FI20215467A1

FI20215467A1 - Wireless capsule robot and system for operating a wireless capsule robot

Info

Publication number: FI20215467A1
Application number: FI20215467A
Authority: FI
Inventors: Yaser Sabzehmeidani; Sadrehashemi Nejad Seyed Mahoor; Kasra Naderian
Original assignee: Robomed Oy
Priority date: 2021-04-21
Filing date: 2021-04-21
Publication date: 2022-10-22
Also published as: EP4326137A1; FI130351B; WO2022223878A1

Abstract

Esillä on langaton kapselirobotti (10) potilaan (90) ruoansulatuskanavan (92) läpi kulkemista varten. Langaton kapselirobotti (10) käsittää ulkokerroksen (11), ohjaimen (15) ulkokerroksen (11) sisällä, ja yhden tai useamman biopsialaitteen (30), joka on toiminnallisesti kytketty ohjaimeen (15). Ohjain (15) on järjestetty käyttämään biopsialaitetta (30). Langaton kapselirobotti (10) käsittää myös radioviestintäyksikön (18) ulkokerroksen (11) sisällä, ja radioviestintäyksikkö (18) on järjestetty viestimään langattomalla yhteydellä (80). Radioviestintäyksikkö (18) on toiminnallisesti kytketty ohjaimeen (15). Langaton kapselirobotti (10) käsittää myös akun (19) ulkokerroksen sisällä, ja akku (19) on järjestetty syöttämään tehoa eri yksiköihin. Esillä on myös järjestelmä (1) langattoman kapselirobotin käyttämiseksi.

Description

WIRELESS CAPSULE ROBOT AND SYSTEM FOR OPERATING A WIRELESS CAPSULE

ROBOT

FIELD OF THE INVENTION

The present invention relates to a wireless capsule robot. The present invention relates also to a system for operating a wireless capsule robot.

BACKGROUND OF THE INVENTION

Tethered endoscopy (from mouth) and colonoscopy (from rectum) is a painful, unpleasant, and time-consuming process used for patients with gastrointestinal diseases or disorders. Even by using these procedures, the small bowel remains inaccessible organ as it is more than eight meters long with small diameter and many folds. Wireless capsule endoscopy (WCE) has been introduced over the last decade to resolve this issue. A pill sized robot swallowed by the patient takes images continually and sends back captured images to out-body transceiver.

This concept is already commercialized by numerous companies.

In the prior art, the most significant shortcoming of prior art capsule robots is the lack of the possibility of biopsy. Almost ten percent of all cancers is colorectal cancer, which, with present day diagnostics, is often not diagnosed until the final and critical stages. Other diseases like CD (Crohn Disease), celiac, UC (Ulcerative Colitis), IBD (Inflammatory Bowel Disease), and other tumours are also related to the health of the bowel. Biopsy is an essential part of the diagnostics in these diseases.

In the prior art, biopsies of the bowel have been performed

N colonoscopically, which is a demanding and unpleasant medical procedure. Thus,

S 25 — better biopsy devices and systems of the gastrointestinal tract are needed. + ? BRIEF DESCRIPTION OF THE INVENTION

N An object of the present invention is to provide a wireless capsule robot

E that may be operated in the gastrointestinal tract of a patient, and a system for

K operating the wireless capsule robot in the gastrointestinal tract to overcome or at s 30 —leastalleviate the problems of the prior art.

N The objects of the invention are achieved by a wireless capsule robot,

N which is characterized by what is stated in the independent claim 1. The objects of the invention are further achieved by a system for operating a wireless capsule robot which is characterized by what is stated in the independent claim 12.

The preferred embodiments of the invention are disclosed in the dependent claims.

As an aspect of the invention, a wireless capsule robot for traversing through a gastrointestinal tract of a patient is disclosed. The wireless capsule robot comprises an outer layer, a controller inside the outer layer, and one or more biopsy devices functionally connected to the controller. The controller is arranged to operate the one or more biopsy devices. The wireless capsule robot comprises also a radio communication unit inside the outer layer, and the radio communication unit is arranged to communicate by a wireless connection. The radio communication unit is functionally connected to the controller. The wireless capsule robot also comprises a battery inside the outer layer, and the battery is arranged to supply power to the controller, to the one or more biopsy devices and to the radio communication unit. Advantage of this aspect of the invention is that with the wireless capsule robot it is easy to place a biopsy device into the gastrointestinal tract.

In an embodiment, the biopsy device is arranged to receive a command that instructs the biopsy device to operate, the command received through the wireless connection, the radio communication unit, and the controller. Advantage of this embodiment is to launch the operation of the biopsy device such that launching is performed external to the patient.

In an embodiment, the biopsy device comprises an actuator, and a biopsy needle. The biopsy needle comprises a tip portion at the outer end of the biopsy needle. During the operation of the biopsy device, the actuator is arranged to cause outward movement to the biopsy needle relative to the wireless capsule robot such that the tip portion of the biopsy needle is arranged to move away from

N the actuator, and after the outward movement, during the operation of the biopsy

N device, cause inward movement to the biopsy needle relative to the wireless

S capsule robot such that the tip portion of the biopsy needle is arranged to move

N towards the actuator. A biopsy needle moved with an actuator is a way to arrange

I 30 operation of the biopsy device. > In an embodiment, the actuator comprises an electric motor, a spring

O and a cam, and the biopsy needle comprises a follower connected or fixed to the

O biopsy needle such that during the operation of the biopsy device, the electric

S motor is arranged to rotate the cam. During the operation of the biopsy device, the cam is arranged to push the follower by rotation such that the follower connected or fixed to the biopsy needle is arranged to cause the outward movement of the biopsy needle. Also during the operation of the biopsy device, the spring is arranged to cause the inward movement of the biopsy needle by a spring force.

This is an advantageous realisation of the actuator.

In an embodiment, the actuator comprises an electric motor, a pinion and a rack connected or fixed to the biopsy needle such that during the operation of the biopsy device, the electric motor is arranged to rotate the pinion in a first direction and drive the rack, whereby the rack connected or fixed to the biopsy needle is arranged to cause the outward movement of the biopsy needle. During the operation of the biopsy device, the electric motor is also arranged to rotate the pinion in a second direction and drive the rack, whereby the rack connected or fixed to the biopsy needle is arranged to cause the inward movement of the biopsy needle. This is an advantageous realisation of the actuator.

