773, which are incorporated herein by reference. The cauterization tool may be a specialized form of the heating element, as shown in Figure 7a, or it may be an electromagnetic radiation source, as shown in Figure 7c. The tool may be, for example, a microscale tool formed by a MEMS fabrication technique as described in U.S. Patent No. 5,728,089, which is incorporated herein by reference. It will be appreciated that the various other active moieties disclosed herein may also have surgical availability, for example, that active moieties for performing sample collection, material release, heating, cooling, etc. may all have surgical applications.

Figure 28 illustrates a system including a lumen device 1602 located within a body lumen 1604 (here a portion of the circulatory system) and a remote portion 1606 located outside of the body surface 1608 in this example. 1600 < / RTI > In some embodiments, the remote part may be located within the body, away from the lumen moving device. The active portion of the lumen moving device 1602 is operatively coupled to a response initiating circuit and configured to transmit a detection signal 1612 to a remote location (e.g., remote portion 1606) in response to receiving a response initiating signal 1610 < / RTI > The detection signal may be used to notify the healthcare provider of the condition of the patient so that appropriate treatment may be provided by the healthcare provider or the detection signal may include information available by the automation system to control the operation of the lumen moving device .

Various types of propulsion mechanisms can be used to move the lumen moving device through the body lumen. Examples are described in U.S. Patent Nos. 5,337,732, 5,386,741, 5,662,587 and 6,709,388, Kassim, IRWAN, PHEE, LOUIS, NG, WAN S., GONG FENG, DARIO, PAOLO, MOSSE, CHARLES A. ("Locomotion Techniques for Robotic Colonoscopy"); the IEEE of drug and biology magazines Engineering, May / June 2006, 2006, pp.49-56) and KRISTENSEN, BILL ("Musclebot: Microrobot with a Heart"; Technovelgy.com; pp. 1-2; February 27, 2004, http://www.technovelgy.com/ct/Science-Fiction-News.asp?NewsNum=46; Printed on September 12, 2006] and ANANTHASWAMY, ANIL ["first robotic moved by muscle power"; February 27, 2004; pp. 1-3; New Scientist; http://www.newscientist.com/article.ns?id=dn4714; Printed September 12, 2006], and Pritchard Robert A., et al. 2, (FREITAS JR., ROBERT A.) ["8.2.1.2 Arteriovenous Microcirculation"; "9.4.3.5 Legged Ambulation"; "9.4.3.6 Tank-Tread Rolling"; "9.4.3.7 Amoeboid Locomotion"; "9.4.3.8 Inchworm Locomotion"; "Nanomedicine Volume I: Basic Capabilities ";1999; pp. Pp. 211-214, pp. 316-318; Landes Bioscience; Georgetown, Tex., USA, all of which are incorporated herein by reference in their entirety. The propulsion mechanism of lumen moving devices is described, for example, in U.S. Patent Application Publication No. 2004/0008853 and MATHIEU, JB., MARTEL, S., YAHIA, L'H.), SOULEZ, G., BOWUDOIN, G. ["MRI Systems as a Mean of the Propulsion System for Microdevices in Vessels" Propulsion for a Microdevice in Blood Vessels "; 2003; pp. 3419-3422; IEEE], LU, ZHAO, MARTEL, SYLVAIN ["Preliminary Investigation of Bio-carriers Using Magnetotactic Bacteria"; Proceedings of the 28th IEEE EMBS Annual International Conference; August 30, 2006 `September 3, 2006 and 2006; pp. 3415-3418; IEEE), and Mattel Silva ["Towards MRI-Controlled Ferromagnetic and MC-1 Magnetotactic (MRI-controlled Ferromagnetic and MC-1 Magnetotactic) for Targeted Treatment of Arterial Vasculature Stimulated by Tumor Angiogenesis" Bacterial Carriers for Targeted Therapies in Arteriolocapillar Networks Stimulated by Tumoral Angiogenesis); Minutes of the 28th Annual IEEE EMBS International Conference; August 30, 2006 - September 3, 2006 and 2006; pp. 3399-3402; ≪ / RTI > IEEE, all of which are incorporated herein by reference. The propulsion mechanism may include a roller or wheel structure as shown in U.S. Patent No. 7,042,184 and U.S. Patent Application Publication No. 2006/0119304, which is incorporated herein by reference, and IKEUCHI, K.), YOSHINAKA, K., HASHIMOTO, S.); Tomita N. (TOMITA, N.) ["Locomotion of Medical Micro Robot with Spiral Ribs Using Mucus"; 7th International Symposium on Micro-Mechanical and Human Sciences; 1996; pp. 217-222; IEEE, and U.S. Patent No. 5,574,347, which is incorporated herein by reference, and Kristensenville ("Musclebot: Heart and Mike Robot, " pp. 1-2; Feb. 27, 2004; http://www.technovelgy.com/ct/Science-Fiction-News.asp?NewsNum=46; printed on September 12, 2006) and Mattel Silva [Fundamentals of high-speed piezo-actuated three-legged motion for miniature robots designed for nanometer-scale operations of miniature robots designed for nanometer-scale operation]; pp. An appendage capable of walking motion as described in [1-8], and the like. Attachable structures may intermittently engage the lumen wall and compress the structural elements against the lumen wall with pedestrian movement, or may press against the fluid in the lumen by paddling or swimming motion. In some embodiments, the propulsion mechanism may drive rotational motion of the lumen wall engagement structure relative to the structural element, such as, for example, in the rotation of a wheel or screw element to propel the structural element through the lumen. The propulsion mechanism may comprise a mechanical or micromechanical structure driven by at least one motor, a micromotor, or a molecular motor, or by an expansion or modification in the form of a shape-changing polymer or metal. Molecular motors include but are not limited to ATP, kinesin, RNA polymerase, myosin dynein, adenosine triphosphate synthetase, rotaxanes, or biological proteins such as viral proteins It may be a biomolecular motor operating on a material.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows an example of a lumen moving device including a propulsion mechanism for driving rotational motion of a lumen wall coupling structure. The lumen moving device 10 may include a structural element 12 configured to fit within at least a portion of the body lumen 14. The structural element 12 may include a lumen wall engagement portion 16. The lumen moving device 10 may also include a propulsion mechanism 20 that can generate movement of the structural element 12 through the body lumen 14 in which the structural element is deployed. Here, the propulsion mechanism 20 includes two rotating wheels, the outer periphery of which forms the lumen wall engaging portion 16.

In a number of alternative approaches, two (or more) lumen wall mating portions may intermittently join the lumen wall. Figures 29A-29E illustrate a first lumen wall coupling structure (not shown) on a first portion 1654 of a lumen moving device that can be at least intermittently coupled to an interior surface 1658 of a body lumen into which the lumen moving device 1650 is deployed 1652) of the lumen movement device 1650 (cross-sectional view). The device may also include at least one second lumen wall coupling structure 1660 on the second portion 1662 of the lumen transfer device and the propulsion mechanism may be configured to engage the inner surface 1658 of the body lumen into which the lumen transfer device is deployed, And the first lumen wall coupling structure 1652 and the second lumen wall coupling structure 1660 to extend the distance between the first lumen wall structure 1652 and the second lumen wall structure 1660 and Shortening occurs. In this example, the extension and shortening of the distance between the first and second lumen wall mating structures may occur in the region 1664, but in other embodiments the distance between the first and second lumen wall mating structures may be less than the distance between the lumen wall mating structure For example, due to changes in limb that move relative to each other to generate a gait-like motion. The portion (e.g., end 1656) of the lumen moving device may not vary in length to provide a stable position for mounting of the control circuitry (not shown). Alternate engagement and disengagement of the lumen wall by the first and second lumen wall attachment structures results in a spider-like propulsion of the device through the body lumen. The lumen moving device 1650 can be configured to cause relative expansion and contraction of at least two lumen wall fitting structures 1652 and 1660 relative to each other in combination with alternate engagement and disengagement of the body lumen wall, And a propulsion mechanism capable of generating a spawning movement of the device. The embodiment of the lumen moving device shown in Figures 29A-29E has a tubular structure with a central lumen 1668 to allow movement of fluid through the device. 29A shows a lumen moving device in which lumen wall bonding structures 1652 and 1660 are extended to engage an inner surface 1658. Fig. In Figure 29B, the second lumen wall bonding structure 1660 is contracted to shorten the region 1664 causing movement of the second portion 1662 of the lumen moving device 1650 in the direction indicated by the arrow The shape shown in Fig. 29C is obtained. The second lumen wall joining structure 1660 is then expanded to engage the inner surface 1658 and the first lumen wall joining structure 1652 is contracted to obtain the configuration shown in Figure 29d. The region 1664 is then expanded to move the first portion 1654 of the lumen moving device 1650 in the direction indicated by the arrow in Figure 29d, as shown by the arrow in Figure 29d. At the end of the move cycle, the lumen moving device 1650 obtains the form shown in Figure 29E. The first lumen wall joining structure 1652 may be extended to engage the inner surface 1658 as shown in Figure 29A. It will be appreciated that by repeating the motion cycle shown in Figures 29A-29E, movement of the lumen moving device through the lumen can be accomplished. Various types of lumen wall coupling structures may be used in devices that generate spur-like motion, and in addition to the expanded or expanded lumen wall coupling structure, other mechanisms may be used (e.g., aspiration mechanisms, adhesives, Lt; / RTI > lumen wall) may be used. A lumen moving device utilizing a spur-type propulsion mechanism having a suction mechanism for engaging a surface of the heart is disclosed in US Pat. (PATRONIK, N.A.), Otati (OTA, T.), Zenith M. et al. A. ZENATI, M.A., Mr. Rivier. RIVIERE, C. N. ["Improved Traction for a Mobile Robot Traveling on the Heart"]; Minutes of the 28th Annual IEEE EMBS International Conference; August 30, 2006 - September 3, 2006 and 2006; pp. 339-342; IEEE, Dariopio, (DARIO, P.), Karoja M. et al. (CARROZZA, MC), LENCIONI, L., MAGNANI, B., D'ATTANASIO, S.) ["Micro-robots for colonoscopy A Micro Robotic System for Colonoscopy "; Proceedings of IEEE International Conference on Robotics and Automation, 1997; April 1997 and 1997; pp. 1567-1572; IEEE, DONGXIANG, CHI, GUOZHENG, YAN ["An earthworm-based miniature robot for intestinal inspection"; The minutes of the SPIE; November 7, 2001 - November 9, 2001; pp. 396-400; Volume 4601; SPIE], all of which are incorporated herein by reference in their entirety.

The radial and longitudinal expanding or expanding structures may be mechanical or micromechanical structures, expandable materials, inflatable structures, or shape altering materials or structures. Although reference is made herein to inflatable and inflatable materials and structures throughout the specification, the structures described as being inflatable and inflatable may also be constrictive or shrinkable, thus enabling reversible changes in dimensions You can understand that. A reversible change in dimension can be used to generate a cylindrical motion to propel the lumen moving device. In some embodiments, the inflation / deflation may pressurize the fluid from the device to generate jet or vortex propulsion. Nonetheless, it is contemplated that in some applications materials and structures that vary in dimension in one direction (only expansion or only contraction) may be used.

30A and 30B illustrate the use of a shape change structure for the expansion of the body structure of the lumen moving device and the engagement of the lumen wall. In Fig. 30A, the lumen moving device 1700 includes a curved shape as shown in Fig. 30A, or a shape changing arc 1702 that can have an expanded shape as shown in Fig. 30B. This type of change can be generated by heating the bimetallic strip or by use of a shape memory material having at least two shapes and can be used to provide extension and shortening of the lumen moving device 1700. The lumen moving device may include a first lumen wall bonding structure 1704 and a second lumen wall bonding structure 1706. First lumen wall bonding structure 1704 is formed of a strip of material formed from first and second loops 1708 and 1710, respectively. In Figure 30A, the first loop 1708 is small and the second loop 1710 is large, which engages the lumen wall 1720. The second lumen wall joining structure 1706 is formed of a first loop 1714 and a second loop 1716 which are of medium size in Figure 30A so that neither is coupled to the lumen wall 1720 It does not. The first lumen wall joining structure 1704 is connected to the lumen moving device 1700 at a point of attachment 1712 which allows a first loop 1708 relative to the second loop 1712 to change the size of the two loops And a translating mechanism for moving. Similarly, a second lumen wall joining structure 1706 is connected to the lumen moving device 1700 at the point of attachment 1718, which is connected to the first loop 1716 with respect to the second loop 1716 to change the size of the two loops 1714). ≪ / RTI > 30B, the arc 1702 is expanded so that the second lumen wall joining structure 1706 is moved from point B (FIG. 30A) to point C (FIG. 30B). The first loop 1714 of the second lumen wall fitting structure 1706 is reduced in size by the translational mechanism at the point of attachment 1718 while the second loop 1716 is sized to engage the lumen wall 170 The size is increased. Thus, a spiral movement similar to that shown in Figs. 29A-29E can be generated by an embodiment of the lumen moving device as shown in Figs. 30A and 30B.

31 illustrates an additional embodiment of a lumen moving device configured to move through a bodily lumen with a propelling mechanism for generating a gait-like motion. The lumen moving device may include at least two lumen wall fitting structures on a portion of the lumen moving device that is capable of at least intermittently engaging the inner surface of the body lumen into which the lumen moving device is deployed, And drives the gait movement of two or more lumen wall coupling structures with respect to the interior surface. The extension and shortening of the distance between the lumen wall fitting structures is caused by a change in the shape of the leg rather than by the extension or shortening of the main structure (e.g., the body structure) of the lumen moving device. The lumen moving device 1750 includes a structural element 1751 dimensioned to fit within the body lumen and at least two lumen wall coupling structures operable to alternately couple and separate to the wall of the body lumen The relative extension of at least two lumen wall attachment structures to each other in combination with alternate engagement and disassembly of the body lumen wall 1764 with the engagement structure 1752, 1754, 1756, 1758, 1760, And a propulsion mechanism that generates contraction to cause movement of the lumen movement stimulation device relative to the body lumen wall. The lumen moving device 1750 may also include motion control circuitry configured to be at least partially supported by the lumen moving device to control the propulsion mechanism to control movement of the lumen moving device through the body lumen, May comprise an active part configured to perform an action in response to detection of a sensor of interest and a sensor carried by the structural element and not shown in Figure 31 but operating as described elsewhere herein have. At least two lumen wall attachment structures may include at least two attachments configured for gait movement. In the embodiment shown in Fig. 31, the legs 1752 and 1754 are extended and contracted relative to each other such that, when one leg swings forward, the other leg can swing backward, for example. More or fewer legs distributed in various patterns around the structural elements can be used to propel the lumen moving device through the body lumen, and the embodiment shown in Fig. 31 shows one possible example.

Leg structures for lumen moving devices can be formed of a variety of materials and structures including nanotubes and nanotube bundles, carbon fibers and carbon fiber bundles, silicon, metals, polymers, and other materials as described herein . The legs can be moved to generate a gait movement that can be actuated by a variety of mechanisms. In some embodiments, legs formed of shape-changing materials may themselves be moved through alteration of the shape of the leg structure, while in other embodiments the legs may be moved in a substantially rigid or stationary configuration . Shape altering materials that can be used in the leg structures or actuators may be of various types such as laminated piezoelectric elements, electroactive polymers, thermosensitive polymers, magnetic field responsive polymers, and ferromagnetic materials, as described for example elsewhere herein have. In some embodiments, motors and actuators may be used to drive leg movements as is known to those skilled in the art.

In another embodiment of the propulsion mechanism, as shown in Figures 32A and 32B, a plurality of lumen wall coupling structures that sequentially operate to be alternately coupled and separated from the lumen wall are configured to " . Examples of devices that generate this type of motion are disclosed in U.S. Patent No. 6,764,441, U.S. Patent Application Publication No. 2006/0004395, MANGAN, ELIZABETH V., KINGSLEY, DAN A "Development of a Peristaltic Endoscope" by QUIEN, ROGER D., CHIEL, HILLEL J.); 2002 IEEE International Conference on Robotics & Automation (2002); pp. 1-6; http://biorobots.cwru.edu/publications/I CRA02_Mangan_Endoscope.pdf , MEIER, P., OBERTHUR, S., LANG, M. " Development of a compliant device for minimally invasive surgery "; Minutes of the 28th Annual IEEE EMBS International Conference; August 30, 2006 - September 3, 2006 and 2006; pp. 331-334; IEEE, all of which are incorporated herein by reference.

In Figures 32A and 32B, the lumen moving device 1800 includes a structural element 1802 that may be formed of an elastic material. The structural element 1802 may be, for example, a substantially tubular structure having a central lumen 1816. A plurality of expansion or expansion structures 1804, 1806, 1808, 1810, 1812, 1814, 1818 may be located along the length of the structural element 1802. The expanding or expanding structure can expand not only in the longitudinal direction but also in the radially outward direction. For example, in FIG. 32A, the expanding or expanding structures 1804 and 1810 are shown in their inflated form, where they are wider and longer than their contracted form, as shown in FIG. 32B. Conversely, the expanding or expanding structures 1806, 1808, 1812, 1814 are shown in contracted form in Figure 32a and are shown in their expanded form in Figure 32b. By sequentially expanding and contracting the expanding or expanding structure, movement of the lumen moving device through the body lumen can be accomplished, as shown in Figures 32A and 32B.

In some embodiments, the propulsion mechanism may be configured to drive movement of the lumen moving device along a wire, catheter, cannula or tube within the body lumen. 33, the lumen moving device 1850 includes a elongate structure 1852 (e.g., a wire, a catheter, etc.) positioned within a body lumen 1854 surrounded by a lumen wall 1856 , A cannula, a tube, or other structure). The lumen transfer device 1850 includes a body structure 1858, a retainer 1860, and a propulsion mechanism 1862. 33, the retainer 1860 is configured to extend along the elongate structure 1852 while allowing the propulsion mechanism 1862 to move the lumen moving device 1850 along the elongate structure 1852. In this example, Shaped structure that holds the lumen moving device 1850 relative to the elongate structure 1852 while allowing movement of the lumen moving device. 33, the propelling mechanism 1862 is a rotating wheel that moves the lumen moving device 1850 along the elongate structure 1852, but in other embodiments, another propelling mechanism is provided along the elongate structure 1852, As shown in FIG.

Finally, as noted elsewhere herein, in some embodiments, the lumen moving device may include one or more paddles, a propeller, a vortex generator, a vortex generator, , Which can be propelled through the body lumen by means of a balancer structure or the like, which are described in US Pat. No. 6,240,312 or BEHKAM, BAHAREH, SITTI, METIN, entitled "Hybrid Swimming Micro Robots: Polystyrene Bead Bacteria TOWARDS HYBRID SWIMMING MICROROBOTS: BACTERIA ASSISTED PROPULSION OF POLYSTYRENE BEADS "; Minutes of the 28th Annual IEEE EMBS International Conference; August 30, 2006 - September 3, 2006 and 2006; pp. 2421-2424; IEEE and Kristensenville's "Propulsion System for 'Fantastic Voyage' Robot", printed on November 10, 2006, January 4, 2007 http: // technovelgy. Scientific Fiction-News.asp? NewsNum = 811 and / or "Researchers: squid-style vortex generators may be better suited for unmanned underwater vehicles (Researchers: Squid-Inspired Vortex Generators Could Mean Better Propulsion for Unmanned Underwater Vehicles "; UnderwaterTimes.com; December 12, 2006; pp. 1-2; Printed January 4, 2007; "Biomimetic & Bio-Inspired Aerial and Underwater Vehicles" of MOHSENI, "; September 23, 2006, January 4, 2007 printed pp. 1 - 100; http // enstrophy.colorado.edu / ~ mohseni / MicroVehiclesl.html # UUV1 # UUV1, all of which are incorporated herein by reference.

The direction of movement generated by the various propulsion mechanisms described herein may be reversed by simply inverting the operation of the propulsion mechanism.

