CA2618366C - Tip propelled device for motion through a passage - Google Patents
Tip propelled device for motion through a passage Download PDFInfo
- Publication number
- CA2618366C CA2618366C CA2618366A CA2618366A CA2618366C CA 2618366 C CA2618366 C CA 2618366C CA 2618366 A CA2618366 A CA 2618366A CA 2618366 A CA2618366 A CA 2618366A CA 2618366 C CA2618366 C CA 2618366C
- Authority
- CA
- Canada
- Prior art keywords
- chambers
- self
- fluid
- propelled device
- lumen
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 31
- 239000012530 fluid Substances 0.000 claims abstract description 116
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000005553 drilling Methods 0.000 claims description 9
- 238000005086 pumping Methods 0.000 claims description 5
- 239000013307 optical fiber Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 description 14
- 239000000463 material Substances 0.000 description 12
- 230000008901 benefit Effects 0.000 description 9
- 210000004204 blood vessel Anatomy 0.000 description 9
- 230000006378 damage Effects 0.000 description 7
- 239000000243 solution Substances 0.000 description 7
- 230000001965 increasing effect Effects 0.000 description 6
- 238000010348 incorporation Methods 0.000 description 5
- 208000014674 injury Diseases 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 210000001519 tissue Anatomy 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 239000008280 blood Substances 0.000 description 4
- 210000004369 blood Anatomy 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 238000012163 sequencing technique Methods 0.000 description 4
- 210000001367 artery Anatomy 0.000 description 3
- 230000009193 crawling Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004873 anchoring Methods 0.000 description 2
- 238000002052 colonoscopy Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 210000000936 intestine Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 241000243818 Annelida Species 0.000 description 1
- 241000361919 Metaphire sieboldi Species 0.000 description 1
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000916 dilatatory effect Effects 0.000 description 1
- 230000010339 dilation Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
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- 239000007788 liquid Substances 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002086 nanomaterial Substances 0.000 description 1
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- 230000002572 peristaltic effect Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0155—Tip steering devices with hydraulic or pneumatic means, e.g. balloons or inflatable compartments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0122—Steering means as part of the catheter or advancing means; Markers for positioning with fluid drive by external fluid in an open fluid circuit
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- Media Introduction/Drainage Providing Device (AREA)
- Prostheses (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US70716605P | 2005-08-11 | 2005-08-11 | |
| US60/707,166 | 2005-08-11 | ||
| PCT/IL2006/000925 WO2007017876A2 (en) | 2005-08-11 | 2006-08-10 | Tip propelled device for motion through a passage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2618366A1 CA2618366A1 (en) | 2007-02-15 |
| CA2618366C true CA2618366C (en) | 2014-05-27 |
Family
ID=37727708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2618366A Active CA2618366C (en) | 2005-08-11 | 2006-08-10 | Tip propelled device for motion through a passage |
Country Status (6)
| Country | Link |
|---|---|
| US (3) | US9061118B2 (enExample) |
| EP (1) | EP1924233B1 (enExample) |
| JP (1) | JP5236472B2 (enExample) |
| CN (3) | CN103330989B (enExample) |
| CA (1) | CA2618366C (enExample) |
| WO (1) | WO2007017876A2 (enExample) |
Families Citing this family (67)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9011329B2 (en) | 2004-04-19 | 2015-04-21 | Searete Llc | Lumenally-active device |
| US8353896B2 (en) | 2004-04-19 | 2013-01-15 | The Invention Science Fund I, Llc | Controllable release nasal system |