In an embodiment, a wireless capsule robot comprises a camera arranged to send visual information from the environment of the wireless capsule — robot through the wireless connection. Cameras are advantageous in positioning the wireless capsule robot relative to the biopsy site or biopsy sites that are interesting in a medical sense.

In an embodiment, a wireless capsule robot comprises a camera arranged to send visual information from the environment of the wireless capsule robot through the wireless connection, and the wireless capsule robot comprises a light arranged to illuminate at least partially the environment of the wireless capsule robot viewed by the camera for improving the visual information. Cameras are advantageous in positioning the wireless capsule robot relative to the biopsy site or biopsy sites that of interest, and light supplied helps in this.

In an embodiment, the outer layer of the wireless capsule robot

N comprises a first end, a second end opposite to the first end, and a longitudinal

N center section arranged to connect the first end and a second end. The advantage

S of this shape is to allow for a smooth travel of the wireless capsule robot inside the

N gastrointestinal tract.

E 30 In an embodiment, an outer surface of the longitudinal center section is > circularly cylindrical; or non-circularly cylindrical; or rotationally symmetric along

O a center axis of the longitudinal center section. The advantage of these shapes is to

O allow for a smooth travel of the wireless capsule robot inside the gastrointestinal

S tract.

In an embodiment, camera comprises a front lens and the front lens is arranged on the surface of the first end of the wireless capsule robot. This placement allows a forward or backward view of the gastrointestinal tract.

In an embodiment, the actuator is arranged inside the outer layer, and the longitudinal center section comprises a membrane area such that during the outward movement caused by the actuator, the biopsy needle is arranged to pierce through the membrane area and arranged to provide a perforation into the membrane area, the tip portion of the biopsy needle being arranged to move outside the outer layer of the wireless capsule robot through the perforation by the outward movement, and during the inward movement caused by the actuator, the perforation and the membrane area around the perforation are arranged to — contract and close the perforation when the tip portion of the biopsy needle reaches inside the outer layer. This is an advantageous way to isolate the inner region of the wireless capsule robot from the outside and from the matter in the gastrointestinal tract. In the present text, said contracting and closing of the perforation is also called “self-sealing”.

In an embodiment, the membrane area comprises polytetrafluoroethylene; or silicone; or butyl rubber; or polytetrafluoroethylene and silicone; or polytetrafluoroethylene and butyl rubber; or silicone and butyl rubber; or polytetrafluoroethylene, butyl rubber and silicone.

These are advantageous materials. They allow piercing with the biopsy needle, such that the membrane area may be self-sealing such that they close the perforation pierced to the membrane area, and yet at the same time provide rigidity to the structure of the wireless capsule robot. Especially polytetrafluoroethylene and silicone in combination may arrange a very effective self-sealing membrane area.

In an embodiment, the longitudinal center section is formed of the

N membrane area. It is possible to make the longitudinal center section entirely of

N the membrane area for example with a thin sheet of PTFE rolled to the shape of a

S hollow, tubular center section.

N In an embodiment, the longitudinal center section comprises at least

E 30 —oneopening, and at least one membrane area encloses and seals the opening, the > at least one opening positioned such that the biopsy needle is oriented to pierce

O through the membrane area during the outward movement of the biopsy needle. It

O is also possible to arrange the longitudinal center section from such a rigid material

S such that the material is able to hold the shape of the wireless capsule robot — without deformation in the gastrointestinal tract.

As an aspect of the present invention, a system for operating a wireless capsule robot in the gastrointestinal tract of a patient is disclosed. The wireless capsule robot comprises an outer layer, a controller inside the outer layer, one or more biopsy devices functionally connected to the controller, the controller arranged to operate the one or more biopsy devices, a radio communication unit 5 inside the outer layer, the radio communication unit arranged to communicate by a wireless connection, the radio communication unit being functionally connected to the controller, and a battery inside the outer layer. The battery is arranged to supply power to the controller, to the one or more biopsy devices, and to the radio communication unit. The system comprises also a body unit comprising a body radio unit. The body radio unit is arranged to communicate wirelessly with the radio communication unit of the wireless capsule robot by the wireless connection.

The system comprises also a control interface unit arranged to communicate with the body unit by a control connection, the control interface unit comprising a user interface. The wireless capsule robot is the wireless capsule robot according to the — wireless capsule robot aspect and its embodiments as defined above. This system is advantageous for operating the biopsy device outside the patient with a robust radio interface arranged through the body unit.

In an embodiment, the body radio unit of the body unit comprises one or more body unit antennas arranged to provide the wireless connection with the radio communication unit of the wireless capsule robot. This system embodiment is advantageous for operating the biopsy device outside the patient with a robust radio interface arranged through the body unit.

In an embodiment, at least one of the body unit antennas comprises an adhesive patch arranged to provide a pressure-sensitive and temporary attachment of the body unit antenna on the patient. This embodiment creates a

N strong radio link for the wireless connection.

N In an embodiment, the user interface of the control interface unit is

S configured to launch a command to the wireless capsule robot, and the command

N is arranged to instruct at least one of the one or more biopsy devices of the wireless

E 30 capsule robot to operate. The command is conveyed through the control > connection from the control interface unit to the body unit and through the

O wireless connection from the body unit to the wireless capsule robot. This channel,

O through the body unit, enables a robust radio interface arranged through the body

S unit, from the control interface unit to the wireless capsule robot.

In an embodiment, the system is arranged to transmit visual information from the wireless capsule robot to the body unit through the wireless connection and from the body unit to the control interface unit through the control connection, and the user interface is configured to present the visual information.

This channel, through the body unit, enables a robust radio interface arranged through the body unit from the wireless capsule robot to the control interface unit.

An object of the present invention is to provide a wireless capsule robot with the capability of operating a biopsy device inside the gastrointestinal tract.

The invention is based on the idea of incorporating a biopsy device to a wireless capsule robot. The invention is also based on the idea of incorporating the wireless capsule robot to a system and then commanding the biopsy device of the wireless capsule robot to operate as instructed by the system, from units that are external to the wireless capsule robot and to the biopsy device, from the body unit and from the control unit.