In various embodiments, such as those described herein, the lumen moving device may include a power source configured to provide power to at least one of a propulsion mechanism, a motion control circuit, a sensor, a response initiating circuit, or an active portion. The power source may be a battery or micro battery, a fuel cell or a biofuel cell, or a nuclear battery. One or more power sources of the same or different type may be included in the lumen moving device without limitation. The battery can be located on a lumen moving device and is available from Quallion LLC (http://www.quallion.com), which is also incorporated herein by reference, 5,338,625, and 5,705,293). ≪ / RTI > Alternatively, the power source may be an enzyme, a microorganism, or a photosynthetic fuel cell or other biofuel cell [US Patent Application Publication No. 2003/0152823 A1, International Application Publication No. WO03 / 106966 A2, Chen T, et al., J. Am. Chem. Soc. 2001, 123, 8630-8631, A Miniature Biofuel Cell), and may be of any size, including micro or nanoscale. In some embodiments, the power source may be a nuclear battery. The power source may be, for example, a pressure rectifying mechanism that utilizes a pulsatile change in blood pressure, or an acceleration rectifying mechanism as used in a self-winding timepiece, or other type of flow rectifying mechanism that can derive energy from other flow parameters energy scavenging device. In some embodiments, the power source is an electrical power source located remotely from the structural element and connected to the structural element by a wire, or an optical power source located away from the structural element and connected to the structural element by an optical fiber line or cable . In some embodiments, the power source is an external source, such as an acoustic source or an electromagnetic source (e.g., as described in U.S. Patent No. 6,170,485 or U.S. Patent Application Publication No. 2005/0228259, Such as infrared energy or inductive coupling, such as < RTI ID = 0.0 > a < / RTI > In some embodiments, the power source is an electrical power source located remotely from the lumen moving device and connected to the lumen moving device by a wire, or an optical power source located away from the lumen moving device and connected to the lumen moving device by optical fibers . ≪ / RTI >

In some embodiments, the lumen moving device may include a power transmitter capable of transmitting power from the lumen moving device to the secondary position. The power transmitter may transmit at least one of acoustic power, electrical power, or optical power. The secondary location may be, for example, another device in the body at a body lumen or other part including a power receiver and structure for using, storing and / or transmitting received power.

34 is a block diagram illustrating an additional embodiment of a lumen transfer device 1900 that includes a motion inhibitor 1902 and a fluid conduit 1908 that contacts the fluid in the body lumen to provide fluid flow through the body lumen (1906) configured to allow movement of the lumen movement device through the body lumen into which the lumen movement device is deployed, and a propulsion mechanism (1906) configured to at least partially support the lumen movement device A motion control circuit 1908 configured to control the propulsion mechanism 1906 to control the movement of the lumen moving device through the body lumen, and to generate a sensed signal to detect an interest condition in the body lumen and to indicate detection of an interest condition A sensor 1910 that may be operatively connected to the sensor 1910 to direct detection of a condition of interest within the body lumen A response start circuit 1912 configured to generate a response start signal upon receipt of a sense signal, and an active portion 1912 operatively coupled to response start circuit 1912 and capable of generating a response upon receipt of a response start signal 1914). The motion control circuit 1908 and the response initiating circuit 1912 constitute part of the control circuit 1907, which may also include other components not specifically described herein. The embodiment of Figure 34 also includes a steering mechanism 1916 that can change the direction of movement of the lumen moving device and the motion control circuit 1908 controls the steering mechanism 1916 to move the lumen moving device As shown in FIG. The embodiment of Figure 34 may be used to provide power to at least one of the propulsion mechanism 1906, the steering mechanism 1916, the motion control circuit 1908, the sensor 1910, the response initiating circuit 1912, And may comprise a configured power source 1918. The components of the embodiment of Fig. 34 may be as generally described elsewhere herein. The steering mechanism 1916 can be any of a variety of structures depending on the type of propulsion mechanism used. If the propulsion mechanism is a paddle or a propeller that allows the lumen moving device to move in fluid in the lumen, the steering mechanism may be a rudder. If the propulsion mechanism comprises a plurality of wheels or rim structures, they may operate differentially on different sides of the lumen moving device to steer it in one direction or another. In embodiments where the lumen moving device contacts the lumen wall on all sides of the device, the steering mechanism can be used only when the lumen moving device meets a bifurcation in the lumen, and once the forward portion of the device (defined by the direction of movement) So that the device enters the selected branch, the rear portion of the device can be followed without the need of additional steering.

Various embodiments of lumen moving devices may include markers or tags. The markers or tags may be imaging markers or tags (e.g., wireless opaque markers for x-ray imaging) that may be detected by a remote imaging system to indicate the location of the lumen moving device within the patient's body. Alternatively, the marker or tag may be detected by a sensing device or structure within the patient's body.

In some embodiments, at least a portion of the circuitry that controls operation of the lumen moving device 1950, as shown in Fig. 35, is spaced from the exterior of the patient's body or lumen moving device as shown in Fig. 28 Lt; RTI ID = 0.0 > remote < / RTI > 35, the lumen moving device 1950 includes a motion inhibitor 1952, a fluid abutment 1954 configured to at least intermittently permit fluid flow through the body lumen in contact with fluid in the body lumen, A propulsion mechanism (1956) that can cause movement of the lumen moving device through a body lumen in which the lumen moving device is deployed; and at least partially supported by the lumen moving device to control the propulsion mechanism (1956) A sensor 1960 capable of generating a sensed signal to detect an interest condition within the body lumen and to indicate detection of an interest condition, a sensor 1960 configured to control the movement of the lumen moving device, And operatively connected to generate a response start signal upon receipt of a sense signal indicative of detection of a condition of interest in the body lumen Generated responsive start circuit is coupled operatively to (1962), a response start circuit (1962) comprising an active portion (1964) capable of generating a response upon receipt of a response start signal. 35 includes a steering mechanism 1966 that can change the direction of movement of the lumen moving device and the motion control circuit 1958 controls the steering mechanism 1966 to move the lumen moving device through the body lumen . At least a portion of the control circuitry for lumen transfer device 1950, remote circuit 1974, may be located remotely from lumen transfer device 1950 within remote portion 1972. The remote circuit 1974 may include a remote portion of the motion control circuit 1978 and a remote portion of the response initiator circuit 1980. The lumen moving device 1950 includes a receiver / transceiver 1984 that may include a data receiving and / or transmitting circuit configured to receive a wireless control signal from a remote portion of a motion control circuit 1978 transmitted from the transceiver 1984 . Data may be transmitted from the lumen mobile device 1950 to the remote portion 1972. [ Remote portion 1972 may include a power source 1986. Alternatively, the motion control circuit may be located in or on top of the lumen moving device. The embodiment of Figure 35 may be configured to provide power to at least one of a propulsion mechanism 1956, a steering mechanism 1966, a motion control circuit 1958, a sensor 1960, a response initiating circuit 1962, or an active portion 1964 And may comprise a configured power source 1968. The components of the embodiment of Fig. 35 may be as generally described elsewhere herein. The steering mechanism 1966 may be as described above with respect to FIG. In some embodiments, power may be transmitted from the remote portion 1972 to the lumen moving device 1950.

A motion control circuit is operatively connected to the sensor and controls at least one of a steering mechanism or a propulsion mechanism to control movement of the lumen moving device in response to receiving a sensing signal indicative of detection of a condition of interest in the body lumen, . Similarly, the response initiating circuit may be located in or on the lumen moving device in some embodiments, while in other embodiments at least a portion of the response initiating circuit may be located away from the lumen moving device, The device may include a data transmitting and receiving circuit configured to communicate with at least a portion of the response initiating circuit located remotely from the lumen moving device.

The control circuitry for the lumen moving device, which includes the response initiating circuit and / or the motion control circuit, located on or within the lumen moving device may comprise at least one of a microprocessor and / or hardware, software, or firmware. Examples of devices and / or systems for communicating within a device within a body are disclosed in U.S. Patent Nos. 5,843,139, 6,409,674, or 7,125,382, U.S. Patent Application Publication No. 2002/0198604, RICE, MIKE, &Quot; Implantable Neurostimulation Device Market Poised for Explosive Growth "for < / RTI > explosive growth; Future Fab International; January 7, 2006; pp. 1-4; Printed October 6, 2006; http://www.future-fab.com/documents.asp?d_ID=3725 , all of which are incorporated herein by reference in their entirety.

Various embodiments of the lumen moving device shown and described herein include a lumen wall coupling, a fluid contact configured to at least intermittently permit fluid flow through the body lumen in contact with fluid within the body lumen, At least one sensor capable of generating a sensed signal to detect a condition of interest in the body lumen and to indicate detection of a condition of interest, A motion control circuit configured to be at least partially supported by the lumen moving device to control the propulsion mechanism based at least in part on the sensed signal; A signal is generated to generate a response start signal The response is initiated and the circuit, connected to the response start circuit operably may include a active capable of generating a response upon receipt of a response start signal. A fluid contact configured to be in contact with a fluid in a body lumen and configured to at least partially intermittently permit fluid flow through a body lumen is configured to fluidly couple the fluid within the lumen through which fluid, such as, for example, a blood vessel, airway, digestive tract, or CSF- May be a useful feature for lumen transfer devices used. In some cases, blocking flow may cause serious problems. Thus, a lumen moving device configured to allow fluid flow at least in part of time may be valuable. For example, the fluid may be directed through a channel or lumen (e.g., as shown in Figures 1, 29, or 32) through the lumen moving device or, for example, as shown in Figures 5A, 5E, It may flow past a lumen moving device having a cross-section that does not fill the cross-section of the lumen, as in Fig. 30B, or Fig.

As shown in the various figures, the lumen moving device may include a power source configured to provide power to at least one of a propulsion mechanism, a motion control circuit, a sensor, a response initiating circuit, or an active portion. The power source may be located on the lumen mobile device, or (at least partially) on the remote unit as shown in FIG. 35, and power is transmitted to the lumen mobile device.

The lumen moving device may include various types of sensing or information gathering devices or structures. The lumen moving device may comprise one or more sensors of different or different types, which may be selected from the group consisting of a pressure sensor, a temperature sensor, a flow sensor, a viscosity sensor, a shear sensor (e.g., A pH sensor, a chemical sensor for determining the concentration of a chemical compound or chemical species, an optical sensor, an acoustic sensor, a biosensor, an electrical sensor, a magnetic sensor, a clock or a timer for measuring effective shear modulus But are not limited to these. Examples of various sensors that may be used in embodiments as described herein are disclosed in U.S. Patent Nos. 5,522,394, 5,873,835, 6,053,837, 6,409,674, 6,111,520, 6,278,379, 6,475,639, 6,855,115, and U.S. Patent Application Publication Nos. 2005/0277839 and 2005/0149170, all of which are incorporated herein by reference. U.S. Patent No. 6,802,811, which is incorporated herein by reference, provides additional examples of sensing and / or monitoring. In some embodiments, a photographing device (e.g., a CCD array) may be operatively connected to the lumen moving device, for example, connected to a structural element.

The optical sensor may be configured to measure, for example, optical absorption, optical emission, or fluorescence or phosphorescence of at least a portion of the fluid. Such optical properties may be the intrinsic optical properties of all or part of a fluid or tissue, or optical properties of a material added to or introduced to a fluid, such as a tag or marker for a substance of interest. Optical detection of substances in the blood is described, for example, by Krueger, Curtis, "New light on blood testing ", which is incorporated herein by reference; October 20, 2006, pp 1-2; St. Petersburg Times; Printed December 24, 2006; It is described at http://www.sptimes.com/2006/10/20 news_pf / Tampaby / New light on blood te.shtml .

The biosensor may be a biological marker, an antibody, an antigen, a peptide, a polypeptide, a protein, a complex, a nucleic acid, a cell (and in some cases, a specific type of cell, The present invention relates to a pharmaceutical composition for treating an inflammatory condition in an animal such as a human body, But not limited to, gas, contaminants, or tags. The biosensor may comprise antibodies or other binding molecules such as receptors or ligands. As used herein, a sensor may comprise a single sensor or an array of sensors, and is not limited to any particular number or type of sensor. The sensor may include a gas sensor, such as a sound wave, a chemical resistance or a piezoelectric sensor, or possibly an electronic noise, partly or wholly. The sensors are based on chemical sensors (" Chemical Detection with a Single-Walled Carbon Nanotube Capacitor ", Snow et al. Snow, E. S. et al., Science, Vol. 307, pp. 1942-1945, 2005], gas sensors ["Smart single-chip gas sensor microsystem ", Hagleitner, C. et al., Nature, Vol. 414, pp. 293-296, 2001], electron noise, nuclear magnetic resonance imaging ["controlled multiple quantum coherences of nuclear spins in nanometer-scale devices in nanometer-scale devices" Go Yusa, 2005, Vol. 343, pp. 1001-1005, Nature], including sensors or arrays. Such references are incorporated herein by reference. Additional examples of sensors are described in Biomedical Engineering Handbook, Second Edition, Vol. D. Bronzino, ed., Copyright 2000, CRC Press EL, pp. V-1-59-9, and U.S. Patent No. 6,802,811, all of which are incorporated herein by reference.

The sensor can be configured to measure various parameters including, but not limited to, electrical resistance of fluids, tissues, or other materials, density or sonic speed of the material, pH, osmotic pressure, or refractive index of the fluid at at least one wavelength have. The selection of suitable sensors for a particular application and site of use is contemplated within the ability of those skilled in the art. In some embodiments, the sensor may include some signal processing or preprocessing capabilities integrated therewith.

The interest condition detected by the sensor may include anatomical features (e.g., bifurcation points) that indicate proximity to the processing target or indicate the presence of the processing target itself. Interest conditions may include artifacts such as some types of implantable devices, possibly including other lumen moving devices. Alternatively, the conditions of interest can include one or more of an electric field, a magnetic field, a temperature, a flow condition, a time, a location, a pressure, pH, the presence or concentration of a chemical compound or chemical species.

The sensor can sense a wide range of physical or chemical properties. In some embodiments, detection of a condition of interest may include detecting the presence (or absence) of the substance or structure of interest.

In some applications, detecting a condition of interest in a fluid within a bodily lumen can include detecting the presence of a substance of interest in the fluid in the bodily lumen. The material of interest in the fluid may be, for example, blood clot, thrombus, embolus, plaque, lipid, kidney stones, dust particles, pollen particles, aggregates, cells, specific types of cells, cell fragments, cellular components, platelets, A collection of components of the plant, or an aggregate, germ cells, pathogens, or parasites.

The lumen moving device can be used in a number of different ways. In some embodiments, the lumen moving device may move through the lumen and perform an operation at a selected location that is identified when the device moves through the lumen. The device can move through the body lumen and perform "monitoring" for periods of time ranging from minutes to hours, days, weeks, or years. When the lumen mobile device identifies a location of interest (e. G., A location where some kind of medical treatment is required), it may perform an operation, for example, delivery of a medical treatment agent, Transmission of signals indicative of the need for, or recording of information about the location of interest. A lumen moving device that performs surveillance within a body lumen may perform an action "on the fly" when moving past a point of interest, or may perform a movement at or near the point of interest to perform an action. Stop or stop.

A sensor in combination with logic circuitry (hardware, firmware, and / or software) can be used to detect an interest condition within a body lumen wall or on a wall, within or surrounding tissue of a body lumen, or within a body lumen . The location of interest in the body lumen may be, for example, an anatomical location of interest (e.g., a bifurcation), an organ, a tumor, a location adjacent to a wound, a diseased or damaged area (e.g., a bypass or an aneurysm) Polyp, bacterial plaque, or occlusion or stenosis formed by vasospasm. The location of interest may be detected by detection of chemical markers or fingerprints, by altered mechanical, optical, thermal, electrical or acoustic characteristics, by imaging, and by other detection methods as known to those skilled in the art It is possible. The lumen moving device may perform one or more operations by the active portion in response to detecting the location of interest. The tissue conditions can be detected by the use of pressure pulses as described in U.S. Patent No. 6,170,488 and U.S. Patent Application Publication Nos. 2003/0220556 and 2004/0225325, which are incorporated herein by reference.

In some embodiments, the lumen moving device may perform operations continuously or intermittently as it moves through the body lumen. The performance of the action may not necessarily be necessarily associated with the detection of a region of interest in the body lumen.

In some embodiments, the lumen moving device may move through the body lumen until it reaches a certain position and then stop moving to be present at that position temporarily or substantially permanently. In this position, the lumen moving device may perform an operation on the local tissue forming the lumen or on the fluid in the lumen, which may flow or move continuously or intermittently in some other manner, It may not move. The location where the lumen moving device is stationary may be preselected, in which case the device may be targeted to that location. Alternatively, the location may be selected when the device moves through the lumen based on one or more characteristics of the location that can be sensed by the device. Features of the location include, but are not limited to, indicators of injury, pathology or disease conditions to be handled by the device, or anatomical features (such as proximity to size, or other structures, etc.) But is not limited thereto. Features of a location of interest may include various types of chemical, thermal, mechanical, optical, or other characteristics as may be sensed by various types of sensors, as described elsewhere herein. The parameters may be measured at a single time / space point or may be measured over a number of dimensions (space, time, or otherwise - e.g., frequency) to generate an image of a region that may include features of interest have. Signal processing for performing an analysis of a signal or an image may be used to detect a feature / position of interest from the signal or image.

In one application, the lumen moving device that moves within the male reproductive tract can detect the pH, flow, or viscosity of the semen and can be used to improve fertility or provide contraception based on, for example, It may perform an operation of changing this.

In some embodiments, the lumen moving device may be used to deliver the treatment agent to a relatively inaccessible position by other means. For example, the lumen moving device may move through the vascular system in the brain to access the brain area for delivery, such as drugs, therapeutic agents, chemotherapeutic agents, chemical, mechanical, optical, electrical or magnetic stimuli.

Figure 36 shows the steps of a method implemented with a lumen moving device. The method includes the steps of propelling the lumen moving device through the body lumen at step 2002, at least intermittently allowing fluid to flow through the body lumen at step 2004 and through the fluid contact of the lumen moving device, Detecting a condition of interest by a sensor on the lumen mobile device; generating a response start signal by a response initiating circuit located at least partially on the lumen mobile device at least in part responsively to detecting the interest condition at step 2008; And performing an operation by an active part of the lumen moving device in response to the response start signal at step 2010. [

37 shows a further modification of the method of Fig. The method includes the steps of propelling the lumen moving device through the body lumen at step 2052, at least intermittently allowing fluid flow through the body lumen and through the fluid contact of the lumen moving device at step 2054, Detecting a condition of interest by a sensor on the lumen mobile device; generating a response start signal by a response initiating circuit located at least partially on the lumen mobile device at least in part responsively to detecting the condition of interest in step 2058; And performing an operation by an active portion of the lumen moving device in response to the response start signal at Step 2060. [ In addition, propulsion of the lumen moving device through the body lumen may include propelling the lumen moving device with sufficient force to press open the closed body lumen, as shown in step 2064. Detecting the interest condition may include detecting the fluid flow as shown in step 2066, detecting the fluid viscosity as shown in step 2068, or detecting fluid shear as shown in step 2070 have.

Fig. 38 shows an additional modification of the method of Fig. Again, the method comprises the steps of propelling the lumen moving device through the body lumen at step 2102, at least intermittently allowing fluid flow through the body lumen and through the fluid contact of the lumen moving device at step 2104, Detecting a condition of interest by a sensor on the lumen moving device at 2106; and generating a response start signal by a response initiating circuit located at least partially on the lumen moving device, at least in part responsively to detecting the condition of interest, And performing an operation by an active part of the lumen moving device in response to the response start signal in step 2110. [ In addition, the method may include performing an operation by an active portion of the lumen moving device in response to a response initiating signal while propelling the lumen moving device through the body lumen, as shown in step 2114. Alternatively, the method may include performing an action by an active part of the lumen moving device in response to a response initiating signal after stopping movement of the lumen moving device in the vicinity of the interest condition, as shown in step 2116 have.