| US8512219B2 (en) | 2004-04-19 | 2013-08-20 | The Invention Science Fund I, Llc | Bioelectromagnetic interface system |
| JP5173154B2 (ja) * | 2006-06-27 | 2013-03-27 | 富士フイルム株式会社 | 流体アクチュエータ、および内視鏡 |
| US12082781B2 (en) * | 2007-01-30 | 2024-09-10 | Loma Vista Medical, Inc. | Biological navigation device |
| WO2008095046A2 (en) * | 2007-01-30 | 2008-08-07 | Loma Vista Medical, Inc., | Biological navigation device |
| US9427143B2 (en) | 2007-02-08 | 2016-08-30 | Technion Research And Development Foundation Ltd. | Inflatable chamber device for motion through a passage |
| US8430810B2 (en) | 2007-02-12 | 2013-04-30 | Technion Research And Development Foundation, Ltd. | Inflatable balloon device and applications |
| EP2150167B1 (en) | 2007-05-10 | 2014-08-27 | Technion Research & Development Foundation Ltd. | Semi disposable endoscope |
| EP2157909A2 (en) * | 2007-06-27 | 2010-03-03 | Flip Technologies Limited | A system, device and a method for dilating a stricture in a lumen and for determining the transverse cross-sectional area of a lumen or cavity |
| JP5165946B2 (ja) * | 2007-07-12 | 2013-03-21 | オリンパス株式会社 | 内視鏡装置 |
| US20110022032A1 (en) * | 2007-10-05 | 2011-01-27 | Tyco Healthcare Group Lp | Battery ejection design for a surgical device |
| CN101888872A (zh) * | 2007-10-17 | 2010-11-17 | 泰尔哈绍梅尔医学研究基础设施和服务有限公司 | 用于引导胃肠设备通过胃肠道的系统和方法 |
| DE102008038964B4 (de) * | 2007-12-04 | 2013-11-28 | GIB - Gesellschaft für Innovation im Bauwesen mbH | Bewegbare Geräteeinheit zum Erzeugen einer Durchörterung in Böden und Auffüllungen |
| JP5107065B2 (ja) * | 2008-01-15 | 2012-12-26 | オリンパスメディカルシステムズ株式会社 | 内径測定具 |
| JP5246687B2 (ja) * | 2008-03-31 | 2013-07-24 | 学校法人 中央大学 | 管内自走装置 |
| CN102348422B (zh) * | 2009-01-13 | 2015-11-25 | 立泰心脏有限公司 | 引线抽取方法及装置 |
| JP5391006B2 (ja) * | 2009-09-14 | 2014-01-15 | 富士フイルム株式会社 | 内視鏡挿入補助具 |
| JP5422422B2 (ja) * | 2010-02-02 | 2014-02-19 | 富士フイルム株式会社 | 医療用固定バルーン及び内視鏡 |
| US20120046599A1 (en) * | 2010-02-18 | 2012-02-23 | Cardiovascular Systems, Inc. | Therapeutic agent delivery system, device and method for localized application of therapeutic substances to a biological conduit |
| JP5665023B2 (ja) * | 2010-04-30 | 2015-02-04 | 国立大学法人鳥取大学 | ダブルバルーン式内視鏡装置 |
| JP5571524B2 (ja) * | 2010-10-13 | 2014-08-13 | 学校法人 中央大学 | 内視鏡推進装置 |
| DE102010055081A1 (de) * | 2010-12-18 | 2012-06-21 | Primed Halberstadt Medizintechnik Gmbh | Endoskopische Vorrichtung |
| CA2835059A1 (en) | 2011-04-01 | 2012-10-04 | Leadex Cardiac Ltd. | Lead extraction methods and apparatus |
| JP5846814B2 (ja) * | 2011-09-07 | 2016-01-20 | オリンパス株式会社 | 内視鏡装置 |
| US9675748B2 (en) | 2011-09-29 | 2017-06-13 | Technion Research & Development Foundation Ltd. | Device for prevention of shunt stenosis |
| US9358120B2 (en) | 2013-03-14 | 2016-06-07 | DePuy Synthes Products, Inc. | Expandable coil spinal implant |
| US9572676B2 (en) * | 2013-03-14 | 2017-02-21 | DePuy Synthes Products, Inc. | Adjustable multi-volume balloon for spinal interventions |
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| US9446230B1 (en) | 2014-09-04 | 2016-09-20 | Advanced Bionics Ag | Cochlear implant electrode array and method for inserting the same into a human cochlea |
| WO2016194413A1 (ja) * | 2015-06-03 | 2016-12-08 | オリンパス株式会社 | 装着ユニット |
| US11147947B2 (en) * | 2015-11-06 | 2021-10-19 | Kardium Inc. | Medical device systems and methods including safety release, lumen fluid-providing mechanisms, or both |
| FR3043915B1 (fr) * | 2015-11-25 | 2017-12-15 | Univ Strasbourg | Dispositif pneumatique de maintien et de deplacement d'un objet allonge et systeme medical integrant un tel dispositif |
| GB201703056D0 (en) | 2017-02-24 | 2017-04-12 | King S College London | Soft locomotive device for endoscopy with adaptive anchoring |
| EP3488891A1 (en) * | 2017-11-27 | 2019-05-29 | Cook Medical Technologies LLC | Device for translational movement through vessels |
| US11209114B2 (en) * | 2018-04-19 | 2021-12-28 | Arizonaboard Of Regents On Behalf Of Arizona State University | Water pipe inspection robot and method of traversing a water pipe |
| WO2020021697A1 (ja) * | 2018-07-27 | 2020-01-30 | オリンパス株式会社 | 医療機器 |