An advantage of the invention is that a biopsy device can be operated inside the gastrointestinal tract with the wireless capsule robot such that the biopsy site may be found, detected or selected, and the biopsy device operated from outside the patient. The two-tier communications path (from the control interface unit to body unitand from body unit to the wireless capsule robot) makes the analysis of the site and operating the biopsy device possible. Operating a biopsy device may become more reliable and pleasant to the medical professionals and to patients.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is described in detail by means of specific embodiments with reference to the enclosed drawings, in which

N 25 Figure 1 shows schematically the gastrointestinal tract of a patient,

N Figures 2a and 2b show details of an embodiment of the invention

S related to the wireless capsule robot and its relation to the gastrointestinal tract of

N a patient,

I Figures 3a - 3e show details of an embodiment of the invention related & 30 —toabiopsy device of the capsule robot, 5 Figures 4a - 4d show details of an embodiment of the invention related 5 to the wireless capsule robot, and

S Figures 5 and 6a - 6c show details of a system and its embodiments

N according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

In the Figures, like numbers (for example 11) and like labels (11a) relate to like elements.

For the purposes of the present text, a “gastrointestinal tract” is the tract from mouth to anus of a patient. The gastrointestinal tract includes all the organs of the digestive system in humans and other animals. Gastrointestinal is an adjective meaning of or pertaining to the stomach and intestines. A tract is a collection of related anatomic structures or a series of connected body organs.

For the purposes of the present text, a “patient” may mean a human patient in medical terms, or an animal patient (belonging to a field of veterinary).

The gastrointestinal tract 92 of a human is shown schematically in

Figure 1. The gastrointestinal tract 92 comprises mouth 92m, esophagus 92a, stomach 92b, small intestine 92c, colon 92d, rectum 92e and anus 92f. Figure 1 shows also a wireless capsule robot 10 traversing the gastrointestinal tract from — mouth to anus. The gastrointestinal tract is essentially a complex biological tube with various shapes and organs comprising gastrointestinal tissue 93, which may be for example the different layers of the intestine or bowel walls, and including also, for example, the benign or malignant lesions or areas of growth of benign or malignant tumours that are of interest in terms of biopsy.

Turning next to Figure 2a, as an aspect of the invention, a wireless capsule robot 10 for traversing through a gastrointestinal tract 92 of a patient 90 is disclosed. The wireless capsule robot 10 comprises an outer layer 11, and a controller 15 inside the outer layer 11. The wireless capsule robot 10 comprises also one or more biopsy devices 30 functionally connected to the controller 15. The — 25 controller 15 is arranged to operate the one or more biopsy devices 30. The

S wireless capsule robot 10 comprises also a radio communication unit 18 inside the 3 outer layer 11. The radio communication unit 18 is arranged to communicate by a ? wireless connection 80. The radio communication unit 18 is functionally connected

N to the controller 15. The wireless capsule robot 10 comprises also a battery 19

E 30 inside the outer layer 11. The battery 19 is arranged to supply power to the

N controller 15, to the one or more biopsy devices 30, and to the radio

O communication unit 18. = The wireless capsule robot 10 may be a pill-sized unit that the patient

S 90 may swallow through his/her mouth.

The longitudinal dimension or length of the wireless capsule robot may be 10mm - 40mm (millimetres), more advantageously 15mm - 35mm and most advantageously 20mm - 30mm.

Diameter of the wireless capsule robot may be 6mm - 18mm, more advantageously 7mm - 15mm and most advantageously 8mm - 13mm.

Shape of the wireless capsule robot may be geometrically a capsule, or acapsule-like shape.

Outer layer 11 may provide a gastight wall between the inside and the outside of the outer layer 11.

Outer layer 11 may provide a wall which is impermeable to liquids between the inside and the outside of the outer layer 11.

The wireless capsule robot 10 may also comprise a center structure supporting the different units and to which the different units may be attached (center structure not shown).

In another words, the wireless capsule robot 10 may also comprise a center structure to which the outer layer 11, the one or more biopsy devices 30, — the controller 15, radio communication unit 18 and battery 19 may be supported or fixed.

For the purposes of this text, the concept of “wireless” means that the robot is arranged to fulfil its mission of operating the biopsy device without being tethered to a control interface unit external to the patient 90 with wires, cabling or other such electrical connectors or connections. For communications, the wireless capsule robot 10 is arranged to communicate external to the patient with radio devices including radio transmitters and radio receivers that are included in the radio communication unit 18.

Various radio systems for the wireless connection 80 may be used. — Wireless connection 80 may be arranged with amplitude shift keying (ASK) or with

N on-off keying (00K). These modulations are advantageous for low power

N applications as the sending of a zero bit does not necessarily consume any energy,

S or consumes only a small amount of energy.

N Freguency of the wireless connection 80 may be limited to less than

I 30 500MHz, to a so-called sub-gigahertz band. A typical frequency is 433MHz which > is one of the license-free ISM (Industrial, Scientific and Medical) frequency bands.

O Attenuation of a radio transmission of the wireless connection 80 through the

O abdominal tissue of the patient 90 is manageable in said sub-gigahertz freguencies.

S Radio transceivers, receivers and transmitters are commercially available in a miniature form that fit inside the wireless capsule robot outer surface 11 and operate with the above-mentioned modulation and frequency characteristics with minimal power consumption.

The radio communication unit 18 may also comprise an antenna 80a to arrange the wireless connection 80.

The wireless capsule robot 10 is also provided with energy storage devices like the battery 19 for carrying and supplying energy needed for the operations of the wireless capsule robot 10. The battery 19 (or energy storage unit 19) is arranged to provide energy for the different units of the wireless capsule robot 10 like a camera 12, the biopsy device 30 and the controller 15.

The battery 19 or energy storage unit 19 may also be arranged to — provide energy or supply power to a light 13 (defined later in the present text) and to the radio communication unit 18.

The battery 19 may be a silver oxide battery or a lithium-ion battery.

The battery 19 may be rechargeable battery. The battery 19 may be arranged with electrical connections (not shown) to provide energy or supply power into the different units of the wireless capsule robot 10.

The outer layer 11 may comprise plastic or metal or other biologically inert, hard material. The outer layer 11 may be smooth to facilitate travel of the wireless capsule robot 10 in the gastrointestinal tract 92.

The outer layer 11 may comprise flexible material, or material that can — be pierced with a biopsy needle.

The outer layer 11 may comprise polytetrafluoroethylene (PTFE), silicone (polysiloxane) or butyl rubber, or any combination thereof.

Thickness of the outer layer 11 may be for example 0,2mm - 0,8mm, more preferably 0,3mm-0,7mm, most preferably 0,4mm - 0,6mm, for example 05mm.