39A and 39B show additional modifications of the method of FIG. The basic steps of the method include propelling the lumen moving device through the body lumen at step 2152, at least intermittently allowing fluid flow through the body lumen and through the fluid contact of the lumen moving device at step 2154, Detecting a condition of interest by a sensor on the lumen moving device at 2156; and generating a response start signal by a response initiating circuit located at least partially on the lumen moving device, at least in part responsively to detecting the condition of interest, And performing an operation by an active portion of the lumen moving device in response to a response initiation signal at Step 2160. Detecting the condition of interest by the sensor on the lumen moving device may include detecting the concentration of the chemical compound or chemical species (step 2164), detecting the optical parameter (step 2166), as shown in Figure 39A, (Step 2168), detecting a biomolecule with a biosensor (step 2170), detecting an electrical parameter (step 2172), detecting a magnetic parameter (step 2174), detecting an acoustic parameter within the body lumen (Step 2176), or detecting the temperature in the body lumen (step 2178), or detecting the pH in the body lumen (step 2180), as shown in Figure 39b, (Step 2182), detecting the position (step 2184), detecting the artificial structure (step 2186), or detecting the time (step 2188). Once the artifact is detected, as in step 2186, the method includes the steps of transferring the material or structure to the artifact (step 2190), receiving the material or structure from the artifact (step 2192), or collecting the artifact (Step 2194). This may include, for example, connecting to the artificial structure such that it can be pushed or pulled by the lumen moving device, or it may include taking out the artificial structure to be contained within or carried within the lumen moving device.

40A-40E illustrate additional variations of the method as generally described in FIG. Again, the method includes the steps of propelling the lumen moving device through the body lumen at step 2252, at least intermittently allowing fluid flow through the body lumen and through the fluid contact of the lumen moving device at step 2254, Detecting a condition of interest by a sensor on the lumen moving device at 2256; and generating a response start signal by a response initiating circuit located at least partially on the lumen moving device, at least in part responsively to detecting the condition of interest, And performing an operation by an active portion of the lumen moving device in response to the response initiation signal at Step 2260. As shown in FIG. 40A, the step of performing an operation by an active part (step 2260) includes transmitting a signal to a remote location (step 2264), for example an adhesive, filler, hydrogel, antibiotic, , A nutrient, a hormone, a growth factor, a drug, a therapeutic compound, an enzyme, a protein, a genetic material, a cell, a cell fragment, a vaccine, a vitamin, a neurotransmitter, A prophylactic agent, an anti-apoptotic agent, an immunomodulator, an anti-inflammatory agent, a salt, an ion, an antioxidant, a contrast agent, a labeling agent, a diagnostic compound, a nanomaterial, an inhibitor, (Step 2266). ≪ RTI ID = 0.0 > [0040] < / RTI > Alternatively, as shown in FIG. 40B, performing an operation with an active portion may include collecting material from the body lumen (as shown in step 2270), which may include fluid in the body lumen (As shown in step 2272), or collecting samples (as shown in step 2274) from the wall area of the body lumen. Alternatively, the method may comprise collecting a sample from beyond the wall area of the body lumen, for example by using a needle penetrating the body lumen wall and / or using a permeation enhancer.

In some versions of the method, as shown in FIG. 40B, performing the operation by the active portion may include generating heating or cooling, as shown in steps 2276 and 2282, respectively. Heating can be used in a variety of applications in various locations. In one example, the method may include propelling the lumen moving device through the body lumen at a location near the pre-visual area, and performing the action by the active portion may include, And generating heating in the vicinity of the crossing front zone as shown in FIG. In another example, heating may be used in the male reproductive system to destroy the gonads, as shown in step 2280. In another example (not shown), heating may be used for ablation of the tissue. In addition, or alternatively, performing the operation by the active portion may include, for example, securing the lumen moving device to a location within the body lumen, as shown in step 2284, by using various positioning or lumen wall attachment structures . ≪ / RTI >

As shown in FIG. 40C, in some embodiments, performing operations by the active portion may include emitting electromagnetic radiation, as shown in step 2286. Operation may include emitting ultraviolet, infrared, optical, microwave or millimeter wave electromagnetic radiation, respectively, as indicated in steps 2288, 2290, 2292, 2294 and 2296. Alternatively, as shown in step 2298 of FIG. 40D, the step of performing an operation by an active part may include the step of generating an acoustic energy, including, but not limited to, ultrasonic acoustic energy, Step < / RTI > As shown in FIG. 40 (d), performing the operation by the active portion may include applying pressure to the body lumen by expansion of the active portion or by release of gas or fluid (Step 2302). In another embodiment, performing the actuation by the active portion may include, for example, blocking flow of fluid through at least a portion of the body lumen (step 2306), changing the direction of flow of the fluid through at least a portion of the body lumen (Step 2308), or modifying the flow of fluid through at least a portion of the body lumen, as shown in step 2304, by changing the amount of turbulence (step 2310). The step of reorienting the flow of fluid may include directing the flow toward a particular region of the branch lumen and / or into a particular branch of the branch lumen, for example by use of a variety of flow-oriented structures as disclosed herein . ≪ / RTI > Changing the flow direction of the fluid may also include reversing the direction of the flow, which may be accomplished, for example, by varying the pressure within the lumen as described herein.

As shown in Figure 40E, in some embodiments, performing an operation with the active portion at 2260 includes at least partially removing a particular component from at least a portion of the fluid in the body lumen, as shown at 2312, And activating at least one catalyst, as shown in step 2314. In yet another embodiment, performing the operation by the active portion includes generating an electric field as shown in step 2316, generating a magnetic field as shown in step 2318, or generating a magnetic field as indicated in steps 2320 and 2322 As well as scraping or severing at least a portion of the body lumen. Performing operations by the active portion may include releasing the artificial structure from the lumen moving device as shown in step 2324, and in some embodiments, applying an artificial structure to the wall of the body lumen, as shown in step 2326 And adhering the substrate to the substrate. As shown in Figure 40F, performing the action by the active portion in step 2260 includes delivering the material or structure to the receiving portion of the artificial device, as shown in step 2328, The method comprising the steps of: Finally, the method includes transmitting power to the lumen mobile device as shown in step 2332, sending a signal to the lumen mobile device as shown in step 2334, and transmitting the signal from the remote source to the lumen mobile device, Receiving a signal from the remote source, or receiving power from a remote source to the lumen mobile device as shown in step 2338. [

A lumen moving device as described herein may include control circuitry for controlling various operational aspects of the device. The lumen moving device and system as described herein may be operated under control of control circuitry, which may include hardware, software, firmware, or a combination thereof.

41 is a block diagram illustrating in greater detail the various circuit components of the lumen transfer system. As described elsewhere herein, the circuit components may be fully located on the structural elements of the lumen moving device, or may be distributed between the lumen moving device and the remote portion. The lumen transfer system may include one or more sensors 2400 for measuring or detecting the conditions of interest. The sensing circuit 2402 may be associated with the sensor 2400. The lumen motion system may include various control circuits 2404 including response initiation circuit 2404. [ The response start circuit 2406 may provide a response start signal to the active portion 2408. [ The control circuit 2404 may also include a data store 2412 that may be used to store pattern data 2414 or pattern variables 2416 for determining an activation pattern of, for example, have. The data store 2412 may also store location information including, for example, the current device location or the location of one or more target locations or landmarks, or a map of some or all of the patient's associated body lumen (s). In some embodiments, the control circuit 2404 may include a propulsion mechanism 2420, and optionally a motion control circuit 2418 for controlling the steering mechanism 2422. The control circuitry may include a transceiver circuit 2424 that provides for the transmission and reception of data and / or power signals between the lumen moving device and one or more remote components or external devices (e.g., monitoring or recording facilities). User input 2426 may provide input of user commands, parameters, and so forth to control circuitry 2404. Finally, one or more power sources 2428 may provide power to the electrical components of the lumen transfer system. Some components of the lumen moving device may operate wholly or partially under software control, and control circuitry 2404 may include hardware, software, hardware, or various combinations thereof. The lumen transfer device includes components such as, for example, a sensor 2400, an active portion 2408, a propulsion mechanism 2420, a steering mechanism 2422, and optionally a user input device 2426, I can do it. Hardware-based devices may include electrical, mechanical, chemical, optical, electromechanical, electrochemical, electro-optical components, and are not limited to the specific examples presented herein. As described elsewhere, in some embodiments, for example, the portion of the control circuit comprising the response initiating circuit may be located within or on the structural element, and in other embodiments, As shown in FIG.

In many embodiments, the control circuitry as shown in Figure 41 may be implemented in the form of logic, for example, software or digital logic circuitry. Figure 42 illustrates a logical module (which may be software or hardware) that may be used to control a lumen moving device as described herein. 42, the logic 2500 for controlling the lumen moving device is configured to process the input from the sensor 2504, for example, on the lumen moving device to detect the presence of interest within the body lumen of the organism, A sensing module 2502 capable of generating a signal and a sensing module 2502 that senses the sensed signal from the sensed module 2502 and generates an electrical signal indicative of whether the actuation in the body lumen is active by the active portion 2508 of the lumen moving device, (2512) on the lumen mobile device to control the speed or direction of movement of the lumen moving device through the body lumen, or an acceleration response module And a steering mechanism 2514 that can control at least one of the steering mechanism 2514 and the steering mechanism 2514. The logic may be implemented as a digital circuit, an analog circuit, software, or a combination thereof. The motion control module 2510 may receive a sense signal from the sense module 2502 and may control at least one of the propulsion mechanism 2512 or the steering mechanism 2514 on the lumen moving device based at least in part on the sense signal. 43, the motion control module 2510 may control the motion of the propulsion mechanism 2512 or steering (not shown) on the lumen moving device based at least in part on the motion control signal from the remote unit 2520. In one alternative embodiment, Mechanism 2514. In one embodiment, Alternatively, logic 2550 may be similar to that shown in Figure 42 and may be configured to process inputs from sensor 2504 on the lumen moving device to generate a sense signal that indicates detection of an interest condition within the body lumen of the organism A sensing module 2502 and a sensing module 2502 for receiving sensing signals from the sensing module 2502 and enabling operations to be performed within the body lumen by the active portion 2508 of the lumen moving device based at least in part on these sensing signals A response initiation module 2506 that is capable of generating a configured response start signal and a propulsion mechanism 2512 or steering mechanism 2514 on the lumen mobile device to control the speed or direction of movement of the lumen moving device through the body lumen And a motion control module 2510 capable of controlling at least one. In another related embodiment, the motion control module 2510 is based at least in part on a preprogrammed motion pattern, such as a motion pattern stored in a data storage location 2412, such as the data storage location 2412 in Figure 41, To control at least one of the propulsion mechanism 2512 or the steering mechanism 2514 on the lumen moving device. In some embodiments, the sensing module 2502 may generate a sense signal indicative of the presence or absence of a condition of interest, and the response initiation module 2506 may activate the lumen movement device 2508 to activate within the body lumen Lt; RTI ID = 0.0 > a < / RTI > The response initiation module 2506 may include control logic that uses a preprogrammed pattern that may be stored at a memory location on the lumen mobile device (such as data storage location 2412 of FIG. 41 as well).

In some embodiments, the sensing module 2502 may generate a sensing signal indicative of the presence or absence of a condition of interest, and the response initiation module 2506 may generate a sensory signal in response to an activation portion of the body lumen To generate a response start signal configured to control the performance of the operation in the mobile station. In some embodiments, the sensing module may generate a sensing signal indicative of a parameter value of interest condition, wherein the answering initiation module is activated by the active portion 2508 of the lumen moving device as a function of the parameter value of the condition of interest, May generate a response start signal configured to initiate the performance of the operation within the system. In addition, the response initiation module 2506 may, in some embodiments, generate a response initiation signal configured to control operation by the active portion 2508 of the lumen moving device for a period of time as a function of the parameter value of interest . In some embodiments, the sensing module 2502 may generate a time varying sensing signal indicative of a time variable parameter value of the condition of interest, and the response initiation module 2506 may generate an active It is possible to generate a response start signal configured to control the control section 2508. [

44 shows a method of using a lumen moving device, comprising moving a self-propelled lumen moving device through a body lumen at step 2602, moving the lumen moving device through the body lumen and at step 2604 Intermittently permitting flow of fluid through the lumen moving device; detecting a treatment target based at least in part upon detection of a condition of interest in the body lumen by a sensor on the lumen moving device in step 2606; Generating an acknowledgment signal in response to at least in part response to detection of an interest condition by the response initiating circuit that is at least partially located in the processing target; And delivering the treating agent.

45 shows an extended version of the method of FIG. 44, which includes moving a self-propelled lumen moving device through a body lumen at step 2652, moving the self-propelled lumen moving device through a body lumen at step 2654, Intermittently permitting flow of fluid past the fluid contact and detecting a treatment target based at least in part upon detection of a condition of interest in the body lumen by the sensor on the lumen moving device in step 2656; Generating a response start signal in response at least in part to detection of a condition of interest by a response initiating circuit that is at least partially located on the mobile device; and, responsive to the response start signal in step 2660, And transferring the treatment agent to the treatment target, Stopping the movement of the lumen moving device through the body lumen to release and transferring the treatment to the treatment target by the active portion of the lumen moving device while the lumen moving device is substantially unmovable in the body lumen . An additional method step 2666 may include resuming movement of the lumen moving device through the body lumen after delivery of the treatment agent to the treatment target by the active portion of the lumen moving device.

46 shows a further modification of the method of FIG. 44, which includes moving a self-propelled lumen moving device through the body lumen at step 2702, moving the self-propelled lumen moving device through the body lumen and at step 2704, Intermittently permitting flow of fluid past the fluid contact of the device and detecting a treatment target based at least in part on the detection of an interest condition within the body lumen by a sensor on the lumen moving device in step 2706; Generating a response start signal in response at least in part to detection of a condition of interest by a response initiating circuit located at least partially on the lumen moving device in step 2710; And delivering the treatment agent to the treatment target by the treatment target When transferring the eluent is a mobile device lumen, as depicted in step 2712 to move past the processing target may include the step of delivering treatment to the treatment target.

In some embodiments, such as those shown in Figures 44, 45, and 46, a method of using a lumen moving device may include delivering a treatment to a treatment target with an active portion of the lumen moving device, Based on at least one sensed parameter of the at least one sensor. In another embodiment, the treatment agent may be at least partially determined by a treatment pattern stored in the lumen moving device.

In some cases, the treatment target may comprise at least a portion of the wall of the body lumen, or, in some cases, the treatment target may be located beyond the wall of the body lumen so that activation of the lumen moving device Delivery of the treatment agent to the treatment target by the moiety may involve delivering the treatment agent to the treatment target through the walls of the body lumen. In some cases, the treatment target may include at least a portion of the contents of the body lumen.

An additional method of using the lumen transfer device is to insert a catheter carrying the lumen transfer device into the body lumen at step 2752, as shown schematically in Figure 47, to release the lumen transfer device from the catheter, Moving the self-propelled lumen moving device through the body lumen at step 2754, and at least intermittently flowing fluid through the body lumen and through the fluid contact of the lumen moving device at step 2756 Detecting a treatment target based at least in part upon detection of a condition of interest in the body lumen by a sensor on the lumen moving device in step 2758; By the response start circuit At least in part in response to the detection of the center condition it includes the step of delivering treatment to the treatment target by the steps and, the active portion of the lumen mobile device in response to the response start signal in step 2762 to generate a response start signal. The method of using the lumen moving device may include retrieving the lumen moving device from the body lumen by retrieving a catheter that inserts a catheter into the body lumen and carries the lumen moving device from the body lumen, for example, as shown in step 2764 of Figure 47 The method comprising the steps of:

In some embodiments of the method of using the lumen transfer device, the primary lumen transfer device 2802 and the secondary lumen transfer device 2810 can be used, as shown in Figures 48A-C. 44, the self-propelled lumen transfer device can be a secondary lumen transfer device 2810 and the method can be applied to the primary lumen transfer device 2802. In some embodiments of the method, And installing a secondary lumen transfer device 2810 in the body lumen by releasing the secondary lumen transfer device 2810 from the secondary lumen transfer device 2810. [ 48A, the primary lumen moving device 2802 is positioned within the bodily lumen 2800 proximate the bifurcation point 2804, where the bodily lumen 2800 branches to the smaller branch lumens 2806 and 2808. In Fig. The secondary lumen transfer device 1820 is carried by the primary lumen transfer device 2802 and attached by retention portions 2812 and 2814. The primary lumen transfer device 2802 is propelled through the body lumen 2800 (in this example, the lumen wall fitting structure 2816, 2818, 2820, 2821). 48B, when the primary lumen movement device 2802 reaches the branch point 2804, it may stop and release the secondary lumen movement device 2810. [ The secondary lumen transfer device 2810 is smaller than the primary lumen transfer device 2802, for example, to allow movement of the primary lumen transfer device into the branch lumen 2806 into smaller body lumens than can be accommodated. The secondary lumen transfer device 2810 includes lumen wall coupling structures 2822, 2824, 2826, 2828 that operate to propel the branch lumen 2806 downwardly away from the primary lumen transfer device 2802 can do. As shown in Figure 48C, the primary lumen transfer device may leave branch point 2804 after release of the secondary lumen transfer device 2810. [

The primary lumen transfer device 2802 and the secondary lumen transfer device 2810 may be of substantially similar size but of different sizes, as shown in Figures 48a-48c. 44, a self-propelling lumen transfer device (such as that shown in the method of FIG. 44) may be a primary lumen transfer device such as that shown in FIG. 48. In some embodiments of the method as schematically shown in FIG. 44, And the method may include installing a secondary lumen transfer device within the body lumen by releasing the secondary lumen transfer device from the primary lumen transfer device. As shown in FIG. 48, the secondary lumen moving device may be smaller than the primary lumen moving device.

Figure 49 illustrates the steps of moving a self-propelled lumen moving device through the body lumen at step 2902, at least intermittently allowing fluid flow through the body lumen and through the fluid contact of the lumen moving device at step 2910, Detecting a treatment target based at least in part on the detection of a condition of interest in the body lumen by a sensor on the lumen moving device at 2914; and detecting a treatment target based at least in part on a response by a response initiating circuit located at least partially on the lumen moving device, Generating a response start signal in response at least in part to the detection of the condition; and delivering a treatment to the treatment target by the active portion of the lumen moving device in response to the response initiation signal at Step 2916. . In addition, the method of FIG. 49 may include moving the lumen moving device through the body lumen, for example, under the control of a remote part of the type shown in FIG. 35, at least in part as indicated in step 2904 . For example, the motion control signal may be transmitted to the lumen moving device by the remote unit. The motion control signal may be generated at the remote part. The motion control signal may be received from a remote part by a signal receiver in the lumen moving device. The method may also include transmitting a signal indicating detection of a signal of interest from the lumen mobile device to a remote location, or transmitting a signal indicating the performance of the operation by the lumen mobile device to a remote location.

Alternatively, as shown in FIG. 49 (step 2906), the method of use of the lumen moving device may include controlling movement of the lumen moving device through the body lumen with the steering control on the lumen moving device. have. It should be noted that in some embodiments, propulsion may be provided without steering. In some embodiments, movement of the lumen moving device through the body lumen is controlled based at least in part on detected conditions of interest in the body lumen, controlled based at least in part on the use of the logic circuit contained within the lumen moving device, And / or the movement pattern stored in the lumen moving device. In another alternative, the lumen moving device may be moved through the body lumen in a substantially random or pseudo-random pattern, as shown in Figure 49 (step 2908).

In this and other embodiments of the methods disclosed herein, the detection of a condition of interest may be used to detect an embolism, plaque, thrombus, aneurysm, stricture, puncture, perforation, rupture, exfoliation, tear, , Or a bifurcation in a bodily lumen, wherein the bifurcation includes at least two branches of the body lumen. The term "condition ", as used herein, refers to anatomical features, artificial or other heterogeneous structures, features or conditions, disease states or injuries that may be present in the lumen, either accidentally or intentionally, A variety of detectable or measurable features or parameters may be referred to as occurring in general. In some embodiments, the method can include detecting a bifurcation in a bodily lumen, wherein the bifurcation includes at least two branches of the bodily lumen, and the method also includes determining a lumen And steering the mobile device.