| JP7350848B2 (ja) * | 2018-10-24 | 2023-09-26 | バード・ペリフェラル・バスキュラー・インコーポレーテッド | 循環血液量過多症を治療する埋め込み型装置 |
| US11067200B2 (en) | 2018-10-24 | 2021-07-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Self-healing microvalve |
| US11548261B2 (en) | 2018-10-24 | 2023-01-10 | Toyota Motor Engineering & Manufacturing North America, Inc. | Structure with selectively variable stiffness |
| US10946535B2 (en) * | 2018-10-25 | 2021-03-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Earthworm-like motion of soft bodied structure |
| US11041576B2 (en) | 2018-10-25 | 2021-06-22 | Toyota Motor Engineering & Manufacturing North America, Inc. | Actuator with static activated position |
| US11081975B2 (en) | 2018-10-25 | 2021-08-03 | Toyota Motor Engineering & Manufacturing North America, Inc. | Somersaulting motion of soft bodied structure |
| US11088635B2 (en) | 2018-10-25 | 2021-08-10 | Toyota Motor Engineering & Manufacturing North America, Inc. | Actuator with sealable edge region |
| US12194264B2 (en) * | 2018-11-02 | 2025-01-14 | Bionaut Labs Ltd. | Magnetomechanic triggering of payload release from miniaturized devices |
| US11498270B2 (en) | 2018-11-21 | 2022-11-15 | Toyota Motor Engineering & Manufacturing North America, Inc. | Programmable matter |
| US11195506B2 (en) | 2018-12-03 | 2021-12-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Sound-modulating windows |
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| US11066016B2 (en) | 2018-12-18 | 2021-07-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Adjusting vehicle mirrors |
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| CN109875484B (zh) * | 2019-02-18 | 2021-11-09 | 中南大学湘雅医院 | 一种自动前行的胶囊胃窥镜 |
| US20200305796A1 (en) * | 2019-03-29 | 2020-10-01 | Robeaute | Microrobot configured to move in a viscous material |
| US20210001093A1 (en) * | 2019-07-02 | 2021-01-07 | Biosense Webster (Israel) Ltd. | Moving a guidewire in a brain lumen |
| CN110353610B (zh) * | 2019-07-10 | 2021-05-25 | 乔建叶 | 一种具有爬行装置的内窥镜系统 |
| CN110497383B (zh) * | 2019-07-18 | 2020-10-23 | 北京大学口腔医学院 | 内置式双向气泵自调控气流蠕动柔性机器人 |
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| US6764441B2 (en) * | 2001-09-17 | 2004-07-20 | Case Western Reserve University | Peristaltically self-propelled endoscopic device |
| US20050261719A1 (en) * | 2002-11-25 | 2005-11-24 | Israel Chermoni | Catheter and method of its use |
| CN103142199B (zh) * | 2004-02-09 | 2016-09-28 | 智能医疗系统有限公司 | 内窥镜组件 |
| JP2006141935A (ja) * | 2004-11-18 | 2006-06-08 | Toshifumi Hayakawa | 圧力弁バルーン伸展式内視鏡自動挿入機 |
-
2006
- 2006-08-10 CN CN201310139818.7A patent/CN103330989B/zh not_active Expired - Fee Related
- 2006-08-10 EP EP06766222A patent/EP1924233B1/en not_active Not-in-force
- 2006-08-10 CN CN201310140327.4A patent/CN103272325B/zh not_active Expired - Fee Related
- 2006-08-10 CA CA2618366A patent/CA2618366C/en active Active
- 2006-08-10 CN CN2006800376390A patent/CN101583396B/zh not_active Expired - Fee Related
- 2006-08-10 US US12/063,323 patent/US9061118B2/en active Active
- 2006-08-10 JP JP2008525721A patent/JP5236472B2/ja not_active Expired - Fee Related
- 2006-08-10 WO PCT/IL2006/000925 patent/WO2007017876A2/en not_active Ceased
-
2015
- 2015-06-22 US US14/746,660 patent/US9937326B2/en active Active
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2018
- 2018-03-27 US US15/936,878 patent/US10583273B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| US20150367101A1 (en) | 2015-12-24 |
| US20100249505A1 (en) | 2010-09-30 |
| US10583273B2 (en) | 2020-03-10 |
| US20180289930A1 (en) | 2018-10-11 |
| CN103272325B (zh) | 2016-04-06 |
| JP5236472B2 (ja) | 2013-07-17 |
| CN101583396A (zh) | 2009-11-18 |
| JP2009520507A (ja) | 2009-05-28 |
| CN103272325A (zh) | 2013-09-04 |
| EP1924233A2 (en) | 2008-05-28 |
| WO2007017876A2 (en) | 2007-02-15 |
| EP1924233A4 (en) | 2009-03-25 |
| CA2618366A1 (en) | 2007-02-15 |
| US9937326B2 (en) | 2018-04-10 |
| US9061118B2 (en) | 2015-06-23 |
| CN103330989A (zh) | 2013-10-02 |
| CN101583396B (zh) | 2013-05-29 |
| CN103330989B (zh) | 2016-06-29 |
| WO2007017876A3 (en) | 2008-11-06 |
| EP1924233B1 (en) | 2012-10-17 |
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