N The controller 15 of the wireless capsule robot 10 may comprise a

N microcontroller, an application specific integrated circuit (ASIC), a microprocessor,

S an FPGA (field programmable gate array) circuit or another digital logic unit, and a

N memory, registers and busses for information transfer.

I 30 The controller 15 may comprise interfaces for sending digital > information out and accepting digital information into the controller 15.

O Still referring to Figure 2a, in an embodiment, the biopsy device 30 of

O the wireless capsule robot 10 is arranged to receive a command 75c that instructs

S the biopsy device 30 to operate. The command 75c is received by the biopsy device 30, through the wireless connection 80, the radio communication unit 18 and the controller 15.

The wireless connection 80, the radio communication unit 18 or the controller 15 may be arranged to encode the command 75c to suit wireless communications, for example with the said ASK or OOK modulation. The radio communication unit 18 may be arranged to receive the command 75c, and the radio communication unit 18 may be arranged to feed the command 75c to the controller 15 through a communication bus between the radio communication unit 18 and the controller 15. Finally, as the command 75c, the controller 15 may be arranged to feed an electric signal through an electrical connection into the biopsy device 30 to operate the biopsy device 30 or instruct the biopsy device 30 to — operate. Thus, the electrical configuration of the command 75c may change from one unit to another, in ways obvious to a skilled person in the domain of digital and analogue electronics.

The command 75c may also be arranged to indicate which of the biopsy devices 30 to operate if the wireless capsule robot 10 comprises more than one biopsy devices 30. Thus, based on the command 75c, the controller 15 may be arranged to determine the one biopsy device 30 that is fed with said electric signal by the controller 15.

The command 75c may also be arranged to indicate that all the biopsy devices 30 are to operate essentially at the same time if the wireless capsule robot 10 comprises more than one biopsy devices 30. Thus, based on the command 75c, the controller 15 may be arranged to determine that all the biopsy devices 30 are fed with the said electric signal by the controller 15 essentially at the same time.

For the purposes of this text, "operating the biopsy device 30”, "to operate the biopsy device 30”, “biopsy device 30 instructed to operate” and “operation of the biopsy device 30” mean the same activity.

N Figure 2b illustrates the wireless capsule robot 10 traversing the

N gastrointestinal tract 92. Gastrointestinal tract 92 comprises gastrointestinal tract

S tissue 93 that may at least partially be of medical interest, or diagnostic interest.

N In an embodiment, the biopsy device 30 comprises a biopsy needle 35.

I 30 In an embodiment, the biopsy device 30 comprises a biopsy needle 35, > and when the biopsy device 30 is instructed to operate, the biopsy device 30 is

O arranged to cause movement to the biopsy needle 35.

O Turning next to Figures 3a-3c, in an embodiment, the biopsy device 30

S comprises an actuator 31 and a biopsy needle 35. The biopsy needle 35 comprises —atip portion 36 at the outer end of the biopsy needle 35.

The outer end of the biopsy needle 35 is the distal end of the biopsy needle 35 relative to the actuator 31. A proximal end of the biopsy needle 35 relative to the actuator 31 is the inner end of the biopsy needle 35.

Referring to Figure 3b, during the operation of the biopsy device 30, the actuator 31 is arranged to cause outward movement 40 to the biopsy needle 35 relative to the wireless capsule robot 10. In the outward movement, the tip portion 36 of the biopsy needle 35 is arranged to move away from the actuator 31.

Referring next to Figure 3c, after the outward movement 40, the actuator 31 is arranged to cause inward movement 42 to the biopsy needle 35 relative to the wireless capsule robot 10. In the inward movement 42, the tip — portion 36 of the biopsy needle 35 is arranged to move towards the actuator 31.

For the purposes of this text, “during the operation” means atleast some period of time when the biopsy device 30 operates.

For the purposes of this text, “outwards” 40 is the direction of the movement of the tip portion 36 of the biopsy needle 35 away from the actuator 31.

In other words, movement outwards extends the biopsy needle 35 relative to the wireless capsule robot 10.

Similarly, “inwards” 42 is the direction of the movement of the tip portion 36 of the biopsy needle 35 towards the actuator 31. In other words, movement inwards retracts the biopsy needle 35 relative to the wireless capsule robot 10.

As the actuator 31 is arranged to move the biopsy needle 35 outwards, the actuator 31 is arranged to extend the biopsy needle 35.

There are various biopsy needle types, characterized mostly by the tip portion 36, known in the medical industry, for example Chiba type biopsy needle,

Franseen type biopsy needle, Turner type biopsy needle and Wescott type biopsy 3 needle. All these biopsy needle types may be arranged to be used in the wireless ! capsule robot 10.

S The biopsy needle 35 of the biopsy device 30 may be 4mm - 8mm long

N and 0,05mm - 0,35mm in outer diameter.

I 30 The tip portion 36 of the biopsy needle 35 may be sharp. > The biopsy needle 35 may comprise stainless steel or ceramic material.

O Referring next to Figure 3d, in an embodiment, the actuator 31

O comprises an electric motor 38, a spring 33a and a cam 32a. The biopsy needle 35

S comprises a follower 37 connected to the biopsy needle 35. During the operation ofthe biopsy device 30, the electric motor 38 is arranged to rotate the cam 32a. The cam 32a is arranged to push the follower 37 by rotation such that the follower 37 connected to the biopsy needle 35 is arranged to cause the outward movement 40 of the biopsy needle 35. Further, during the operation of the biopsy device 30, the spring 33a is arranged to cause the inward movement 42 of the biopsy needle 35 by a spring force. The inward movement 42 is arranged to begin when the follower 37 has moved past of the apex of the cam 32a as the cam 32a rotates.

Referring now to Figure 3e, in an embodiment, the actuator 31 comprises an electric motor 38, a pinion 33b and a rack 32b, the rack 32b connected to the biopsy needle 35. During the operation of the biopsy device 30, the electric motor 38 is arranged to rotate the pinion 33b in a first direction 44 and — drive the rack 32b whereby the rack 32b connected to the biopsy needle 35 is arranged to cause the outward movement 40 of the biopsy needle 35. During the operation of the biopsy device 30, the electric motor 38 is also arranged to rotate the pinion 33b in a second direction 46 and drive the rack 32b, whereby the rack 32b connected to the biopsy needle 35 is arranged to cause the inward movement 42 of the biopsy needle 35.

Turning next to Figure 4a, the wireless capsule robot 10 comprises a camera 12 arranged to send visual information 75v from the environment 96 of the wireless capsule robot 10 through the wireless connection 80.