A number of additional examples of embodiments of lumen moving devices are now provided to further illustrate the use of lumen moving devices as described herein.

50A and 50B illustrate a lumen movement device 3000 that moves through the body lumen 3002. Fig. The lumen moving device 3000 includes a sensor 3006, a response initiating circuit 3010, and an active portion 3012. The lumen moving device 3000 also includes a motion control circuit 3014. [ As shown in FIG. 50A, the sensor 3000 detects the substance 3008 on the wall 3004 of the body lumen 3002 at the location of interest, in this case. Material 3008 may be, for example, a plaque on the wall of an artery. The sensor 3006 can be an optical sensor, a photographing device, or various other types of sensors, as is known to those skilled in the art. Upon detection of the material 3008, the active portion 3012 may be activated as shown in Figure 50B. In this example, the active portion 3012 performs ablation of the material 3008, e.g., the active portion 3012 can be an optical device that generates light to perform laser ablation of, for example, a plaque, or Or may be an acoustic device for performing ultrasonic ablation of a plaque.

Figures 51A and 51B illustrate a lumen moving device 3050 that moves through a lumen 3052 that is contracted, for example, by a vasospasm. The lumen 3052 is defined by a lumen wall 3054 that is contracted in the vasospasm 3056 to block the flow of fluid through the lumen. The lumen moving device 3050 includes a sensor 3058 that detects the presence of vasospasm by, for example, detecting a reduced flow of fluid through the body lumen. Lumen transfer device 3050 also includes a material release structure 3060 that is activated in response to the detection of vasospasm 306 as shown in Figure 51B to remove vasospasm material 3064 Thereby releasing the blood vessels and causing relaxation of the vasospasm. The lumen moving device 3050 may also include a propulsion mechanism 3062, as well as other components not shown in Figures 51A and 51B, but as described elsewhere herein.

Figures 52A and 52B illustrate additional examples of lumen moving devices 3100 that move through the body lumen 3102. [ Body lumen 3102 includes an aneurysm 3104 that can be detected by sensor 3106 on lumen moving device 3100. The sensed signal generated by the sensor 3106 causes the response initiating circuit 3108 to engage the activation of the active portions 3110 and 3112 to engage the walls 3114 of the body lumen 3102 to seal the aneurysm 3104 And allow fluid to flow through the central lumen 3116 of the lumen moving device 3100 rather than flow into the aneurysm 3104.

Figures 53A and 53B illustrate the treatment of fluid flowing through lumen moving device 3150 located within body lumen 3152. [ The lumen moving device 3150 can move to a location of interest through the use of, for example, a propulsion mechanism 3157, and then couple to the lumen wall to remain at the location of interest and process the fluid traveling therethrough. Alternatively, the lumen moving device 3150, when moving through the body lumen 3152, can process fluids that are present in the lumen moving device or that contain fluid flowing through the lumen moving device. Body lumen 3152 is defined by wall 3154. In Figure 53A, a fluid component 3164 flowing through the body lumen 3152 is detected by a sensor 3158 in the structural element 3156 of the lumen moving device 3150. Upon detection of the component 3164 by the sensor 3158, the detection signal 3159 is transmitted to the response start circuit 3160 which generates the response start signal 3161. [ The response start signal 3161 is transmitted to the active unit 3162. As shown in Figure 53B, upon receipt of the response start signal 3161, the active portion 3162 is inactive in order to destroy the component 3164 in this example (subsequent destruction is indicated by 3164 ' (E. G., Acoustic energy). ≪ / RTI > For example, pulses of acoustic energy may be used to modify kidney stones in the urinary tract or to deform other objects in other body fluids.

Regarding the detection of the presence of a substance of interest, location, or other condition (s) in or near the body lumen or lumen contents, the active portion of the lumen moving device may remove, modify or destroy the substance of interest, can do. Deformation or destruction of a substance of interest can be achieved by release of a suitable material (e. G., An anticoagulant for destroying complementary blood coagulation for coating the parasite for recognition by the immune system) or by binding to an inflammatory mediator such as TNFa Release of an anti-inflammatory, biomimetic, or biological agent to inactivate it may result in the release of appropriate energy (e.g., acoustic energy, photoreactions, destruction of intramolecular bonds, heat generation, evaporation, Such as in the temperature-induced deformation of the spermatozoa when they pass through the resection or vasectomy of the circulating tumor cells or plaques, or by the transfer of heat or cold or other chemical-physical changes (E. G., Ambient pressure, pH, osmotic pressure, toxic substance introduction / generation).

In some embodiments of the lumen moving device or system, the lumen moving device may be an independent device that includes all the functions necessary for operation of the device. In another embodiment, as shown in FIG. 28, FIG. 35, or 43, the lumen transfer system may include a lumen transfer device that may be deployed within the body lumen and a remote portion that includes a portion of the function of the lumen transfer system . In some embodiments, all of the functional parts essential to the operation of the lumen moving device can be located on the lumen moving device, but the specific auxiliary functionalities can be located in the remote part. For example, the remote unit may provide monitoring or data collection or analysis of the operation of the lumen moving device. The remote part may be located within the patient's body, away from the lumen moving device, or external to the patient's body, as shown in FIG. The remote part may be located adjacent to the patient (e.g., carried on the patient's body or placed on a table adjacent to the patient) or away from the patient (e.g., within another room or building, Country). The data and / or power signals may be transmitted between the lumen moving device and the remote unit by use of electromagnetic or acoustic signals, or in some embodiments may be carried over an electrical or optical link. Communication methods and devices of various types and / or combinations of types may be used as is known to those skilled in the art. In some embodiments, the transmission of information between the lumen mobile device and the one or more remote units may be done in serial or in parallel via multiple communication channels. In general, the remote part may be located at a location where there is more space available than is available in the body lumen or more accessible than the body lumen. It is contemplated that portions of the electrical circuitry (which may include hardware, firmware, software, or any combination thereof) of the lumen transfer system may be located within the remote portion.

Methods for distributing the functionality of the system between hardware, firmware, and software located in more than one region are known to those skilled in the art. The electrical circuitry of the lumen transfer system may include, but is not limited to, electronics associated with the sensor, associated circuitry, and the active portion. Although the response initiating circuit has been described within the context of an electrical circuit, in some embodiments other types of logic / circuitry may be used in place of or in addition to electrical circuitry, and the response initiating circuitry and other circuitry It is to be understood that the present invention is not limited to the electric circuit. For example, fluidic circuits, chemical mechanical circuits, and other types of logic / circuits may provide equivalent functionality and may be used in certain embodiments.

In some embodiments, the lumen moving device may include an external steering system capable of transmitting a radio control signal to the structural element. In some embodiments, the lumen moving device may include a steering control within or on the structural element. Steering control within the structural element or on the structural element or an external steering system may be operated in a number of ways.

The lumen moving device may include a photographing marker or a tag, and the remote unit may include an external photographing system or may receive information from an external photographing system. The location of the lumen moving device may be correlated with a pre-existing map of the patient's body, or may be used to construct a map of the patient's body. The movement of the lumen moving device may be controlled, at least in part, based on the location of the lumen moving device within the body of the patient. In some embodiments, the lumen moving device may include a data storage location at which a map of the patient's body may be stored. A pre-existing map may be stored in the data storage location before the lumen moving device is introduced into the patient's body lumen. Alternatively, the map may be generated by use of logic on the device or in a remote system based on information gathered when the device travels through the patient ' s body, It can be stored in another location. In some embodiments, other positional or geographical information that may be used to control the route taken by the body by the lumen moving device rather than storing the map may be stored. In some embodiments, it may be desirable for the device to cover some statistical distribution of lumen size or location during its movement, but it may not be necessary to move a particular route through the body, The location information may be stored and used to select the route to be taken by the device.

54 shows a push mechanism 3902 that can cause directional movement of the lumen moving device 3900 through the body lumen, a steering mechanism 3904 that can change the direction of movement of the lumen moving device, At least one electromagnetic transducer (3906) configured for at least one of generating an output signal representative of the generated bio-magnetic signal or delivering an electromagnetic stimulus to a target tissue; An embodiment of a lumen moving device 3900 that includes at least one of a signal processing portion 3908 with at least one electromagnetic transducer, or a stimulation source 3910 that can generate electromagnetic stimulation for delivery to a target tissue, . As used herein, the term "vital signs" refers to biological signals that are originally biological, such as can be detected from nerve tissue, cardiac tissue, and various other body tissues, as is known by those skilled in the art Refers to a signal that is an electrical, magnetic, and / or electromagnetic signal (or a combination thereof). It is contemplated that bio-magnetic signals include, for example, electrical and ionic currents, potentials, and / or charges, magnetic fields, fluxes, electrostatic fields, and quasi-static electromagnetic fields. A biological signal source can generate both an electric field and a magnetic field, and either or both of an electric field and a magnetic field can be detected and, in some cases, can be related. J. < / RTI > J. Malmivuo and R. Plonsey : Bioelectromagnetics: Principles and Applications of Bioelectrical and Biomagnetic Fields , Oxford University Press, New York, In 1995 (Web version), see http://butler.cc.tut.fi/~malmivou/bem/bembook/ , especially chapters 11 and 12 describe the theory based on bioenergy and biomagnetic measurements, respectively Chapters 13 and 14 illustrate electrical and magnetic measurements of electrical activity of nerve tissue, and Chapters 15 through 20 describe electrical and magnetic measurements of cardiac electrical activity.

The lumen moving device may include at least one wall coupling structure that is capable of engaging a wall of the body lumen with the lumen against the wall of the body lumen in the vicinity of the target tissue to secure the stimulation device. The wall coupling structure may be a structure that couples to the wall lumen, for example, via an expansion or expansion structure, or other mechanism such as an aspiration mechanism, adhesive, hook or hook as described elsewhere herein.

The lumen moving device may include a structural element configured to at least intermittently allow fluid movement through the body lumen past the lumen moving device. In some cases, the structural element may allow continuous or nearly continuous fluid flow past the lumen moving device, while in other cases the device may allow fluid movement at some time in a controlled and / or predictable manner And may interfere with fluid movement at other times. The structural elements may be described herein and in other parts of this specification with reference to Figures 2A-2D, 3A-3C.

55, the lumen moving device 3950 may be configured for writing and may include a propulsion mechanism (e.g., a biosensor) that can generate directional movement of the lumen moving device 3950 through the body lumen At least one electromagnetic transducer 3956 configured to generate an output signal representative of the bio-magnetic signal sensed from the target tissue, in addition to the steering mechanism 3954, which can change the direction of movement of the lumen moving device, And at least one signal processor 3958 capable of processing the bio-magnetic signals recorded from the target tissue with at least one electromagnetic transducer. The lumen moving device 3950 may also include a data storage location 3960 or other structure for storing the sensed signal. Alternatively, the lumen moving device 3950 may include a transmitter for transmitting the sensed signal to a remote location.

56, the lumen moving device 4000 may be configured for stimulation and may be configured to include a propulsion mechanism 4002, a steering mechanism 4004, And at least one stimulation source (4008) capable of generating electromagnetic stimulation for delivery to a target tissue with at least one electromagnetic transducer.

Figure 57 illustrates a version of lumen moving device 4100 configured to perform both stimulation and recording. FIG. 57 also illustrates an embodiment of a lumen moving biological interface device that may be included in various embodiments of a lumen moving biological interface device that performs only stimulus only or only recording, for example, as shown in simplified schematic form in FIGS. 54, 55, Are illustrated and described. The lumen transfer device 4100 includes at least one electromagnetic transducer 4102 (in this example, two electromagnetic transducers 4102) configured to generate an output signal representative of the bioelectrical signal sensed from the target tissue (Although one or more electromagnetic transducers may be used for sensing), at least one electromagnetic transducer 4104 configured to transmit an electromagnetic stimulus to the target tissue (again, in this example, , One or more electromagnetic transducers for stimulation may be used), at least one signal processor (not shown) capable of processing output signals from the electromagnetic transducer 4102, (4106) and at least one electromagnetic transducer (4104) to generate electromagnetic stimuli for delivery to the target tissue May include at least one stimulation source 4108. In some embodiments, the lumen moving device 4100 may include at least one electromagnetic transducer configured to generate an output signal representative of the bio-magnetic signal sensed from the target tissue and to deliver electromagnetic stimulation to the target tissue , I.e. a single electromagnetic transducer, can perform the recording or stimulating function. In another embodiment, individual structures are used for recording and stimulation. The individual structures may be the same or different types. Although Figure 57 shows two transducers for recording and two transducers for stimulation, a single lumen moving device includes a greater number of electromagnetic transducers that can be used for either or both recording or stimulation can do. In general, the electronic circuitry associated with the transducer may be suitably modified, for example, various complex schemes as known to those skilled in the art to handle the input to and output from a plurality of transducers Lt; / RTI > As discussed above, the lumen moving device 4100 may include a propulsion mechanism 4110 and a steering mechanism 4112. The lumen moving device 4100 may also include a receiver 4114 configured to receive signals from the remote unit 4116. [ The lumen moving device 4100 may include a transmitter 4118 configured to transmit signals to the remote device. The remote device may be any device that detects, records, and / or retransmits data from a controller (e.g., remote portion 4116 shown in FIG. 57) or lumen moving device 4100. Remote unit 4116 may include remote circuit 4122, transmitter 4124 and receiver 4126 and may include other components as shown, for example, in connection with FIG. The control circuit 4120 on the lumen moving device 4100 may also include additional components as generally described, for example, in other parts of the disclosure with respect to FIG.

The lumen moving device may include a sensor 4128 that can sense a parameter indicative of proximity to a target tissue and generate a sensed signal, which may include, for example, an optical sensor, a photographing device, a thermal sensor, a chemical sensor Sensors, electrical or magnetic sensors, or other sensors as described elsewhere herein. The sensor may be used, for example, to sense anatomical features that may be a bifurcation. In addition, the lumen moving device can be used for example as a battery or micro battery, a fuel cell, a biofuel cell, an inductively powered power receiving structure driven by a remotely applied electromagnetic field, Or a power source 4130 such as an energy scavenger device capable of converting muscle movements. The lumen moving device may be dimensioned to fit within the various body lumens to move to a location proximate the source of the stimulating tissue or biological signal of interest. For example, a lumen moving device may be dimensioned to fit within the blood vessel of a brain to obtain access to stimulus targets or signal sources in the area of the brain, or may be configured to deliver cardiac pacing stimuli, Lt; RTI ID = 0.0 > a < / RTI >

In some embodiments, the lumen moving device may include at least one stimulation source capable of generating a stimulus configured to control or alter cardiac activity. In another embodiment, the lumen moving device may include at least one stimulation source capable of generating a nerve stimulus.

Electromagnetic transducers include electrodes for transmitting electrical stimuli and / or for sensing electrical or electrochemical signals, coils for generating or sensing magnetic fields, other field sensing devices such as Hall effect sensors, And other types of electromagnetic fields or energy for transmitting or sensing energy, including, but not limited to, ion sensitive capacitive or electroactive devices, laser diodes, lasers, light emitting diodes, photodiodes, Electromagnetic devices. Some types of electromagnetic transducers can be used to transmit electromagnetic stimuli and also to detect live magnetic signals, while other types of electromagnetic transducers may be suitable for stimulation or sensing, not both for stimulation and sensing . Various types of electrodes for delivering electrical stimulation and coils and processing circuitry for delivering electromagnetic stimulation and associated signal generation are known in the art. For example, low-impedance thin film polycrystalline silicon for extracellular fluid stimulation and recording of BUCHER, VOLKER, GRAF, MICHAEL, STELZLE, MARTIN, NISCH, WILFRIED (Low-Impedance Thin-Film Polycrystalline Silicon Microelectrodes for Extracellular Stimulation and Recording) "; Biosensors and Bioelectronics; 1999; pp. 639-649; Vol. 14; Elsevier Science. (Elsevier Science SA); www.elsevier.com/locate/bios , CUI, XINYAN, HETKE, JAMILLE F., WILER, JAMES A., ANDERSON David J. ANDERSON, DAVID J., MARTIN, DAVID C. "Electrochemical Deposition on Multichannel Neuro Probe and Electrochemical Deposition and Characterization of Polymer Polypyrrole / PPS (PPS on Multichannel Neural Probes ) "; Sensors and Actuators A Physical; 2001; pp. 8-18; Vol. 93; Elsevier Science BV; www.elsevier.com/locate/sna and Pia Carrino . Mr. (FIACCABRINO, GC), Tang X. - M (TANG, X.-M.), Skinner (SKINNER, N.), De Ruizen. &Quot; Electrochemical Characterization of Thin-Film Carbon Interdigitated Electrode Arrays "of DE ROOIJ, NF, KOUDELKA-HEP, M.); Analytica Chimica Acta; 1996; pp. 155-160; Vol. 326; Epithelial epithelium and epithelium in intestinal tissues of GITTER, ALFRED H., FROMM, MICHAEL and SCHULZKE, JORG-DIETER, Elsevier Science V. V. and GITTER ALFRED H. Impedance Analysis for the Determination of Subcutaneous Resistance (Subepithelial Resistance in Intestinal Tissues) "; Journal of Biochemical and Biophysical Methods, 1998; pp. 35-46; Vol. 37; (EGERT, U.), STELZE, M., NISCH, W.), Ellis V. Science V. V., JANDERS M., &Quot; Novel Thin Film Titanium Nitride Microelectrodes with Excellent Charge Transfer Capability for Cell Stimulation and Sensing Applications ", having excellent charge transport capacity for cell stimulation and sensing applications; IEEE Engineering in Medicine and Biology Society; 1996; pp. 245-247; IEEE and Löwe. (LOEB, GE), Peck Al. "Toward the Ultimate Metal Microelectrode" of MECKYNIUK, J., PECK, RA; Journal of Neuroscience Methods; 1995; pp. 175-183; Vol. 63; REVLING H., SCHALDACH, M.), Ellsworth (eds.), Ellsworth Science P, V., RIED MULLER, J., BOLZ, A., &Quot; Improvement of Stimulation and Sensing Performance of Bipolar Pacemaker Leads in Bipolar Pacemaker Lead " IEEE Eng. Med. Biol. Soc; 1992; pp. 2364-2365; IEEE, ROUSCHE, PATRICK J., PELLINEN, DAVID S., PIVIN, DAVID P., and WILLIAMS, JUSTIN C. VETTER, RIO J., KIPKE, DARYL R., "Flexible Polyimide-Based Intracortical Electrode Arrays with Flexible Polyimide-Based Electrode Arrays with Life- Bioactive Capability " IEEE Transactions on Biomedical Engineering; March 2001; pp. 361-371; Vol. 48, No. 3; IEEE, RUTTEN, WIM, MOUVEROUX, JEAN-MARIE, BUITENWEG, JAN, HEIDA, CISKA, RUARDIJ, Quot; Neuroelectronic Interfacing with Cultured Multielectrode Arrays Toward a Cultured Probe ")," TEUN, MARANI, ENRICO and LAKKE, EGBERT. IEEE Proceedings; July 2001; pp. 1013-1029; Vol. 89, No. 7; &Quot; The Electrical Properties of Metal Microelectrodes "by ROBINSON, DAVID A., IEEE, and Robinson David A.; The minutes of the IEEE; June 1968; pp. 1065-1071; Vol. 56, No. 6, all of which are incorporated herein by reference as examples of central nervous system, peripheral nervous system, intestine, or cardiac pacing.