In an embodiment, and still referring to Figure 4a, the wireless capsule robot 10 comprises a camera 12 arranged to send visual information 75v from the environment 96 of the wireless capsule robot 10 through the wireless connection 80, and the wireless capsule robot 10 comprises a light 13 arranged to illuminate at least partially the environment 96 of the wireless capsule robot 10 viewed by the camera 12 for improving the visual information 75v.

The camera 12 may be functionally connected to the controller 15 and

N controlled by the controller 15. The camera 12 may also be functionally connected

N to the radio communication unit 18 to send the visual information 75v from the

S environment 96. Power to the camera 12 may be supplied by the battery 19.

N Power to the light 13 may be supplied by the battery 19.

I 30 The memory of the controller 15 may be arranged to hold visual > information 75v produced by the camera 12.

O The camera 12 may be mounted into a recess or volume of the wireless

O capsule robot 10 so that the capsule-like shape of the wireless capsule robot 10 and

S its outer layer 11 surface remains essentially unchanged. The camera 12 may be a miniature camera provided with a CMOS image sensor or a CCD image sensor and related hardware and software to provide a digital image or digital stream of images or compressed images or compressed stream of images as visual information for transmission outside the wireless capsule robot 10.

The light 13 may be mounted into a recess or volume of the wireless capsule robot 10 so that the capsule-like shape of the wireless capsule robot 10 and its outer layer 11 surface remains essentially unchanged.

The light 13 may be a light emitting diode (LED) or a miniature light bulb.

Referring to Figures 4a and 4b, in an embodiment, the outer layer 11 of the wireless capsule robot 10 comprises a first end 11a, a second end 11b opposite to the first end 11a, and a longitudinal center section 11c arranged to connect the first end 11a and a second end 11b.

Referring to Figures 4a and 4b, in an embodiment, the outer layer 11 of the wireless capsule robot 10 comprises a first end 11a, a second end 11b opposite to the first end 11a, and a longitudinal center section 11c arranged to connect the — firstend 11a and a second end 11b such that the outer layer 11 is gastight.

Referring to Figures 4a and 4b, in an embodiment, the outer layer 11 of the wireless capsule robot 10 comprises a first end 11a, a second end 11b opposite to the first end 11a, and a longitudinal center section 11c arranged to connect the first end 11a and a second end 11b opposite to the first end 11a such that the outer layer 11 is impermeable to liquids.

The first end 11a and the second end 11b may be hemispherical or essentially hemispherical.

Referring to still to Figures 4a and 4b, in an embodiment, the outer surface of the longitudinal center section 11c is circularly cylindrical. Circularly cylindrical shape is cylinder that has a circle shaped bottom and top, and a length

N in the axial direction of the shape

N [In an embodiment, the outer surface of the longitudinal center section

S 11c is non-circularly cylindrical. A non-circularly cylindrical shape is a cylinder

N with a bottom and top of arbitrary, smooth, shape, such as an ellipse or a rounded

I 30 rectangle. > In an embodiment, the outer surface of the longitudinal center section

O 11c is rotationally symmetric along a center axis 14 of the longitudinal center

O section 11c. A rotationally symmetric shape along a center axis 14 may comprise

S rotationally symmetric dents and bulges at the outer surface along a center axis 14.

As in Figure 4a and in an embodiment of the wireless capsule robot 10, the camera 12 of the wireless capsule robot 10 comprises a front lens 12a, and the frontlens 12a is arranged on the surface of the first end 11a of the wireless capsule robot 10. This is advantageous for viewing surroundings ahead, or behind the wireless capsule robot in the direction of travel. Due to the longitudinal shape of the wireless capsule robot 10 and the often narrow passages in the gastrointestinal tract 92, the wireless capsule robot 10 is prone to turn in the gastrointestinal tract 92 such that the longitudinal center section 11c and the center axis 14 is aligned along the direction of the travel inside the gastrointestinal tract 92.

In an embodiment, and referring to Figure 4b, the actuator 31 is arranged inside the outer layer 11, and the longitudinal center section 11c comprises a membrane area 11t. During the outward movement 40 caused by the actuator 31, the biopsy needle 35 is arranged to pierce through the membrane area 11tand arranged to provide a perforation 11h into the membrane area 11t. The tip portion 36 of the biopsy needle 35 is arranged to move outside the outer layer 11 of the wireless capsule robot 10 through the perforation 11h by the outward movement 40. During the inward movement 42 caused by the actuator 31, the perforation 11h and the membrane area 11t around the perforation 11h are arranged to contract and close, in other words, self-seal, the perforation 11h when the tip portion 36 of the biopsy needle 35 reaches inside the outer layer 11.

As shown in Figure 4c, the longitudinal outer surface of the biopsy needle 35 is a mantle 35m of the biopsy needle 35.

When the biopsy needle 35 is arranged to pierce through the membrane area 11t and arranged to provide a perforation 11h into the membrane area 11t, the perforation 11h encloses the mantle 35m of the biopsy needle 35 in an essentially gastight way such that an interface between the mantle 35m of the biopsy needle 35 and the perforation 11h is impermeable to gasses, liquids and

N solid particles.

N The membrane area 11t may have the shape of the outer layer 11.

S Alternatively, the outer layer 11 may comprise one or more subareas

N comprising one or more membrane areas 11t.

E 30 In an embodiment, the membrane area 11t comprises > polytetrafluoroethylene (PTFE), silicone (polysiloxane) or butyl rubber. These are

O advantageous materials to provide penetration or piercing of the biopsy needle 35

O through the membrane area 11t, and simultaneously arrange a self-sealing

S membrane such that the membrane area 11t is impermeable to gasses, water and — solid particles after the tip portion 36 of the biopsy needle 35 reaches inside the outer layer 11 in an end part of the inward movement 42. In other words, the membrane area 11tis self-sealing such that the perforation 11h closes immediately after the tip portion 36 of the biopsy needle 35 has reached the inside of the outer layer 11.

Self-sealing is due to the elasticity of the material of the membrane area 11t. In other words, elasticity of the material of the membrane area 11t may provide the self-sealing feature of the membrane area 11t.