Electrical circuits and software / firmware for use in acquisition and processing of live magnetic signals are described in various references and examples of these documents, which are incorporated herein by reference, include DILLIER, NORBERT, WAI KONG, ALMQVIST, BENGT, FROHNE, CAROLIN, MULLER-DEILE, JOACHIM, STECKER, MATTHIAS, &Quot; Measurement of the Electrically Evoked Compound Action Potential Via a Neural Response Telemetry System " of VON WALLENBERG, ERNST, by " Neural Response Telemetry System "; This Annals of Otology Rhinology and Laryngology, May 2002; pp. 407-414; Vol. 111, No. 5, Annals Publishing Company, and DONOGHUE, JOHN P. "Review: Connecting the Cortex to the Machine: Connecting Cortex to Machines: Recent Advances in Brain Interfaces) "; Nature Neuroscience Supplement; November 2002; pp. 1085-1088; Vol. 5; Nature Publishing Group; http://www.nature.com/natureneuroscience , GOZANI, SHAI N., and MILLER, JOHN P. "A multi-unit, software-based linear filter. Optimal Discrimination and Classification of Neuronal Action Potential Waveforms from Multiunit, Multichannel Recordings Using Software-Based Linear Filters " IEEE Transactions on Biomedical Engineering; April 1994; pp. 358-372; Vol. 41, No. 4; IEEE; GRAY, CHARLES M., MALDONADO, PEDRO E.), WILSON, MATHEW, MCNAUGHTON (BRUCE), "the four-pole tube is the cat stripe cortex ≪ / RTI > significantly improve the reliability and yield of multiple single-unit isolation from multi-unit recording at the < RTI ID = 0.0 > Journal of Neuroscience Methods; 1995; pp. 43-54; Vol. 63; Elsevier Science V. V. and Hoffman U. HOCHMAN, UG, FOLKERS, A., MOSCH, F., HOHL, D., KINDLUNDH, M., 64 (128) -channel Multisite Neuronal Recording System (A 64 (128) -Channel Multisite Neuronal Recording System) of NORLIN, P. ";2002; pp. Channel low-noise microdevice array (A Low) system for active multi-channel microelectrode arrays "by WISE, KENSALL D., and WJ Kearns, -Noise Demultiplexing System for Active Multichannel Microelectrode Arrays "; Biomedical IEEE Newsletter; January 1991; pp. 77-81; Vol. 38, No. One; IEEE; Orson al. Eighty. 3 years old (OLSSON III RH), Guarry M. et al. Yen (GULARI, MN), Wise Kay. (Poster 114: Silicon Neural Recording Arrays with On-Chip Electronics for In-Vivo Data Acquisition) for in-vivo data acquisition; Microtechnologies in Medicine and Biology; May 2, 2002 - May 4, 2002; pp. 237-240; IEEE, and SCHOONHOVEN, R., Stage Maj. &Quot; Models and Analysis of Compound Nerve Action Potentials "of STEGEMAN, DF; Critical Reviews in Biomedical Engineering; 1991; pp. 47-111; VoL 19, No. One; CRC press inks. Examples of electronic circuits for controlling stimulation by the implanted electrode system are described, for example, in Löb, Gerald E., PECK, RAYMOND A., which is incorporated herein by reference. , MOORE, WILLIAM H., and HOOD, KEVIN, "BION System for Distributed Neural Prosthetic Interfaces"; Medical engineering and physics; 2001; pp. 9-18; Vol. 23; Elsevier Science Ltd.; It is available at www.elsevier.com/locate/medengphy.

A variety of references describe the theoretical basis for electromagnetic sensing and stimulation. Examples, all of which are incorporated herein by reference, are Hodgkins et al. El. (HODGKIN, AL), Huxley. &Quot; A Quantitative Description of Membrane Current and its Application to Conduction and Excitation in Nerve " of HUXLEY, AF. Journal of Physiology; 1952; pp. 500-544; VoL 117, MARKS, WILLIAM B., and Löw Gerald E., "Action Currents, Internodal Potentials, and Endothelial Potentials in Mammalian Nerve Fiber Derived from Node Displacement, and Extracellular Records of Myelinated Mammalian Nerve Fibers Derived from Node Potentials) "; Biophysical Journal; 1976; pp. 655-668; Vol. 16, and MCNEAL, DONALD R., "Analysis of a Model for Excitation of Myelinated Nerve"; IEEE Journal of Biomedical Engineering; July 1976; pp. 329-337; Vol. BME-23, No. 4 and " Analysis of Models for Extracellular Fiber Stimulation "of RATTAY, FRANK; IEEE Journal of Biomedical Engineering; July 1989; pp. 676-682; Vol. 36, No. 7; IEEE; "Modeling Axon Membranes from Functional Electrical Stimulation from Functional Electrical Stimulation" by LaTei Frank, ABERHAM, MATTHIAS; IEEE Journal of Biomedical Engineering; December 1993; pp. 1201-1209; Vol. 40, No. 12; IEEE, and STRUIJK, JOHANNES JAN, "The Extracellular Potential of a Myelinated Nerve Fiber in an Unbound Medium and in a Nerve Cuff Model " Models) "; Biology Journal; June 1997; pp. 2457-2469; Vol. 72; Includes biology associations. Related methods and devices, as well as basic theory are also examples K. KW Horch and Ji. s. Dylan (GS Dhillon) is editor of neural prostheses: Theory and Practice (Neuropro sthetics: Theory and Practice) (. Biotechnology and Biomedical Engineering Series -Vol 2), World Scientific Publishing Company Limited pitiyi (World Scientific Publishing Co. Pte Ltd., Singapore, 2004, J. Malmivuo and Al. R. Plonsey Biomagnetics: Bioelectromagnetism: Principles and Applications of Bioelectric and Biomagnetic Fields , Oxford University Press, New York, 1995, http://butler.cc. tut.fi/~maknivuo/bem/bembook/ , and these references are incorporated herein by reference. As used herein, the term "coil" refers to various structures used to generate a magnetic field for use in magnetic stimulation. In some embodiments, the coils may include a plurality of current carrying loops, and in other embodiments the coils may include a single full or partial loop, which is often a generally rounded or circular loop ), But the coils are not limited to any particular form of the loop. Optical stimulation may be performed by a method as described in U.S. Patent No. 6,921,413, which is incorporated herein by reference.

In various embodiments, the stimulation source may generate depolarization stimulation sufficient to cause depolarization of at least a portion of the target tissue, or hyperpolarization stimulation sufficient to cause hyperpolarization of at least a portion of the target tissue. In some embodiments, the stimulus source may generate sufficient stimulation to cause functional inhibition of the activity of the target tissue, whereas in other embodiments the stimulation source may cause a functional stimulation of the activity of the target tissue It may generate sufficient stimulation. Stimulation sufficient to cause functional inhibition or promotion of the activity of the target tissue or portion thereof may be determined empirically or selected based on information and knowledge available to those skilled in the art. In some embodiments, the stimulus source may generate a preprogrammed stimulus pattern. In some embodiments, the stimulation source may generate a stimulus in response to a sensing signal from a sensor, which may be an electrical sensor, a magnetic sensor, or a chemical sensor.

At least one stimulation source may generate a stimulus in response to a signal from the remote.

The lumen moving device may include at least one signal processing section capable of processing the output signal from the electromagnetic transducer, for example, by amplifying the output signal recorded from the target tissue with at least one electromagnetic transducer. The signal processing section may process the output signal by various signal processing methods including, for example, performing or filtering feature detection / pattern recognition on the output signal.

As shown in FIG. 57, in some embodiments, the lumen moving device includes at least one signal processing section capable of processing an output signal from the electromagnetic transducer, and at least one signal processing section And at least one transmitter configured. Alternatively, or additionally, the transmitter may transmit information (e.g., information about the delivery of an electromagnetic stimulus to the target tissue) about the status, location, or location of the lumen mobile device or actions taken to a remote location by the lumen mobile device As shown in FIG.

55, the lumen moving device may include at least one signal processing section capable of processing the output signal from the electromagnetic transducer and at least one signal processing section configured to store the output of the at least one signal processing section of the lumen moving device. Lt; RTI ID = 0.0 > a < / RTI >

58 shows a method of installing an electromagnetic stimulating device. The method includes moving a self-propelling electromagnetic stimulation device within a patient's body tube tree toward a target site (step 4152), moving the self-propelling electromagnetic stimulation device to a diverging point comprising two or more branches within the body tube tree Propelling electromagnetic stimulation device to the selected branch (step 4154), and stopping the movement of the self-propelling electromagnetic stimulation device when the target area is reached (step 4156).

As used herein, the term "self propelling type" refers to a device having an onboard propulsion mechanism for generating propulsive forces. The power for the propulsion mechanism may be located on-board the device, or in some embodiments the power may be transmitted or transmitted from the external power source to the device. The control circuitry for controlling the operation of the propulsion mechanism may be embedded in the device or, in some embodiments, at least partially located within the remote portion. For example, it is contemplated that moving a self-propelled electromagnetic stimulation device within a body tube tree may include incorporating an electronic circuit, or at least in part, generating a control signal or driving a signal to an external device, Is not considered to include the application of an external force to cause the movement of the object.

59 illustrates a possible extension of the method shown in FIG. 58, which includes the steps of introducing a self-propelling electromagnetic stimulation device into the body tube tree at step 4202, (Step 4204); and when a bifurcation point including two or more branches within the body tube tree is reached by the self-propelling electromagnetic-stimulating device, the self-propelling electromagnetic-stimulating device is moved to the selected branch (Step 4206), and stopping the movement of the self-propelling electromagnetic stimulation device when the target area is reached (step 4208). The method may also include coupling a self-propelled electromagnetic stimulation device at a target site to the wall of the body tube tree, as shown in step 4210. The body tube tree into which the self-propelling electromagnetic stimulation device is introduced may be the patient's cardiovascular system as indicated at 4212 and may be the patient's respiratory machine as indicated at 4214, May be the patient ' s CSF-space, as indicated. The branch where the self-propelled electromagnetic stimulation device enters in step 4206 may be selected because it is predicted to be directed toward the target site as indicated at 4220, or the branch may be located on some other basis For example, size, orientation, direction of fluid flow through the branch, etc.).

Figure 60 illustrates a method of installing a self-propelling electromagnetic stimulation device, generally as shown in Figure 58, which moves a self-propelled electromagnetic stimulation device within a patient ' s body ' (Step 4252), entering a self-propelled electromagnetic stimulation device into a selected branch if a diverging point including two or more branches in the body tube tree is reached by the self-propelling electromagnetic stimulation device (step 4254) Stopping the movement of the self-propelled electromagnetic stimulation device when the target site is reached (step 4256). As indicated in dashed box 4260, the method may include moving a self-propelled electromagnetic stimulation device within the body tube tree toward a target site located within a patient's ventricle. Alternatively, as shown in dashed box 4262, the method may include moving the self-propelled electromagnetic stimulation device within the body tube tree toward a target site located within the vasculature of the patient's brain have. Here and in other parts of this specification, the dashed boxes are used to indicate optional and / or alternative steps of the flowchart. The target site may be located in the vascular system of the brain in the vicinity of the stimulation target comprising the tissue in response to electromagnetic stimulation, such as the hypothalamus (as indicated at 4264), the target cortex (As indicated by reference numeral 4268), anterior thalamus (as indicated by reference numeral 4270), subthalamic nucleus (indicated by reference numeral 4272) (As indicated by reference numeral 4274), an insula (as indicated by reference numeral 4276), or a deep brain (indicated by reference numeral 4278) As shown in FIG.

A number of brain regions may be suitable sites for stimulation, which may include soft tissues such as soft tissues (soft pyramids, soft tissue arthritis nuclei, isolated nuclei, sublingual nuclei, dorsal nuclei, olive bodies, lower olive nuclei, A head or bladder including a wedge nucleus, a plank core, a submerged denuclear, a seam nucleus [unidentified seam nucleus, a seam seam nucleus, and a seam seam nucleus], a lower zone, and a nucleus containing the dorsal nucleus of the vagus nerve); The cerebellum (the cerebral cortex, the salivary gland, the salivary gland, the salivary glands, the brains of the legs, the nucleus of the legs, the trigeminal nucleus, the abducens nucleus, the facial nucleus, the snail nucleus, The hindbrain including the worm, the cerebellum hemisphere [the frontal lobe of the lower body of the sewer, the posterior leaf of the lower body of the sewer, the cerebellar nucleus, the nucleus, the round nucleus, the plug nucleus, the tooth nucleus); A middle brain or midbrain, including tectum (estuary and maxillary), cerebral legs, middle cerebral back plate (dorsal area, red nucleus, substantia nigra and cerebral angle) and pretectum; The nucleus of the anterior nucleus (anterior nucleus, anterior dorsal nucleus), middle nucleus (dorsal nucleus, midline nucleus, cingulate nucleus, nucleus of the ventricle, junction nucleus, (The anterior nucleus, the posterior nucleus, the sagittal pillow nucleus), the dorsal nucleus (the anterior nucleus, the anterior nucleus), the lateral nucleus (Cranial nucleus, cranial nucleus, frontal cortex, temporal cranial nucleus, parietal nucleus, parietal cortex) including the posterior thalamus, posterior thalamus (medial temporal lobe, (Parietal nucleus, indeterminate area) and the pituitary gland (nerve plexus), and the pituitary gland (pituitary gland, pituitary gland) Pituitary gland, midgut pituitary gland, gland pituitary gland); (The central nucleus, the middle nucleus, the ciliary cortex and the basolateral nucleus, and the one-lateral nucleus containing the lateral and basolateral nuclei), and the white matter (cerebral cortex, inner fibrous membrane, outer fibrous membrane, (Bottom nucleus including the striatum, lens nucleus, pale nucleus, GPi, paleoepithelium (GPe), conchoid nucleus, sphenoid nucleus, fascia, amygdala), hippocampus Cerebral cortex (frontal lobe including main motor cortex and Broadman region 4, prefrontal cortex, supplementary motor cortex, all motor cortex, and Broadman area 6), brain (olfactory bulb, gourd cortex, , The middle auditory cortex, A1, A2, the lower cortex, the lower auditory cortex, and the Brodmann area, 9, 20, 9, 10, 11, 24, 25, 32, 33, 44, 45, S1, S2, posterior parietal cortex, prefrontal cortex, Broadman region 1, 2, 3, 4, 5, 6, 7, 5, 7, And the subject cortex including the parietal lobe including the parietal lobe, the main visual cortex (V1), V2, the wedge and the Broadman region 17, 18 and 19 including the 23, 26, 29, 31, 39 and 40 , Broadman region 23, 24, 26, 29, 30, 31, 32); But are not limited to, limbic system including one-way, target rotation, arcuate, hippocampus, hypothalamus, papillary body, septal nucleus, orbital frontal cortex and hippocampus. In addition to the brain structure, the center (e.g., the chuck tube, retina, brain, etc.) and other parts of the peripheral nervous system may respond to electrical, magnetic, and / or other types of stimuli. In addition, the central and peripheral portions of the nervous system can also be sources of bioelectric activity that can be detected with lumen-moving biological interface devices. Other tissues (including smooth muscle, skeletal muscle, and myocardium) can also be sources of bioelectric / bio-signals and can also respond to electrical, magnetic, chemical or other stimuli.

Figure 61 illustrates a method of installing a self-propelling electromagnetic stimulation device, which is an expanded example of the method shown in Figure 58, comprising the steps of selecting a target site in the vicinity of a stimulation target comprising tissue responsive to electromagnetic stimulation (Step 4302); moving a self-propelling electromagnetic stimulation device within the patient's body ' s tube tree toward the target site (step 4304); and if the diverging point including two or more branches in the body & (Step 4306) when the self-propulsion electromagnetic stimulation device is reached by the stimulation device (step 4306), and stopping the movement of the self-propelling electromagnetic stimulation device when the target area is reached . For example, the stimulus target may be the subject cortex as indicated at 4312, may be hypothalamus as indicated at 4314, may be circular as indicated at 4316, , As indicated by reference numeral 4318, may be a sagittal nucleus as indicated at 4320, may be inner parenchary as indicated at 4322, and may be at 4324 It may be an island as indicated, or it may be a deep brain, as indicated at 4326. [

Activity in a particular brain region is associated with mood, feel, sense, or behavior, and stimulation (excitation / stimulation or inhibition) in these brain regions can be used to upregulate or downregulate these moods or behaviors. For example, a hypothalamic stimulus is considered to produce a sensation of satiety, which may reduce overeating to induce obesity (see, for example, U.S. Patent No. 5,782,798, which is incorporated herein by reference) See also US Pat. No. 6,950,707 for stimulation for the treatment of obesity), stimulation of the subject cortex or vagus nerve can reduce depression, and islet injury can reduce addictive behavior such as smoking, It has been proposed that it can affect habitual behavior (see, for example, JP-A- H. N. H. Naqvi et al., "Damage to the Insula Disrupts Addiction to Cigarette Smoking ", Science Vol. 315, pp. 531-534, 2007, doi: 10.1126 / science.1135926), stimulation of the anterior and posterior (thalamic nucleus) can be used to treat epilepsy (see, for example, the treatment of epilepsy US Pat. Nos. 7,003,352, 6,597,954, 6,134,474 and 6,337,997 for stimulation of various brain areas for stimulation of various brain regions), hypothalamic stimulation may reduce Parkinson's disease, and parenchymal stimulation may inhibit tremor . Stimulation of various areas can reduce schizophrenia or bipolar disorder. A number of patent documents, incorporated herein by reference, describe methods for electrically, magnetically and / or chemically stimulating various tissues to address various problems, and these stimuli include neurological disorders 6,128,538, and 6,016,449), or a variety of brain regions for treating sleep disorders (U. S. Patent No. 5,335, 657), irritation of the vagus nerve to treat dementia (US Patent No. 5,269,303), pain and / or headache Irritation of the deep brain or other areas to treat Parkinson's disease (US Patent No. 6,920,359), treatment of deep brain tremor (US Patent No. 6,920,359) to treat Parkinson's disease (US Patent No. 7,013,177, No. 6,735,475 and No. 6,402,678) 6,959,215), and stimulation of the deep brain and / or motor cortex for the treatment of gastrointestinal disorders (U.S. Patent No. 6,591,137) .

Multiple stimulus / recording targets may be accessed via one or more body lumens. For example, the hippocampus can be accessed via the horn of the lateral ventricle. The deep brain structures (e.g., hypothalamus) can be accessed via the third ventricle or via various blood vessels. The bottom nucleus can be accessed via the lens nucleus striatal artery or the anterior medial artery. The area of the heart can be accessed through the ventricles. Selection of a suitable body lumen for use as a target site to provide access to a stimulation / recording goal may be based on anatomical considerations. One consideration may be the proximity of the body lumen (or area thereof) to the stimulation / recording target. The proximity may be determined simply based on the physical distance or may be determined by an organization that affects the transmission of a stimulus / signal (e.g., electrical conductivity or capacitance, magnetic permittivity or transmittance) between the target site and the stimulation / Characteristics may be considered. Other considerations may be the ability to position the lumen moving device within the body lumen without creating undesired effects, such as blocking the supply of blood or other fluid to the tissue area or removing fluid (blood, CSF, etc.) from the tissue area. It may be undesirable for a body lumen that is small enough so that the presence of the lumen moving device can significantly reduce fluid movement within the body lumen may be a single source / It may be a less desirable target site. Conversely, the body lumen, which is one of a number of body lumens that are large for the lumen moving device or feed or drain into the tissue area, may be a more desirable target site.

As shown in Figure 62, a method of installing a self-propelling electromagnetic stimulation device may include selecting a target site based on anatomical information as indicated at step 4352 (e.g., proximity to a particular brain structure The location within a known particular vessel or ventricle may be detected by imaging) or selecting a target site based on a measurement of a physiological parameter as indicated in step 4354. The physiological parameters may include signal features (as shown at 4368) of selected areas of the nervous system or signal features (as shown at 4370) of selected areas of the heart, The parameter may include a signal-to-noise ratio (as shown at 4372) that indicates a good conversion path between the self-propelled electromagnetic stimulation device and the stimulation target.