In an embodiment, the membrane area 11t comprises silicone (polysiloxane) and polytetrafluoroethylene (PTFE), silicone (polysiloxane) and butyl rubber, or butyl rubber and polytetrafluoroethylene (PTFE). These are also advantageous material combinations to provide penetration or piercing of the biopsy needle 35 through the membrane area 11t (for not being too hard to pierce or perforate by the tip portion 36 of the biopsy needle 35), and simultaneously arrange a self-sealing membrane such that the membrane area 11t is impermeable to gasses, water and solid particles after the tip portion 36 of the biopsy needle 35 reaches inside the outer layer 11 in an end part of the inward movement 42.

In an embodiment, the membrane area 11t comprises silicone (polysiloxane), polytetrafluoroethylene (PTFE) and silicone (polysiloxane).

Thus, the membrane area 11t may be arranged to be self-sealing by the elastic properties of the material of the membrane area 11t, for example — polytetrafluoroethylene (PTFE), silicone (polysiloxane) or butyl rubber or any combination thereof. A combination of polytetrafluoroethylene and silicone provides a good self-sealing performance.

Referring still to Figure 4b, in an embodiment, the longitudinal center section 11c is formed of the membrane area 11t. In other words, the longitudinal — center section 11c of the outer layer 11 is a hollow, tubular longitudinal section

N consisting of the material of the membrane area 11t.

N Still in other words, the longitudinal center section 11c may be the

S membrane area 11t.

N The outer layer 11 may comprise a support structure 11s. The support

E 30 structure 11s may be a hollow, tubular section made of a hard, essentially non- > flexible material to which atleast one opening is arranged, said at least one opening

O sealed with the at least one membrane area 11t such that the outer layer 11 is

O gastight.

S The outer layer 11 may comprise a support structure 11s. The support — structure 11s may be a hollow, tubular section made of a hard, essentially non- flexible material to which atleast one opening is arranged, said atleast one opening sealed with the at least one membrane area 11t such that the outer layer 11 is impermeable to liquids.

Referring still to Figure 4b, the longitudinal center section 11c comprises atleast one opening 110, and at least one membrane area 11t encloses and seals the opening 110. The at least one opening 110 is positioned such that the biopsy needle 35 is oriented to pierce through the membrane area 11t during the outward movement 40 of the biopsy needle 35. In other words, the biopsy device 30 is oriented in a way relative to the membrane area 11t such that the biopsy device 30 may drive the biopsy needle 35 to a direction that causes the biopsy needle 35 to pierce through the membrane area 11t during the outward movement 40 of the biopsy needle 35.

Around the atleast one opening 110, the longitudinal center section 11c may comprise a hollow, tubular section connecting the firstend 11a and the second end 11b. The hollow, tubular section may comprise a hard, essentially non-flexible — material to which at least one opening 110 is arranged, said at least one opening 110 enclosed and sealed with the at least one membrane area 11t.

The at least one opening 110 may be enclosed and sealed with the at least one membrane area 11t in a gastight way.

The at least one opening 110 may be enclosed and sealed with the at leastone membrane area 11t in a way which is impermeable to liquids.

Referring next to Figure 4d, Figure 4d shows a frontal view of the wireless capsule robot 10. The one or more biopsy needles 35 may be arranged radially relative to the center axis 14 (center axis shown in Figure 2a).

The one or more biopsy needles 35 may be arranged radially and perpendicularly relative to the center axis 14.

N The one or more biopsy needles 35 may be arranged radially and

N eguiangularly relative to the center axis 14.

S An example of a radial and eguiangular is shown in Figure 4d, where

N there are six biopsy needles 35a-35f, each comprising a tip portion 36a, 36b etc,

E 30 and the equiangular angle 39 separating the two adjacent biopsy needles is > 360°/6=60°. Also two tip portions are shown, 36a and 36b.

O The one or more biopsy needles 35 may be arranged radially,

O eguiangularly and perpendicularly relative to the center axis 14.

S The wireless capsule robot 10 has no active means of propulsion or orientation (controlling the pitch, yaw and roll of the wireless capsule robot 10) in the gastrointestinal tract 92. Due to the longitudinal shape of the capsule, the wireless capsule robot 10 moves with high probability in the tract towards the rectum the first end 11a first or the second end 11b first. Which end comes first is a random process. Thus, if the area of interest in the gastrointestinal tract tissue 93 is small, that is, if the biopsy site is small, it may be advantageous that the wireless capsule robot 10 moves such that the camera 12 is arranged to view ahead of the wireless capsule robot 10, towards the rectum, that is, in the direction of general flow of matter of the gastrointestinal tract 92.

If it becomes apparent during the travel of the wireless capsule robot in the gastrointestinal tract 92, for example from the visual information 75v 10 — provided by the camera 12, that the camera 12 is not pointing ahead but instead backwards, to the direction opposition of the direction of traverse, and the biopsy site of the biopsy procedure is known to be small (known, for example, based on radiological, X-ray based or ultrasonic examinations of the patient 90), the placement of the wireless capsule robot 10 into the patient 90 may be done again, expecting that the camera 12 ends up pointing ahead. The camera 12 that points ahead may make the locating of the relevant biopsy site easier. The placement of the wireless capsule robot 10 into the patient 90 may be repeated until the camera 12 ends up pointing ahead, into the direction of traverse. The placement of the wireless capsule robot 10 into the patient 90 is straightforward as it comprises the — patient 90 swallowing the wireless capsule robot 10 through mouth of the patient 90.

Referring next to Figure 5 and also Figure 2a, as an aspect of the present invention, a system 1 for operating a wireless capsule robot 10 in the gastrointestinal tract 92 of a patient 90 is disclosed. The wireless capsule robot 10 comprises an outer layer 11, a controller 15 inside the outer layer 11, and one or

N more biopsy devices 30 functionally connected to the controller 15. The controller

N 15 is arranged to operate the one or more biopsy devices 30. The wireless capsule

S robot 10 comprises also a radio communication unit 18 inside the outer layer 11,

N and the radio communication unit 18 is arranged to communicate by a wireless

E 30 — connection 80. The radio communication unit 18 is functionally connected to the > controller 15. The wireless capsule robot 10 also comprises and a battery 19 inside

O the outer layer 11. The battery 19 is arranged to supply power to the controller 15,

O to the one or more biopsy devices 30, and to the radio communication unit 18. The

S system 1 comprises a body unit 50 comprising a body radio unit 18e, the body radio — unit 18e arranged to communicate wirelessly with the radio communication unit 18 of the wireless capsule robot 10 by the wireless connection 80. The system 1 comprises also a control interface unit 70 arranged to communicate with the body unit 50 by a control connection 84. The control interface unit 70 comprises a user interface 71. Further, the wireless capsule robot 10 is the wireless capsule robot 10 according to the wireless capsule robot aspect and its embodiments as defined above.