As indicated in step 4356, the method may be performed by selecting a self-propelling electromagnetic stimulating device from a collection of different sized self-propelled electromagnetic stimulating devices, for example, as indicated in step 4374, And selecting the self-propelled electromagnetic stimulation device. Alternatively, in some cases, as indicated in step 4358, the size of the self-propelling electromagnetic stimulation device may be adjusted to fit within the target site. (Step 4360) of moving the self-propelling electromagnetic stimulation device toward the target site within the patient's body ' s tube tree, and a branch point including two or more branches in the body < Entry of the stimulating device into the selected branch when it is reached (step 4362), and stopping the self-propelling electromagnetic stimulation device upon reaching the target site (step 4364) as described elsewhere herein.

Figure 63 shows an additional variant of the basic method shown in Figure 58 which illustrates a number of additional possible steps. For example, the method may include introducing a self-propelling electromagnetic stimulation device into the body tube tree by injection, as shown at 4502, or alternatively, Propelling electromagnetic stimulation device into a patient's body tube tree by releasing the self-propelling electromagnetic stimulation device from the catheter introduced into the tube tree.

As shown in step 4506, the method may include moving the self-propelled electromagnetic stimulation device within the patient's body tube tree toward the target site, Negative control, or alternatively under control of a control system at least partially located on the self-propelled electromagnetic stimulation device as shown at 4508. [ As shown at 4512, if a bifurcation point comprising two or more branches in the body tube tree is reached by a self-propelled electromagnetic stimulation device, the method includes the step of entering the self-propulsion electromagnetic stimulation device into the selected branch . ≪ / RTI > For example, the method may include detecting a diverging point by a sensor on the self-propelled electromagnetic stimulating device, as indicated at 4514. [ As shown in the previous figures, the method may include stopping movement of the self-propelled electromagnetic stimulation device when it reaches the target site, as shown at 4516. [ The method may include bonding to a wall of the body tube tree by a number of possible alternative methods, which method comprises inflating at least a portion of the self-propelling electromagnetic stimulation device to pressure-fit (Step 4518), or by releasing the adhesive material from the self-propelling electromagnetic stimulating device (step 4520), or by extending at least one hook or bar-like structure from the self-propelling electromagnetic stimulating device (Step 4522) to the wall of the body tube tree.

Figure 64 illustrates the introduction of a self-propelled electromagnetic stimulation device 4550 into a patient's body 4522 by implantation. In the example shown in Figure 64, the self-propelling electromagnetic stimulation device 4550 is a cardiac stimulation device (e.g., part of a pacemaker). The self-propelling electromagnetic stimulation device 4550 is implanted into the arm vein 4554 (e. G., The head vein) by a dermal needle 4556 and is implanted along the route indicated by the dashed arrow, ) To the right atrium 4558 of the left ventricle. From the right atrium 4558, the self-propelling electromagnetic stimulation device can move to the base of the right ventricle 4562, where it can be present to deliver a heartbeat stimulus.

Figure 65 illustrates the introduction of a lumen transfer biological interface device 4600 (e.g., a nerve stimulation and / or sensing device) into the brain 4602 of a patient 4604 by a catheter 4606. The catheter 4606 carrying the lumen-moving biological interface device (the location of the lumen-moving biological interface device on the catheter is indicated by open circle 4608) is located in the vein (e. G. (4610) or alternatively as shown in Figure 64). The catheter 4606 travels through the heart 4614 into the right atrium 4612 of the heart 4614 and into the carotid artery 4618 via the aorta 4616. The lumen moving biological interface device 4600 can then be released from the catheter 4606 and moved through the cerebrovascular system (e.g., on the route indicated by the dashed line) until it reaches the target site in the brain. Catheters and device configurations can be modified to carry more than one device on a catheter to achieve delivery of two or more devices simultaneously by the catheter in some embodiments.

66 shows the introduction of a lumen movement stimulation device into the muscle. In Figure 66, the lumen moving devices 5150, 5152, 5154, 5156 are injected by, for example, a syringe 5162 into a vein 5158 of a patient's arm 5160, As such they can move toward the muscle 5164 drained by the vein 5158 against the flow of blood into the capillaries 5170, 5172, 5174, 5176 in the muscle 5164, May be present to perform electromagnetic stimulation of muscle 5164 to perform stimulation. In Figure 66, the lumen moving device is not shown to scale, but is indicated by a black circle for illustration. Stimulation parameters that are suitable for use in stimulating muscles by a number of distributed implanted microelectrodes are described in Löw Gerald, Pec Raymond A., Moore William H., Hood Kevin, " BION System for Distributed Neural Prosthetic Interfaces "; Medical engineering and physics; 2001; pp. 9-18; Vol. 23; Elsevier Science Ltd.; It is described at www.elsevier.com/locate/medengphy.

67A and 67B show an additional modification of the method shown in Fig. The method may include selecting a target site in the vicinity of the stimulus target in step 4702, and the stimulus target includes tissue responsive to the electromagnetic stimulus. In some embodiments, the method may also include adjusting the size of the self-propelled electromagnetic stimulation device to fit within the target site, as shown in step 4704. As shown in Figure 58, the method includes moving a self-propelled electromagnetic stimulation device within a patient's body tube tree toward a target site at 4706, and moving the self- Propelled electromagnetic stimulation device is reached by a self-propelled electromagnetic stimulation device, the step of entering the self-propelling electromagnetic stimulation device into the selected branch. In step 4710, the method includes stopping movement of the self-propelling electromagnetic stimulation device when the target site is reached. In step 4712, the method includes delivering an electromagnetic stimulus to a stimulation target by a self-propelling electromagnetic stimulation device. Various types of stimuli are indicated by reference numerals 4714, 4716, 4418, 4729, 4722, 4724, 4726 and 4728 in FIG. 67A, and in FIG. 67B (this drawing is a continuation of FIG. 67A at connection points A and B) As shown in FIG. For example, the electromagnetic stimulus may include one or more of a depolarizing electromagnetic stimulus, as shown at 4714, a hyperpolarizing electromagnetic stimulus, as shown at 4716, or a pulsatile electromagnetic stimulus, as shown at 4718 . In some embodiments, the electromagnetic stimulus is stimulated to functionally inhibit (i. E., Stimulation sufficient to cause functional inhibition of activity of the target tissue or portion thereof), as indicated at 4727, or < (I. E., A stimulus sufficient to produce a functional enhancement of the activity of the target tissue or portion thereof) as indicated by < / RTI > Various types of electrical and magnetic stimulation are known to those skilled in the art. H. P. H. Peckham and J. < RTI ID = 0.0 > s. J. S. Knutson, "Functional Electrical Stimulation for Neuromuscular Applications" Annu. Rev. Biomed. Eng., Vol. 7, 2005, pp. 327-60, published online 23 March 2005; doi: 10.1146 / annurev.bioeng.6.040803.140103, copyright 2005, KOBETIC, RUDI, TRIOLO, RONALD J., IRELAY James P. (UHLIR, JAMES P.) ), BIERI, CAROLE, WIBOWO, MICHAEL, POLANDO, GORDIE, MASOLAISE. Byron (MARSOLAIS, E. BYRON), Davis John A.. (DAVIS JR., JOHN A.), FERGUSON, KATHLEEN A., and SHARMA, MUKUT, "Implantable functional electrical stimulation system for mobility in bilateral paralysis: A follow-up case report "(Implanted Functional Electrical Stimulation System for Mobility in Paraplegia); IEEE Journal of Rehabilitation Engineering; December 1999; pp. 390-398; Vol. 7, No. 4; IEEE, INMANN, ANDREAS, HAUGLAND, MORTEN, HAASE, JENS, BIERING-SORENSEN, FIN, SINKYERER THOMAS SINKJAER, THOMAS), "Neuro-report: Signals from Skin Mechanoreceptors Used in the Control of a Hand-Fractured Nerve Prosthesis (Neuro-Prosthesis)"; Exercise system; September 17, 2001; pp. 2817-2819; Vol. 12, No. 13; Lippincott Williams & Wilkins and Mr. Lippincott Williams & Wilkins. egg. C. R. Butson and Mr. Seed. McIntyre (and C. C. McIntyre), "Role of Electrode Design on the Volume of Tissue Activated During Deep Brain Stimulation During Deep Brain Stimulation" J. Neural Eng., Vol. 3, 2006, pp. 1-8, published online 19 December 2005, doi: 10.1088 / 1741-2560 / 3/1/001, FANG, ZI-PING, Mortimer J. "Selective Activation of Small Motor Axons by Quasitrapezoidal Current Pulses" by Thomas (MORTIMER, J. THOMAS); IEEE Journal of Biomedical Engineering; February 1991; pp. 168-174; Vol. 38, No. 2; IEEE, which are incorporated herein by reference.

In some embodiments, as shown in step 4720, the method includes detecting a biomedical signal from the stimulus target or at least one region associated therewith and detecting the biomedical signal from at least one region associated therewith, And transmitting the electromagnetic stimulus in response to the electromagnetic stimulus. Alternatively, in some embodiments, as shown in step 4722, the method may include detecting a biomagnetic signal from the stimulus target or at least one region associated therewith and generating the stimulus target or at least one region associated therewith And transmitting the electromagnetic stimulus in response to the detection of the magnetic signal. In some embodiments, as shown in step 4724, the method includes detecting a biochemical signal from a stimulus target or at least one region associated therewith, and responding to detection of the biochemical signal from the stimulus target or at least one region associated therewith And delivering an electromagnetic stimulus. Biochemical signals can be detected using a variety of sensors as described herein, including various types of biosensors, immune sensors, pH sensors, and the like. In another embodiment, as shown in step 4721, the method includes detecting a biophysical signal from a stimulus target or at least one region associated therewith and generating a biophysical signal from at least one region associated therewith, And delivering an electromagnetic stimulus in response to the detection. Biophysical signals may include, for example, pressure or flow conditions, such as pressure or flow signals associated with blood in other parts of the heart or circulatory system. The delivery of the electromagnetic stimulation to the stimulation target may be performed by a single electromagnetic transducer or by a plurality of electromagnetic transducers 4725 as indicated at 4723. [

In various embodiments, the stimulus delivered in response to the detected signal can be used to amplify the naturally occurring activity or to create a complementary effect to the naturally occurring activity. Alternatively, the stimulus delivered in response to the detected signal may be used to reduce or cushion the activity that occurs naturally, or to generate an effect against a naturally occurring activity. In some embodiments, the sensed activity can be used to indicate proximity to the stimulus target. In some embodiments, the stimulus may be temporally correlated rather than spatially by the detected signal. The method also includes transmitting the electromagnetic stimulus in response to a remote control signal, as indicated at 4726, or in response to a preprogrammed stimulus pattern, as indicated at 4728, .

Methods for detecting and analyzing biomagnetic and / or biomagnetic signals are known to those skilled in the art and are described, for example, in K. W. s. Dylan's editors are Neuro-Prosthesis: Theory and Practice (Biotechnology and Biomedical Engineering Series-Vol. 2), World Scientific Publishing Company Pty. Ltd., Singapore, 2004, J. Ammi Boo and Al. Biological Electromagnetism at Flonshi: Principles and applications of live field and biomagnetic fields , Oxford University Press, New York, 1995, http://butler.cc.tut.fi/~maknivuo/bem/bembook/ , The references are incorporated herein by reference.

FIG. 68 shows an example of detection of a biomedical signal, and the transmission of a stimulus in response to the detected signal is shown in FIG. The patient's heart 4750 is shown in FIG. The lumen moving device 4752 located in the right atrium 4754 may be a naturally occurring bioelectric activity generated by the east knot 4756 of the heart 4750 indicating the need to initiate a heartbeat, Can be detected. In the case of conduction blockage between the sinus node 4756 and the atrioventricular node 4758, the signal will generally not be transmitted and the contraction of the chambers 4760 and 4762 will not be properly initiated. To compensate for this drawback, the lumen moving device 4752 can send a signal to a second lumen movement stimulation device 4764 located in the right ventricle 4760, which in turn delivers an electrical heartbeat signal to the heart chambers 4760, 4762). ≪ / RTI >

FIG. 69 is a flowchart of a further modification of the method shown in FIG. 58; FIG. The method of FIG. 69 includes moving a self-propelled electromagnetic stimulation device within the patient's body tube tree toward the target site, at step 4772, as indicated in the previous embodiment, and at step 4774, Propelling electromagnetic stimulation device into a selected branch when the bifurcation including the branch is reached by the self-propelling electromagnetic stimulation device, and moving the self-propelling electromagnetic stimulation device when it reaches the target site at 4776 . An additional step is to store a record of the operation of the self-propelled electromagnetic stimulation device as indicated at 4778 and / or to store the activity of the self-propelling electromagnetic stimulation device at the remote portion as indicated at 4780 And transmitting the representation of the < RTI ID = 0.0 > The method may also include resuming movement of the self-propelling electromagnetic stimulation device as indicated at 4782. [ Although the steps of storing a record of the operation of the self-propelled electromagnetic stimulating device and transmitting the representation of the activity of the self-propelling electromagnetic stimulating device are presented in the specific order in the flowchart of Figure 69, (Or irrespective of whether the device is started or stopped if the device does not need to be stopped or started and instead can be moved continuously) before the device movement stop step or in some cases after the device movement stop step, .

FIG. 70 is a flow chart of a method of installing a self-propelling electromagnetic stimulation device as shown in FIG. 58, which includes moving a self-propelling electromagnetic stimulation device within a patient's body tube tree toward a target site Step 4802), entering a self-propelled electromagnetic stimulation device into a selected branch (step 4804) if a bifurcation point comprising two or more branches within the body tube tree is reached by the self-propelling electromagnetic stimulation device, Stopping the movement of the self-propelling neurostimulation device upon reaching (step 4806). At 4808, the method includes moving at least one additional self-propelling electromagnetic stimulation device within a patient's body tube tree toward an additional target site and moving the at least one additional self- Propellant electromagnetic stimulation device is brought into a selected branch and the movement of at least one self-propelling electromagnetic stimulation device when reaching an additional target site Stopping the at least one additional self-propelling electromagnetic stimulation device.

FIG. 71 is a flow chart of a further extension of the method of FIG. 58, which includes moving a self-propelled electromagnetic stimulation device within a patient's body tube tree at 4822 toward a target site, Propelling electromagnetic stimulation device into a selected branch when a branching point comprising two or more branches in the tree is reached by the self-propelling electromagnetic stimulating device. Some embodiments may include variants specified in steps 4826 and 4828. [ As indicated at 4826, the method may include pulling one or more electromagnetic stimulation devices toward a target site by a self-propelling electromagnetic stimulation device. Alternatively or additionally, the method may include the step of pressing one or more electromagnetic stimulation devices toward the target site by a self-propelling electromagnetic stimulation device, as indicated at 4828. [ And, as shown in the previous figures, the method may include stopping movement of the self-propelled electromagnetic stimulation device when the target area is reached, as indicated at 4830. [

The use of multiple stimulating devices is shown in FIG. 72 shows a patient's brain 4850 that includes a lateral ventricle 4852, 4854, a third ventricle 4856, and a sagittal 4858 (generally indicated as a striated region in FIG. 72). The stimulating devices 4860, 4862, 4864 and 4866 are located in the lateral ventricle 4852 and the stimulating devices 4868 and 4870 are located in the third ventricle 4856. The stimulating device is thus distributed around sagittal 4858 and can be used to selectively stimulate sagittal 4858 (or portion thereof). For example, a relatively low stimulus delivered through a plurality of stimulus devices may be superimposed to activate a limited area of the sagittal. In another example, spatially and / or temporally complex stimulation patterns can be generated by activating multiple stimulation devices in a suitably selected pattern. The stimulating devices 4860, 4862, 4864 and 4866 are connected by tethers 4872, 4874 and 4876, which may be formed of, for example, a sealing material, wire, cable or fiber. By forming a connected group of stimulating devices, the relative spacing between the stimulating devices can be controlled and the positioning of the stimulating device with respect to the anatomical structure can be facilitated. A connected group of stimulating devices can be used in the implementation of method steps 4826 and 4828 of Figure 71 and relatively flexible straps are used when the electromagnetic stimulating device is pulled by the self-propelling electromagnetic stimulating device, A more rigid connection may be used. ≪ RTI ID = 0.0 >

In some embodiments, the method may include using a lumen moving device to carry a bioelectromechanical interface device at a target site. This approach is illustrated in Figures 73A-73C. In Figure 73A, the bioelectrometric interface device 4950 is carried through the body tube tree 4952 by a self-propelling lumen movement device 4954, which may be of the type generally shown in Figure 24 and Figures 25a-b . For example, the self-propelling lumen movement device 4954 may include a holder 4956 for carrying the bioelectromagnetic interface device 4950. The self-propelled lumen transfer device 4954 may include a sensor 4958 configured to detect the arrival of the bio-magnetic interface device at the target site 4960 adjacent the stimulation target 4962. [ The sensor 4958 may be any of a variety of types of sensors, as described herein. In Figure 73A, the self-propelled lumen transfer device 4954 carrying the bioelectromagnetic interface device 4950 moves through the body tube tree 4952 in the direction indicated by the arrow. In Figure 73B, the arrival of bio-magnetic interface device 4950 at target site 4960 is detected by sensor 4958. [ The bioelectromotive interface device 4950 may then be released from the self-propelled lumen transfer device 4954 and the self-propelled lumen transfer device may be moved away from the target site 4960, The magnetic interface device can be left.

74 is a flow chart of a method for configuring a bioelectromagnetic interface system, comprising moving at least one biointerface device through a patient's body tube tree toward a target site by a self-propelled lumen moving device 4902), detecting the arrival of at least one biofluidic device at the target site (step 4904), removing the at least one biomagnetic interface device from the target site (Step 4906).

Figure 75 is a flow diagram of an example of an extension of the method of Figure 74 showing additional details of the method. In some embodiments, the method may include a preliminary step 5002 of attaching at least one bioelectromagnetic interface device on a self-propelled lumen transfer device. The method may include moving at least one biointerface device through a patient ' s body tube tree toward a target site by a self-propelled lumen moving device (step 5004). In some embodiments, the method may be performed by a self-propelled lumen moving device by pulling at least one bioelectromagnetic interface device by a self-propelled lumen moving device, as shown at 5006, Moving the at least one bioelectrical interface device through the body tube tree, and in another embodiment, the method may include moving at least one living magnetic interface device by a self-propelled lumen moving device as shown at 5008, Moving the at least one biointerface device through the patient ' s body tube tree toward the target site by the self-propelling lumen moving device by pressing the magnetic interface device. The method includes detecting the arrival of at least one biointerface device at a target site (step 5010), and releasing at least one biointerface device from the self-propelled lumen movement device (step 5012) can do. In some cases, the method includes the steps of attaching at least one bio-magnetic interface device to the wall of the body tube tree at the target site (as shown at 5014) and at least one bio-magnetic interface device Moving the self-propelled lumen moving device away from the target site leaving 507 (step 5016).

76 is a flow chart illustrating additional details of the method of FIG. 74; The method includes moving at least one biointerface device through a patient ' s body tube tree toward a target site by a self-propelled lumen moving device (step 5052), moving at least one biomechanical interface device (Step 5054), and moving the self-propelled lumen moving device away from the target site while leaving at least one bio-interface device at the target site (step 5056). The body tube tree is connected to the patient's respiratory system, as indicated at 5064, as indicated in the cardiovascular system, as indicated at 5062, to the CSF-space, as indicated at 5064, As well as various other body lumens that can provide access to the patient's genitourinary tract, the genitourinary tract of the patient, or the stimulation target, as indicated at 5068.

77 is a flow chart of a method of installing a bioelectronic interface system, which includes, in step 5102, introducing a plurality of bioelectronic interface devices into a patient's body tube tree via at least one introduction site, At least one electromagnetic transducer configured for at least one of generating an output signal representative of a bioelectrical signal sensed from a target tissue or delivering an electromagnetic stimulus to a target tissue, Or a stimulation source capable of generating an electromagnetic stimulus for delivery to a target tissue by at least one electromagnetic transducer, and a plurality of bio-magnetic interface devices for delivering a bio- Within the tree Moving to a plurality of target sites within the body tube tree, wherein at least a portion of the plurality of target sites is located proximate to at least one target tissue (step 5104).

The method may include introducing a plurality of biointerface devices into the body tube tree at substantially the same time via at least one introduction site as indicated at 5108. Alternatively, the method may include introducing a plurality of biointerface devices into the body tube tree in a batch manner via at least one introduction site, as indicated at 5110. [ A batch is a group of devices that are introduced at substantially the same time in a single location. In an alternate embodiment, the method may include introducing a plurality of biointerface devices into the body tube tree sequentially via at least one introduction site, as indicated at 5112. In another alternative, the method may include introducing a plurality of biointerface devices into the patient's body tube tree via at least one introduction site as a connected group of bioelectromagnetic interfaces. For example, the biointerface devices may be connected in an end-to-end relationship to one another in a chain form by a connector or a holder of the type shown in Figures 24A and 25B, May be permanently or temporarily attached to one or more other interface devices in a chain or other form, such as by a seal material, wire, cable, fiber, etc., as shown at 72.

The introduction of a single biointerface device is shown in Fig. The introduction of a batch of multiple biointerface devices into a body tube tree at a single entry site is shown in FIG. 78A-78B show in greater detail the introduction of a batch of a plurality of biointerface devices into a body tube tree. 78A, a batch of a plurality of biointerface devices including biointerface devices 5150a, 5150b, 5150c, 5150d is included in syringe 5152 prior to delivery into body tube tree 5154. The body tube tree 5154 includes a first region 5156 and branches 5158, 5160, 5162, 5164. As shown in FIG. 78B, the biointerface devices 5150a, 5150b, 5150c, 5150d are introduced into the first region 5156 of the body tube tree 5154 substantially simultaneously as a group. As shown in Fig. 78C, the biointerface devices 5150a, 5150b, 5150c, and 5150d move along the routes indicated by the dotted arrows to reach the branches 5164, 5160, 5158, and 5162, respectively. The same procedure may be performed simultaneously (using multiple syringes or equivalents) or sequentially in multiple locations within the body to deliver multiple batches of bioelectromechanical interface devices to the body.

79 depicts a plurality of bioelectrical interfacing devices 5200a, 5200b, 5200c (5202a, 5200b, 5200c) located in a plurality of target sites 5202a, 5202b, 5202c, 5202d, 5202e, 5202f, 5202g, 5202h within the vascular system 5204 of the brain 5206, , 5200d, 5200e, 5200f, 5200g, and 5200h. The target regions 5202a, 5202b, 5202c, 5202d, 5202e, 5202f, 5202g, 5202h (indicated by the dotted circle) are distributed through the brain region 5208. A number of biointerface devices record activity from multiple locations, record multiple signals from a single general area, stimulate multiple areas, generate complex electromagnetic fields for stimulation, or simultaneously or at any desired time In order to perform both recording and stimulation. The stimuli of the plurality of regions may include, for example, spatially adjacent regions adjacent to the brain region or stimuli of spatially separated regions of the body.

80 is a flow chart of a method of installing a bioelectromagnetic interface system as shown in FIG. 77, the method comprising introducing a plurality of bioelectronic interface devices into a patient's body tube tree via at least one introduction site Wherein at least a portion of the bioelectronic interface device comprises at least one electromagnetic transducer configured for at least one of generating an output signal representative of a bioelectrical signal sensed from a target tissue or delivering an electromagnetic stimulus to a target tissue, (Step 5252) comprising at least one of a signal processing unit capable of processing an output signal from the transducer or a stimulation source capable of generating electromagnetic stimulation for delivery to a target tissue by at least one electromagnetic transducer, And a plurality of bioelectrical interface di A step of moving the device within the body tube tree of a plurality of the target site within the body tube tree, and at least a portion of the plurality of the target site is a step (step 5254) that is located close to at least one target tissue. The plurality of target sites may be spatially distributed about the target tissue, as indicated at 5258 in FIG. 80 and as shown in FIG. 72, or may be spatially distributed, as indicated at 5260 in FIG. 80, Can be spatially distributed through the target tissue as shown in Fig.

As further shown in Figure 80, the method includes moving at least a portion of a plurality of bio-magnetic interface devices within the body tube tree under its own power, as shown at 5262, At least some of the plurality of biointerface devices include self-propelled devices. In some embodiments, the method includes moving at least a portion of a plurality of bio-magnetic interface devices through a body tube tree attached to at least one catheter as indicated at 5264, And moving at least a portion of the interface device. An example of the installation of a bioelectromagnetic interface device by a catheter is shown in Fig. The introduction of the device by the catheter is shown in Fig. In some embodiments, after deployment of the bioelectromagnetic interface device in the body tube tree by the catheter, the bioelectronic interface device may move from its initial placement site to its final destination under its unique power.

81 is a flow chart of a method for installing a bioelectromagnetic interface system as shown in Fig. 77, the method comprising the steps of introducing a plurality of bioelectromagnetic interface devices into a patient's body tube tree via at least one introduction site Wherein at least a portion of the bioelectronic interface device comprises at least one electromagnetic transducer configured for at least one of generating an output signal representative of a bioelectrical signal sensed from a target tissue or delivering an electromagnetic stimulus to a target tissue, (Step 5302) comprising at least one of a signal processing unit capable of processing an output signal from the transducer or a stimulation source capable of generating an electromagnetic stimulation for delivery to a target tissue by at least one electromagnetic transducer , A plurality of bioelectrical interface di A step of moving the device within the body tube tree of a plurality of the target site within the body tube tree, and at least a portion of the plurality of the target site is a step (step 5304) that is located close to at least one target tissue. As indicated at 5308, in some embodiments, the target tissue may include at least a portion of the patient's heart. In some embodiments, as indicated at 5310, the target tissue may be the subject cortex as indicated at 5312, may be circular as indicated at 5314, and may be at 5316 And may be a hypothalamic nucleus, as indicated at 5318, or may be of a patient, including, but not limited to, parenchymal inner nucleus, as indicated at 5320 At least a portion of the nervous system. In another embodiment, the target tissue is at least a portion of the genitourinary tract as indicated at 5322, at least a portion of the muscle as indicated at 5324, or at least a portion of the gastrointestinal tract as indicated at 5326. [ At least some of which may be included.

82 is a flow chart of an expanded example of a method of installing a bioelectromagnetic interface system shown in FIG. 77, which method includes introducing a plurality of bioelectronic interface devices into a patient's body tube tree via at least one introduction site Wherein at least a portion of the bioelectronic interface device comprises at least one electromagnetic transducer configured for at least one of generating an output signal representative of a bioelectrical signal sensed from a target tissue or delivering an electromagnetic stimulus to a target tissue, (Step 5352) comprising at least one of a signal processing unit capable of processing an output signal from the transducer or a stimulation source capable of generating an electromagnetic stimulation for delivery to a target tissue by at least one electromagnetic transducer A plurality of bio-magnetic interface devices (Step 5354) in which at least a portion of the plurality of target sites is located in proximity to at least one target tissue, Stopping each of at least a portion of the interface device adjacent each target site (step 5356), and optionally, each of at least a portion of the plurality of bioelectronic interface devices to a wall of a body tube tree adjacent to a respective target site (Step 5358). In some embodiments, as indicated at 5362, the body tube tree may be the patient's cardiovascular system. In another embodiment, the body tube tree, as indicated at 5364, may be the patient's respiratory tract. In another embodiment, the body tube tree may be placed in the patient's genitourinary tract, as indicated in 5366, or in the patient's CSF-space, as indicated at 5368, Of the gastrointestinal tract.

83 is a flow chart illustrating a further variation of the method of installing a biointerface system generally shown in Fig. The method includes introducing a plurality of bioelectronic interface devices into a body ' s body tube tree via at least one introducing site, wherein at least a portion of the bioelectronic interface device is configured to receive an output signal And at least one electromagnetic transducer configured for at least one of generating electromagnetic stimulation to the target tissue or delivering an electromagnetic stimulus to the target tissue, and a signal processor Or a stimulation source capable of generating an electromagnetic stimulus for delivery to a target tissue by at least one electromagnetic transducer (step 5402), the method comprising the steps of: (a) providing a plurality of bioelectronic interface devices in a body tube tree Bodies in the body tube tree (Step 5404) wherein at least a portion of the plurality of target sites is located proximate to at least one target tissue. In some embodiments, as shown at 5408, the method may include selecting at least a portion of the plurality of target sites based on the anatomical information. In some embodiments, as shown at 5410, the method may include, for example, selecting a signal feature of a selected region of the nervous system, such as shown at 5412, And selecting at least a portion of the plurality of target sites based on the measurement of the one or more physiological parameters that may be signal features of the selected region. In some embodiments, as shown at 5416, one or more physiological parameters include a signal-to-noise ratio that indicates a good signal conversion between at least a portion of one or more bioelectrical interface devices and the stimulation target .

84 is a flow chart that includes a further variation of the method of installing a bioelectromagnetic interface system generally shown in FIG. 77; FIG. The method includes introducing a plurality of bioelectronic interface devices into a body ' s body tube tree via at least one introducing site, wherein at least a portion of the bioelectronic interface device is configured to receive an output signal Or at least one electromagnetic transducer configured for at least one of generating an electromagnetic stimulus to a target tissue, or for transmitting a magnetic stimulus to a target tissue, (Step 5452) that is capable of generating electromagnetic stimuli for delivery to a target tissue by a transducer, wherein the plurality of bioelectronic interface devices comprises at least one of a stimulation source capable of generating electromagnetic stimuli for delivery to a target tissue Go to target area of A key is a step, at least a portion of the plurality of the target site is a step (step 5454) that is located close to at least one target tissue. In addition, the method may include transmitting an electromagnetic stimulus at 5456 to the stimulus target by at least a portion of one or more biointerface devices.

As shown at 5458 in FIG. 84, the method includes detecting a biomagnetic signal from at least one region associated with a stimulus target or associated therewith, and detecting the biomagnetic signal from at least one region associated therewith, And delivering an electromagnetic stimulus to the stimulation target in response to at least a portion of the one or more bioelectromagnetic interface device. Alternatively or additionally, the method may include detecting a biomagnetic signal from the stimulus target or at least one region associated therewith, and generating a stimulus target, or at least one region associated therewith, And delivering the electromagnetic stimulus to the stimulation target in at least a portion of the one or more bioelectromagnetic interface devices in response to the detection of the magnetic signal. In another alternative, the method may include detecting a biochemical signal from at least one region associated with the stimulus target or associated therewith, as shown at 5462, and responding to the detection of the biochemical signal from at least one region associated therewith, And delivering an electromagnetic stimulus to the stimulation target at least a portion of the one or more bioelectromagnetic interface devices. Biochemical signals may include various types of biosensors that indicate the concentration of neurotransmitters, metabolic activity, pH, direct or indirect indicators of the cell signaling substance, and / or stimulating targets to stimulate and / Other biochemical signals may be included that direct delivery.

In another alternative, the method may include detecting a biophysical signal from the stimulus target or at least one region associated therewith, as shown at 5464, and detecting the biophysical signal from the stimulus target or at least one region associated therewith And delivering the electromagnetic stimulus to the stimulation target in at least a portion of the one or more bioelectromagnetic interface devices.

In some embodiments, one or more remote portions may be used, the method comprising detecting a remote control signal, as shown at 5466, and generating a magnetic field in at least a portion of the bioelectromechanical interface device in response to detection of the remote control signal, And transmitting the stimulus. In another embodiment, the method may include delivering an electromagnetic stimulus to a stimulus target at least a portion of the bioelectronic interface device based on a preprogrammed stimulus pattern, as shown at 5468. [

85 is a flow chart of a method of installing a nerve stimulation device, comprising moving a self-propelling neural stimulation device in a patient's body tube tree toward a target site (step 5502) (Step 5504) when the bifurcation including the branch is reached by the self-propelling neural stimulation device (step 5504), and when the target is reached, the self-propelling neural stimulation device Stopping the movement of the stimulating device (reference numeral 5506). As mentioned elsewhere herein, various applications are known in nerve stimulation devices and systems. This method can be used to install a single nerve stimulation device at the same time, or to install multiple nerve stimulation devices. In one variant, the method may comprise conveying at least one additional nerve stimulation device having a self-propelling neural stimulation device. The nerve stimulation device may be connected and held in use, or the method may include releasing at least one nerve stimulation device from the self-propelling neural stimulation device.

86 is a flow chart illustrating additional details of the method schematically depicted in FIG. The method includes the steps of introducing a self-propelling neurostimulation device into a patient's body tube tree (step 5552), moving the self-propelling neurostimulation device within the patient's body tube tree toward the target site (step 5554) And advancing the self-propelling neurostimulation device into a branch that extends toward the target site (step 5556) when a diverging point including two or more branches within the body tube tree is reached by the self-propelling neurostimulation device, (5558) stopping the movement of the self-propelling neurostimulation device upon reaching the target site and optionally coupling the self-propelling neurostimulation device to the wall of the body tube tree at the target site (step 5610) can do. The body tube tree may be the patient's respiratory machine, as indicated, for example, at 5564 in the patient's vascular system, as indicated at 5566, or the patient's CSF-space days as indicated at 5568 have.

87 is a flow chart illustrating additional details of the method as schematically shown in Fig. The method includes introducing a self-propelling neurostimulation device into a patient's body tube tree (step 5602), moving the self-propelling neurostimulation device within the patient's body tube tree toward the target site (Step 5606) of entering a self-propelling neurostimulation device into a branch leading to a target site when a branching point including two or more branches in the body tube tree is reached by the self-propelling neurostimulation device, (Step 5608) of stopping the movement of the self-propelling neurostimulation device upon reaching the target site, and optionally (step 5610) coupling the self-propelling neurostimulation device to the wall of the body tube tree at the target site, . The method may include moving the self-propelling neural stimulation device within the body tube tree toward a target site located within the patient's ventricle as indicated at 5614. [ In another embodiment, the method may include moving the self-propelling neural stimulation device within the body tube tree toward a target site located within the patient's brain, as indicated at 5616. [ In another embodiment, the method may include moving the self-propelling neural stimulation device within the body tube tree toward a target site located within the patient's chucking tube as indicated at 5618. [ In another embodiment, the method may include moving the self-propelling neural stimulation device within the body tube tree toward a target site located within the patient's gastrointestinal tract, as indicated at 5620. [ In yet another embodiment, the method may include moving the self-propelling neural stimulation device within the body tube tree toward a target site located within the patient's urinary organs, as indicated at 5622. [ In another embodiment, the method may include moving the self-propelling neural stimulation device within the body tube tree toward a target site located within the patient's muscle tissue, as indicated at 5624. [

FIG. 88 is a flow chart illustrating an additional extension of the method of FIG. 85; The method may include selecting a target site near the stimulation target (step 5652), adjusting the size of the self-propelling neurostimulation device to fit within the target site (5664) or, for example, (5666) selecting a self-propelling neurostimulation device dimensioned to fit within a target site by selecting a self-propelling neural stimulation device from a collection of nerve stimulating devices. The method includes moving a self-propelling neurostimulation device (5668) within a patient's body ' s tube tree toward a target site, and moving the self-propelling neurostimulation device (Step 5672) of bringing the self-propelling neurostimulation device into a branch that extends toward the target site upon reaching the target site, and stopping the movement of the self-propelling neurostimulation device when it reaches the target site ). In some embodiments, the method may include resuming movement of the self-propelling neural stimulation device as indicated at 5676. [ The self-propelling neural stimulation device may include an electromagnetic stimulation device, as indicated at 5678, a magnetic stimulation device, as indicated at 5682, or an optical stimulation device, such as 5684 Lt; RTI ID = 0.0 > a < / RTI > chemical stimulation device.

89 is a flow chart illustrating an additional extension of the method of FIG. 85, comprising moving a self-propelling neural stimulation device within a patient's body tube tree at a target site at 5702, Advancing a self-propelling neurostimulation device into a branch that extends toward the target site when a branch point, including at least two branches within the body tube tree, is reached by the self-propelling neurostimulation device at 5704; And stopping the movement of the self-propelling neural stimulation device when it reaches the site. The method may include detecting a diverging point by a sensor on the self-propelling neural stimulation device, as indicated at 5710. [ As indicated at 5712, the method may include moving a self-propelling neural stimulation device within the body tube tree under the control of a control system located at least partially on the self-propelling neurostimulation device have. Alternatively, the method may include moving the self-propelling neural stimulation device within the body tube tree under the control of the remote part, as indicated at 5714. [ This method is accomplished by discontinuous propulsion of the self-propelling neurostimulation device, as shown at 5716, by applying a force to the propulsion of the self-propelling neurostimulation device as shown at 5718 By stopping the movement of the self-propelling neurostimulation device when it reaches the target site or by coupling it to the wall of the body tube tree at the target site, as shown at 5720, And stopping the movement of the endoscope. The self-propelling neurostimulation device may be configured to inflate at least a portion of the self-propelling neurostimulation device as indicated at 5722 to form a pressure fit with the wall of the body tube tree, By releasing the adhesive material from the self-propelling neurostimulation device, or by extending at least one hook or barbed structure from the self-propelled neural stimulation device as indicated at 5726, Can be coupled to the walls of the body tube tree. Examples of such structures are shown, for example, in Figures 5A, 5B and 8B.

90 shows the steps of a method for installing a bio-magnetic signal sensing device, which includes moving a self-propelled bio-magnetic signal sensing device in a patient's body tube tree toward a target site (step 5752) and (Step 5754), when a diverging point including two or more branches in the body tube tree is reached by the self-propelled bioelectric signal sensing device, entering the self-propelled bioelectric signal sensing device into the branch following the target area, And stopping the movement of the self-propelled bioelectric signal sensing device when it reaches the target site (step 5756).

In some embodiments, the sensing of live magnetic signals by a living magnetic signal sensing device as described herein can be used for research or diagnostic applications. In some embodiments, the detection of live magnetic signals may be used in combination with stimulation (electrical, magnetic, chemical, optical, etc.), delivery of the drug, or various treatments, stimulation, etc. to provide a therapeutic or beneficial effect Can be provided. Such an application is provided by way of example and not by way of limitation.

91 shows an extended version of the method of FIG. 90, which includes the steps of introducing a self-propelled bioelectric signal sensing device into the patient's body tube tree at 5802, Moving a self-propelled bio-magnetic signal sensing device within a patient's body tube tree toward a patient's body of a patient, and, at 5806, detecting a diverging point comprising two or more branches within the body & Pushing the self-propelled bioelectric signal sensing device into a branch leading to the target site, stopping the self-propelled bioelectric signal sensing device when it reaches the target site at 5808, Self-propelled bio-magnetic signal detection on the wall of the body tube tree at the target site And combining the devices. The body tube tree includes the patient ' s vasculature, as indicated at 5814, the patient ' s respiratory system, as indicated at 5816, or the CSF-space of the patient as indicated at 5818, But may be any of a variety of body tube trees that are not limited. The live magnetic signal sensing device may be moved within the body tube tree under the control of a control system at least partially positioned on the self-propelled bioelectric signal sensing device, as indicated at 5820, or alternatively, The method may include moving the self-propelled bio-magnetic signal sensing device within the body tube tree under the control of the remote part, as indicated at 5822. [

FIG. 92 provides another detail of the method as shown in FIG. The method includes the steps of selecting a target site in the vicinity of the source signal source (step 5852), moving the self-propelled gravimetric signal sensing device in the patient's body tube tree toward the target site (step 5854) (Step 5856), when a diverging point including two or more branches in the body tube tree is reached by the self-propelled bioelectrical signal sensing device, entering the self-propelled bioelectrical signal sensing device into the following branch towards the target area , And stopping the movement of the self-propelled bioelectric signal sensing device when it reaches the target site (step 5858). As in various previously described embodiments, the method may include inflating at least a portion of the self-propelled bioelectric signal sensing device to form a pressure fit with the wall of the body tube tree (as shown at 5860 , Releasing the adhesive material from the self-propelled bioelectric signal sensing device (as shown at 5862), or extending at least one hook or barbed structure from the self-propelled bioelectric signal sensing device To the wall of the body tube tree by various methods including, but not limited to, the step of penetrating the body tube tree (e.g., as shown at 5864) have. Step 5854 may be performed within the patient's chest tube (as shown at 5872) within the patient's ventricle (as shown at 5856), within the patient's brain (as shown at 5870) ), Within the patient's gastrointestinal tract (as shown at 5874), within the urogenital system of the Chinese character (as shown at 5876), or within the patient's muscle tissue (as shown at 5878, Moving the self-propelled bioelectric signal sensing device within the body < RTI ID = 0.0 > tube < / RTI > A target site in the vicinity of the bioelectric signal source may be selected, for example, when a signal is detected from the heart, a target site within the ventricle may be selected, and a target site within the brain ventricle or blood vessel may be detected And so on. As shown at 5880, the method may include detecting a diverging point by a sensor on a self-propelled bioelectric signal sensing device. For example, various types of signals including, among other things, optical signals, acoustic signals, and electromagnetic signals, can provide information about the presence of a branch point.