With this system 1, the control interface unit 70 may be arranged to communicate with the wireless capsule robot 10 via the body unit 50 unidirectionally (from the control interface unit 70 to the wireless capsule robot 10), or bidirectionally.

The body unit 50 may comprise a wearable unit 51 that may be arranged around the upper body and abdominal area of the patient 90.

The body unit 50 may be a vest or a vest-like unit 51.

Referring next to Figure 6a, the body unit 50 may comprise analogue, digital and radio frequency electronics units that are arranged to provide the — control connection 84 and the wireless connection 80 in addition to the body radio unit 18e. The body unit 50 may also comprise a controlling unit 15e to control different operations of the body unit 50.

The body unit 50 may also comprise an energy source like a battery 19e or an electrical connection to a power outlet or an AC adapter provided for the operation of the analog, digital and radio frequency units.

The body radio unit 18e of the body unit 50 may comprise one or more body unit antennas 80b for providing the wireless connection 80. The body unit antennas 80b are preferably located close to the abdomen of the patient 90.

The body unit antennas 80b may be dipole antennas, monopole antennas, planar antennas, planar inverted F antennas or patch antennas.

N The control interface unit 70 may be a general-purpose desktop

N computer, a portable laptop computer, a mobile phone or a tablet computer

S running a software providing the user interface 71 for the system 1. A control

N interface unit 84b may be provided with interface hardware and software to

E 30 provide the control connection 84. The control connection 84 may be a cable-based > connection, for example and USB cable connection between the control interface

O unit 70 and the body unit 50. Alternatively or additionally, the control connection

O 84 may be a wireless connection arranged for example with general purpose

S packet data connection, WLAN connection, 3GPP wireless standard connection or a Bluetooth connection.

The control connection 84 may comprise interfaces 84a and 84b (as in

Figure 6c) at the body unit end, and at the control interface unit end, respectively.

The control interface unit 70 may also comprise a dedicated controller 15c and a power supply 19c or battery 19c.

Still referring to Figure 6b, in an embodiment, the body radio unit 18e of the body unit 50 comprises one or more body unit antennas 80b arranged to provide the wireless connection 80 with the radio communication unit 18 of the wireless capsule robot 10.

Referring next to Figure 6b, in an embodiment, at least one of the body unit antennas 80b comprises an adhesive patch 82b arranged to provide a — pressure-sensitive and temporary attachment of the body unit antenna 80b on the patient 90.

The body unit antenna 80b may comprise a dipole antenna, a monopole antenna, a planar antenna, a planar inverted F antenna or a patch antenna.

The body unit antenna 80b may be connected to the body radio unit 18e with a radio-frequency cable, a waveguide or a coaxial cable 81b.

Referring to Figure 6c and also 5a, in an embodiment, in the system 1, the user interface 71 of the control interface unit 70 is configured to launch a command 75c to the wireless capsule robot 10. The command 75c is arranged to instruct at least one of the one or more biopsy devices 30 of the wireless capsule robot 10 to operate. The command 75c is conveyed through the control connection 84 from the control interface unit 70 to the body unit 50, and through the wireless connection 80 from the body unit 50 to the wireless capsule robot 10.

The controller 15 may be arranged to instruct one biopsy device 30 to operate, based on the command 75c.

The controller 15 may be also arranged to instruct at least two biopsy

N devices 30 to operate essentially at the same time, based on the command 75c. This

N is feasible, if the wireless capsule robot comprises more than one biopsy devices.

S The controller 15 may be also arranged to instruct all the biopsy devices

N 30 to operate essentially at the same time, based on the command 75c. This is

E 30 feasible, if the wireless capsule robot comprises more than one biopsy devices. > Referring to Figure 6c, in an embodiment, the system 1 is arranged to

O transmit visual information 75v from the wireless capsule robot 10 tothe body unit

O 50 through the wireless connection 80, and from the body unit 50 to the control

S interface unit 70 through the control connection 84. The user interface 71 is configured to present the visual information 75v, for example an image of the biopsy site or other regions of interest within the gastrointestinal tract. The electrical configuration of the visual information 75v may change from one unit to another, in ways obvious to a skilled person in the domain of digital and analogue electronics.

The invention has been described above with reference to the examples shown in the figures. However, the invention is in no way restricted to the above examples but may vary within the scope of the claims.

N

O

N

<

G

N

I a a

K

© +

O

N

O

N

Claims

1. A wireless capsule robot (10) for traversing through a gastrointestinal tract (92) of a patient (90), characterized in that the wireless capsule robot (10) comprises: - an outer layer (11), - a controller (15) inside the outer layer (11), - one or more biopsy devices (30) functionally connected to the controller (15), the controller (15) arranged to operate the one or more biopsy — devices (30), - a radio communication unit (18) inside the outer layer (11), the radio communication unit (18) arranged to communicate by a wireless connection (80), the radio communication unit (18) being functionally connected to the controller (15), and - a battery (19) inside the outer layer (11), the battery (19) arranged to supply power to the controller (15), to the one or more biopsy devices (30), and to the radio communication unit (18).

2. A wireless capsule robot (10) according to claim 1, characterized in that - the biopsy device (30) is arranged to receive a command (75c) that instructs the biopsy device (30) to operate, the command (75c) received through the wireless connection (80), the radio communication unit (18) and the controller (15). - 25

O 3. A wireless capsule robot (10) according to claims 1 or 2, + characterized in thatthe biopsy device (30) comprises <Q - an actuator (31), N - a biopsy needle (35), the biopsy needle (35) comprising a tip portion E 30 (36) at the outer end of the biopsy needle (35), and during the operation of the N biopsy device (30), the actuator (31) is arranged to O - cause outward movement (40) to the biopsy needle (35) relative to = the wireless capsule robot (10) such that the tip portion (36) of the biopsy needle S (35) is arranged to move away from the actuator (31), and after the outward movement (40), - cause inward movement (42) to the biopsy needle (35) relative to the wireless capsule robot (10) such that the tip portion (36) of the biopsy needle (35) is arranged to move towards the actuator (31).