93 is a flow chart illustrating a further variation of the method of FIG. 20, which includes moving (step 5886) a self-propelled bio-signal sensing device within a patient's body tube tree toward a target site, (Step 5888) moving the self-propelled bioelectrical signal sensing device within the patient ' s body ' s tube tree toward the target site, sensing the bioelectrical signal by the self-propelled bioelectrical signal sensing device (step 5890) . In some embodiments, the method includes sensing a plurality of live magnetic signals by a self-propelled bioelectric signal sensing device, wherein each of the plurality of live magnetic signals includes at least one of a magnetic Is sensed by a respective electromagnetic transducer of a plurality of electromagnetic transducers carried by the propulsion bioelectric signal sensing device. The method also includes stopping movement of the self-propelled bioelectric signal sensing device when it reaches the target site (step 5894) and resuming movement of the self-propelled bioelectric signal sensing device (step 5896) can do.

Another application of the methods and devices as described herein is cardiac stimulation. 94 shows steps of a method for installing a cardiac stimulation device. The method includes moving a self-propelling cardiac stimulation device within a patient's body ' s tube tree toward a target site at 5902, and moving the self-propelled cardiac stimulation device Propelled cardiac stimulation device at 5904 into a branch leading to the target site, and stopping movement of the self-propelling cardiac stimulation device when the target area is reached at 5906 can do.

95 shows an extended example of the method of FIG. 94, which includes the steps of introducing a self-propelled cardiac stimulation device into a patient's body tube tree (step 5952) and selecting a target site near the stimulation target Moving a self-propelling cardiac stimulation device within a patient's body tube tree toward a target site at 5956, and moving the self-propelled cardiac stimulation device in a patient's body < RTI ID = 0.0 > Propelled cardiac stimulation device at 5958 into a branch that extends toward the target site when it is reached by the cardiac stimulation device, stopping the movement of the self-propelling cardiac stimulation device when the target site is reached at 5960 . ≪ / RTI > The self-propelling cardiac stimulation device may be introduced into the patient's body tube tree at step 5952, for example by infusion or by release from the catheter. In some embodiments, the body tube tree may be the patient ' s vascular system as indicated at 5964 and may be self-propelled (e.g., via a vein of the arm) introduced into the vascular system, A cardiac stimulation device can move to the heart, where it can be used to deliver stimuli in the ventricle. The self-propelling cardiac stimulation device may be an electromagnetic stimulation device, as indicated at 5966, may be a magnetic stimulation device, as indicated at 5968, and may include an optical stimulus Device, or it may be a chemical stimulation device, as indicated at 5972. The stimulation target referred to in step 5954 may be, for example, a specific area of the heart, and the target area may be a specific position in the blood vessel, for example, in the heart, outside the heart, or supplying to the heart. As generally described elsewhere herein, the method includes moving a self-propelled cardiac stimulation device within a body tube tree under the control of a control system located at least partially on a self-propelling cardiac stimulation device , Or moving the self-propelling cardiac stimulation device within the body tube tree under the control of the remote part. 95 also shows two additional optional steps, and in some embodiments, as indicated at 5974, the method may be used to press one or more additional cardiac stimulation devices with a self- The method may include pulling one or more additional cardiac stimulation devices with the self-propelled cardiac stimulation device, as indicated in 5976, in another embodiment.

An additional modification of the method of installing a cardiac stimulation device, shown schematically in FIG. 94, is shown in FIG. The method may include selecting a self-propelled cardiac stimulation device dimensioned to fit within the target site, as indicated at 6002. [ This can be accomplished by selecting a self-propelled cardiac stimulation device from a collection of self-propelled cardiac stimulation devices of different sizes as indicated at 6004. Alternatively, the method may include adjusting the size of the self-propelled cardiac stimulation device to fit within the target site, as indicated at 6006. [ The method includes moving a self-propelled cardiac stimulation device within a patient's body tube tree at a target site at 6008, and moving the self-propelled cardiac stimulation device Propelled cardiac stimulation device at 6010 into a branch that extends toward the target site when it is reached, and stopping the movement of the self-propelling cardiac stimulation device at 6012 when the target area is reached . The method may further comprise the step of attaching a self-propelled cardiac stimulation device at a target site to a wall of the body tube tree at 6014. The method may include detecting a divergence point by a sensor on the self-propelling cardiac stimulation device, as indicated at 6018.

The method includes inflating at least a portion of the self-propelling cardiac stimulation device as indicated at 6020 to form a pressure fit with the wall of the body tube tree, By releasing the adhesive material from the stimulating device or by penetrating the walls of the body tube tree by extending at least one hook or barbed structure from the self-propelled cardiac stimulation device as indicated at 6024, To the wall of the tree.

Those skilled in the art will recognize that the art is advanced in little or no distinction between the hardware and software implementations of the aspects of the system, and the use of hardware or software is generally (but not exclusively) It is not always the case that the choice between hardware and software can be significant) is a design choice that represents cost versus efficiency compromise. Those skilled in the art will appreciate that there are a variety of media (e.g., hardware, software and / or software) in which the processes and / or systems and / or other techniques described herein may be affected, May be varied according to the concepts in which processes and / or systems and / or other technologies are deployed. For example, if the implementer decides that speed and accuracy are important, the implementer can chose mainly the hardware and / or firmware mediator and, alternatively, if flexibility is important, the implementer can chose mainly the software implementation, The implementer may select any combination of hardware, software, and / or firmware. Thus, there are a number of possible mediators that may be affected by the processes and / or devices and / or other techniques described herein, and any mediator to be used may be configured to include concepts that may be developed, (E. G., Speed, flexibility or predictability), none of them are inherently superior and they can be changed. Those skilled in the art will recognize that typically optically oriented hardware, software and / or firmware may be used.

The foregoing description has described various embodiments of devices and / or processes by use of block diagrams, flow charts, and / or examples. It should be understood that each function and / or operation in such block diagrams, flowcharts, or examples may be implemented in a wide variety of hardware, software, firmware, or substantially any of these, as long as such block diagrams, flowcharts, and / or examples include one or more functions and / It will be understood by those skilled in the art that the present invention can be implemented individually or collectively by any combination. It will also be appreciated that the method steps may be presented herein in a specific order in the flowcharts and / or examples, but are not necessarily limited to being performed in the order presented. For example, the steps may be performed concurrently or in a different order than that presented herein, and such variations will be apparent to those skilled in the art in light of this disclosure. In one embodiment, many portions of the subject matter described herein may be implemented through application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs), or other integrated formats have. However, those skilled in the art will recognize that some aspects of the embodiments disclosed herein may be wholly or partly implemented as one or more computer programs (e.g., executed on one or more computer systems (E. G., As one or more programs running on one or more microprocessors), firmware, or substantially any combination thereof in an integrated circuit as one or more programs running on one or more processors And it will be appreciated that the recording of the code and / or the design of the circuitry for the software and firmware may well be within the skill of those skilled in the art in light of this specification. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein may be distributed as various types of program products, and that the illustrative embodiments of the subject matter described herein may be applied to signal bearing It will be appreciated that this applies irrespective of the particular type of medium. Examples of signal bearing media include recordable media such as floppy disks, hard disk drives, compact discs (CD), digital video discs (DVD), digital tapes, computer memory, But are not limited to, transmission media such as optical fiber cables, waveguides, wired communication links, wireless communication links, and the like.

In general, those skilled in the art will appreciate that the various embodiments described herein may be implemented with a wide variety of electrical components, such as hardware, software, firmware or substantially any combination thereof, and components such as rigid bodies, springs or torsions, Can be implemented individually and / or collectively by various types of electromechanical systems having a wide range of components capable of imparting mechanical forces or motions, such as a magnetically actuated device or substantially any combination thereof It will be recognizable. Thus, "electromechanical system" as used herein refers to an electrical circuit operatively associated with a transducer (e.g., an actuator, a motor, a piezoelectric crystal, etc.), an electrical circuit having at least one discrete electrical circuit, An electrical circuit having one integrated circuit, an electrical circuit having at least one application specific integrated circuit, a general purpose computing device configured by a computer program (e.g., a processor and / or device as described herein, at least in part, (E.g., a microprocessor configured by a general purpose computer configured to perform a computer program, or at least in part, a computer program executing a process and / or device described herein), a memory device An electrical circuit forming a form of random access memory) But are not limited to, electrical circuits that form vise (e.g., modems, communication switches, or optoelectronic facilities), and any non-electrical analogs such as optical or other analogs. It will be appreciated by those skilled in the art that, as used in this specification, the term " electromechanical " is not necessarily limited to a system having both electrical and mechanical operation when the context dictates otherwise. Non-electrical analogs of electrical circuits may include fluid circuits, electromechanical circuits, mechanical circuits, and various combinations thereof.

In general, those skilled in the art will appreciate that the various aspects described herein, which may be implemented individually and / or collectively by a wide variety of hardware, software, firmware or any combination thereof, Quot; and "the < / RTI > Thus, "electrical circuit" as used herein includes an electrical circuit having at least one discrete electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit having at least one application specific integrated circuit, A general purpose computer configured with a configured general purpose computing device (e.g., a computer program executing at least in part the processes and / or devices described herein, or at least in part the process described herein and / or An electrical circuit forming a memory device (e.g., in the form of a random access memory), and / or a memory device (e.g., a microprocessor configured by a computer program that carries out the device) Switches, or optical and electrical equipment) However, it not limited to these. Those skilled in the art will recognize that the subject matter described herein may be implemented in analog or digital fashion or any combination thereof.

It will be understood by those skilled in the art that the elements (e.g., steps), devices, and objects described in the specification and the accompanying description thereof are used as examples for conceptual clarification and that various forms of modifications may be made by those skilled in the art As shown in FIG. Accordingly, when used in this specification, the specific examples disclosed and the accompanying description are intended to represent more general types of these. In general, the use of any particular specimen herein is also intended to be representative of its kind, and the inclusion of such specific elements (e.g., steps), devices, and objects herein is not intended to be limiting It should not be taken as a directive.

With respect to the use of substantially any plural and / or singular terms herein, those skilled in the art will readily appreciate that many modifications may be made to the singular and / or plurality, from plural to singular, as appropriate to the concept and / will be. The various singular / plural forms of substitutions are not expressly set forth herein for purposes of clarity.

The disclosure set forth herein sometimes illustrates the different components included in or associated with different different components. It is to be understood that the described arrangement is merely exemplary and that many other arrangements may be implemented to achieve the same functionality. In a conceptual sense, any arrangement of components to achieve the same functionality is effectively "related" to achieve the desired functionality. Thus, it is understood that any two components of the present specification combined to achieve a particular functionality are "related" to one another so that the desired functionality is achieved regardless of composition or intermediate components. Likewise, any two components so associated may also be considered "operatively linked" or "operatively coupled" to each other to achieve the desired functionality, and any two The components may also be considered "operably coupled" to one another to achieve the desired functionality. Specific examples of operably associatable elements include physically compatible and / or physically interacting components and / or components interacting in a wireless manner and / or interacting wirelessly and / or logically interacting And / or logically interactable components. ≪ RTI ID = 0.0 >

Although specific embodiments of the inventive subject matter described herein have been shown and described, it will be appreciated that changes and modifications may be made without departing from the spirit of the invention, which is based on the teachings herein, It will be apparent to those skilled in the art that the appended claims are intended to cover all such modifications and changes as fall within the spirit and scope of the subject matter described herein. Moreover, it is to be understood that the invention is defined by the appended claims. Generally, the terms used in this specification, particularly in the appended claims (e.g., the text of the appended claims), are generally intended to be "open" terms (e.g., Quot; is to be interpreted as " including but not limited to, "and the term" having "should be interpreted as having at least, and the term" comprising " And may be understood by those skilled in the art. It will be understood by those skilled in the art that the intention is explicitly recited in the claims and that no such intent is present without such quotation if a specific number of the recited claims is intended. For example, as an aid to understanding, the following appended claims may include the use of the phrases "at least one" and "one or more" The use of such phrases, however, is not intended to be exhaustive or to limit the invention to the precise form and scope of the invention as defined by the appended claims. ≪ Desc / Clms Page number 2 &Quot; one "or" one " or " one " or " one "), , And this also applies to the use of terms such as " above " used to introduce the claim description. Moreover, although a specific number of the introduction claim specification is explicitly stated above, those skilled in the art will recognize that such description is typically interpreted to mean at least the above-mentioned number (e.g., Quot; two-sided " without " two-sided "means typically at least two or more than two. Moreover, in situations where similar practices are used, such as "at least one of A, B, and C" and the like, generally such structure is intended within the ordinary sense of the skilled artisan to understand the convention (e.g., A system having at least one of B and C is a system having only A, B, C alone, A and B together, A and C together, B and C together, and / or A, But are not limited to). When a convention similar to "at least one of A, B, or C" is used, this structure is generally intended within the ordinary sense of the skilled artisan to understand the convention (e.g., "A, B, C includes a system having only A, B, C alone, A and B together, A and C together, B and C together, and / or A, B and C together But are not limited to these). Any separate word and / or phrase that presents substantially two or more alternate terms is taken to take into account the possibility of including one of the terms, any one of the terms, or both terms in the description, claims or drawings It should be understood by those skilled in the art that it should be understood. For example, the phrase "A or B" may be understood to include the possibility of "A" or "B" or "A and B".

While various aspects and embodiments are disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for the purpose of illustration and not of limitation, the true scope and spirit being indicated by the following claims.

Claims (84)

CLAIMS What is claimed is: A propulsion mechanism capable of generating a directional movement of the lumen moving device through the body lumen, A steering mechanism capable of changing a moving direction of the lumen moving device, At least one electromagnetic transducer configured for at least one of generating an output signal representing a bioelectrical signal sensed from a target tissue or delivering an electromagnetic stimulus to the target tissue, At least one of a signal processing section capable of processing an output signal from the electromagnetic transducer or a stimulation source capable of generating electromagnetic stimulation for delivery to a target tissue by the electromagnetic transducer, At least one wall engagement structure capable of engaging a wall of the body lumen to secure a lumen movement stimulation device against a wall of the body lumen proximate the target tissue, Lt; / RTI > 2. The apparatus of claim 1, wherein the at least one electromagnetic transducer comprises: electrode, coil, Hall effect sensors, antenna, Electromagnetic field source, Ion sensitive devices, Light source, Laser diode, laser, Light-emitting diodes, or Photodiode The lumen movement device comprising: delete The method according to claim 1, At least one electromagnetic transducer configured to generate an output signal representative of a bio-magnetic signal sensed from a target tissue; and at least one signal processor capable of processing an output signal from the electromagnetic transducer Lt; / RTI > The method according to claim 1, At least one electromagnetic transducer configured to deliver an electromagnetic stimulus to the target tissue; and at least one stimulation source capable of generating electromagnetic stimulation for delivery to a target tissue by the electromagnetic transducer Lt; / RTI > The method according to claim 1, A receiver configured to receive a signal from a remote unit Lt; / RTI > The method according to claim 1, The control circuitry carried by the lumen moving device Lt; / RTI > The method according to claim 1, power / RTI > 9. The power supply according to claim 8, Battery or micro battery, Fuel cells or biofuel cells, An inductively-powered power receiving structure driven by a remotely applied electromagnetic field, Energy scavenging devices, Energy scavenging devices capable of converting energy from the bloodstream, Energy scavenging devices capable of converting energy from cardiac motion, Energy scavenging devices capable of converting energy from gastrointestinal motility, An energy scavenger device capable of converting energy from pulmonary circulation, or Energy scavengers that can convert energy from muscle movements The lumen movement device comprising: 2. The lumen movement device of claim 1, wherein the lumen moving device is dimensioned to fit within a blood vessel in the brain. 2. The lumen movement device of claim 1, wherein the lumen moving device is dimensioned to fit within a chamber. The method according to claim 1, At least one stimulation source capable of generating electromagnetic stimulation for delivery to a target tissue by the electromagnetic transducer, Wherein the electromagnetic stimulation is adapted to control or alter at least one of cardiac activity or neural activity. The method according to claim 1, At least one stimulation source capable of generating electromagnetic stimulation for delivery to a target tissue by the electromagnetic transducer, Wherein the electromagnetic stimulation comprises: A depolarization stimulus sufficient to generate depolarization of at least a portion of the target tissue, An overpolarization stimulus sufficient to generate a hyperpolarization of at least a portion of the target tissue, A stimulation stimulus sufficient to generate a functional promoting effect of at least a portion of the target tissue, or Sufficient inhibitory stimulation to produce a functional inhibitory effect of at least a portion of the target tissue The lumen movement device comprising: The method according to claim 1, At least one stimulation source capable of generating an electromagnetic stimulus for delivery to a target tissue by the electromagnetic transducer based at least in part on at least one of a preprogrammed stimulus pattern or a signal from the remotes, Lt; / RTI > The method according to claim 1, At least one signal processor capable of processing the output signal from the electromagnetic transducer by at least one of amplifying the output signal, filtering the output signal, or performing feature detection / pattern recognition on the output signal, Lt; / RTI > The method according to claim 1, At least one signal processing section capable of processing an output signal from the electromagnetic transducer, A transmitter configured to transmit the output of the at least one signal processor to a remote location, or a data storage location configured to store an output of the at least one signal processor Lt; / RTI > The method according to claim 1, Transmitting information about the status of the lumen moving device to a remote location; transmitting information about the location or location of the lumen moving device to a remote location; Or transmitting information about delivery of an electromagnetic stimulus to a target tissue, the at least one transmitter configured to perform at least one of: Lt; / RTI > The method according to claim 1, A plurality of electromagnetic transducers configured for at least one of generating an output signal representative of a bioelectrical signal sensed from a target tissue or delivering an electromagnetic stimulus to the target tissue, Lt; / RTI > CLAIMS What is claimed is: A propulsion mechanism capable of generating a directional movement of the lumen moving device through the body lumen, A steering mechanism capable of changing a moving direction of the lumen moving device, At least one electromagnetic transducer configured for at least one of generating an output signal representative of a bioelectrical signal sensed from a target tissue or delivering an electromagnetic stimulus to the target tissue, At least one of a signal processing section capable of processing an output signal from the electromagnetic transducer or a stimulation source capable of generating electromagnetic stimulation for delivery to a target tissue by the electromagnetic transducer, A sensor capable of sensing local conditions and generating a sensing signal, At least one wall engagement structure capable of engaging a wall of the body lumen to secure a lumen movement stimulation device against a wall of the body lumen proximate the target tissue, Lt; / RTI > 20. The apparatus of claim 19, Optical sensors, Photographing device, Thermal sensor, Chemical sensors, Electrical sensor, or Magnetic sensor The lumen movement device comprising: 20. The method of claim 19, Proximity to the target tissue, Anatomical features, or bifurcation The at least one lumen of the lumen. 20. The lumen movement device of claim 19, wherein the stimulation source is capable of generating an electromagnetic stimulus for delivery to a target tissue by the electromagnetic transducer in response at least in part to a sensing signal from the sensor. delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete

Images