4. A wireless capsule robot (10) according to claim 3, characterized in that the actuator (31) comprises: - an electric motor (38), a spring (33a) and a cam (32a), - the biopsy needle (35) comprising a follower (37) connected to the biopsy needle (35), such that - during the operation of the biopsy device (30), - the electric motor (38) is arranged to rotate the cam (32a), the cam (32a) is arranged to push the follower (37) by rotation such that the follower (37) connected to the biopsy needle (35) is arranged to cause the outward movement (40) of the biopsy needle (35), and - the spring (33a) is arranged to cause the inward movement ofthe biopsy needle (35) by a spring force; or - an electric motor (38), a pinion (33b) and a rack (32b) connected to the biopsy needle (35), such that - during the operation of the biopsy device (30), - the electric motor (38) is arranged to rotate the pinion (33b) —inafirst direction (44) and drive the rack (32b) whereby the rack (32b) connected to the biopsy needle (35) is arranged to cause the outward movement (40) of the biopsy needle (35), and - the electric motor (38) is arranged to rotate the pinion (33b) in a second direction (46) and drive the rack (32b) whereby the rack (32b) connected to the biopsy needle (35) is arranged to cause the inward movement 3 (42) of the biopsy needle (35).

S 5. A wireless capsule robot (10) according to any one of claims 1 - 4, N characterized in thata wireless capsule robot (10) comprises: I 30 - a camera (12) arranged to send visual information (75v) from the > environment (96) of the wireless capsule robot (10) through the wireless O connection (80); or O - a camera (12) arranged to send visual information (75v) from the S environment (96) of the wireless capsule robot (10) through the wireless connection (80), and the wireless capsule robot (10) comprises a light (13) arranged to illuminate at least partially the environment (96) of the wireless capsule robot (10) viewed by the camera (12) for improving the visual information (75v).

6. A wireless capsule robot (10) according to any one of claims 3 - 5, characterized in thatthe outer layer (11) of the wireless capsule robot (10) comprises a first end (11a), a second end (11b) opposite to the first end (11a), and a longitudinal center section (11c) arranged to connect the first end (11a) and a second end (11b).

7. A wireless capsule robot (10) according to claim 6, characterized inthatan outer surface of the longitudinal center section (11c) is: - circularly cylindrical; or - non-circularly cylindrical; or - rotationally symmetric along a center axis (14) of the longitudinal center section (11c).

8. A wireless capsule robot (10) according to any one of claims 6 - 7, characterized inthe camera (12) comprises a front lens (12a), and the front lens(12a)isarranged on the surface of the first end (11a) of the wireless capsule robot (10).

9. A wireless capsule robot (10) according to any one of claims 6 - 8, characterized in that the actuator (31) is arranged inside the outer layer (11), and the longitudinal center section (11c) comprises a membrane area (11t) N such that N - during the outward movement (40) caused by the actuator (31), the S biopsy needle (35) is arranged to pierce through the membrane area (11t) and N arranged to provide a perforation (11h) into the membrane area (11t), the tip E 30 portion (36) of the biopsy needle (35) being arranged to move outside the outer > layer (11) of the wireless capsule robot (10) through the perforation (11h) by the O outward movement (40), and O - during the inward movement (42) caused by the actuator (31), the S perforation (11h) and the membrane area (11t) around the perforation (11h) are arranged to contract and close the perforation (11h) when the tip portion (36) of the biopsy needle (35) reaches inside the outer layer (11).

10. A wireless capsule robot (10) according to claim 9, characterized in thatthe membrane area (11t) comprises: - polytetrafluoroethylene; or - silicone; or - butyl rubber; or - polytetrafluoroethylene and silicone; or - polytetrafluoroethylene and butyl rubber; or - silicone and butyl rubber; or - polytetrafluoroethylene, butyl rubber and silicone.

11. A wireless capsule robot (10) according to claims 9 or 10, characterized in that: - the longitudinal center section (11c) is formed of the membrane area (11t);or - the longitudinal center section (11c) comprises at least one opening (110), and atleast one membrane area (11t) encloses and seals the opening (110), the at least one opening (110) positioned such that the biopsy needle (35) is oriented to pierce through the membrane area (11t) during the outward movement (40) of the biopsy needle (35).

12. A system (1) for operating a wireless capsule robot (10) in the gastrointestinal tract (92) of a patient (90), characterized in that - the wireless capsule robot (10) comprises: - an outer layer (11), N - a controller (15) inside the outer layer (11), N - one or more biopsy devices (30) functionally connected to the S controller (15), the controller (15) arranged to operate the one or more biopsy N devices (30), E 30 - a radio communication unit (18) inside the outer layer (11), the > radio communication unit (18) arranged to communicate by a wireless connection O (80), the radio communication unit (18) being functionally connected to the O controller (15), and S - abattery (19) inside the outer layer (11), the battery (19) arranged to supply power to the controller (15), to the one or more biopsy devices (30), and to the radio communication unit (18); and in that the system (1) comprises:

- a body unit (50) comprising a body radio unit (18e), the body radio unit (18e) arranged to communicate wirelessly with the radio communication unit (18) of the wireless capsule robot (10) by the wireless connection (80), - a control interface unit (70) arranged to communicate with the body unit (50) by a control connection (84), the control interface unit (70) comprising a user interface (71); and in that - the wireless capsule robot (10) is the wireless capsule robot (10) according to any one of claims 1 - 11.

13. A system (1) according to claim 12,characterized in thatthe body radio unit (18e) of the body unit (50) comprises one or more body unit antennas (80b) arranged to provide the wireless connection (80) with the radio communication unit (18) of the wireless capsule robot (10).

14. A system (1) according to claim 13, characterized in that at least one of the body unit antennas (80b) comprises an adhesive patch (82b) arranged to provide a pressure-sensitive and temporary attachment of the body unit antenna (80b) on the patient (90).

15. A system (1) according to any one of claims 12-14, characterized in thatthe user interface (71) of the control interface unit (70) is configured to launch a command (75c) to the wireless capsule robot (10), the command (75c) arranged to instruct at least one of the one or more biopsy devices (30) of the wireless capsule robot (10) to operate, the command (75c) being N conveyed through the control connection (84) from the control interface unit (70) N to the body unit (50), and through the wireless connection (80) from the body unit S (50) to the wireless capsule robot (10). N I 30

16. A system (1) according to any one of claims 12-15, > characterized in that the system (1) is arranged to transmit visual O information (75v) from the wireless capsule robot (10) to the body unit (50) O through the wireless connection (80), and from the body unit (50) to the control S interface unit (70) through the control connection (84), and the user interface (71) is configured to present the visual information (75v).