WO2004084714A1 - A probe, in particular for tubular cavities - Google Patents

A probe, in particular for tubular cavities Download PDF

Info

Publication number
WO2004084714A1
WO2004084714A1 PCT/IB2004/000652 IB2004000652W WO2004084714A1 WO 2004084714 A1 WO2004084714 A1 WO 2004084714A1 IB 2004000652 W IB2004000652 W IB 2004000652W WO 2004084714 A1 WO2004084714 A1 WO 2004084714A1
Authority
WO
WIPO (PCT)
Prior art keywords
probe
field
magnetic
shape
energy
Prior art date
Application number
PCT/IB2004/000652
Other languages
French (fr)
Inventor
Piero Perlo
Valentina Grasso
Federica Valerio
Brunetto Martorana
Original Assignee
C.R.F. Societa Consortile Per Azioni
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by C.R.F. Societa Consortile Per Azioni filed Critical C.R.F. Societa Consortile Per Azioni
Publication of WO2004084714A1 publication Critical patent/WO2004084714A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00156—Holding or positioning arrangements using self propulsion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0058—Flexible endoscopes using shape-memory elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion

Definitions

  • the present invention relates to a probe, in particular for tubular cavities.
  • S The present invention was developed for the purpose of providing a probe which can be used in a miniaturised and remotely controlled robotic system, usable to explore tubular cavities.
  • the present invention can, for example, be used in the diagnostic ID or surgical field, to explore anatomic cavities and blood vessels, or in the industrial field for the exploration of tubular cavities of various kinds.
  • the object of the present invention is to provide a probe with an actuating system which allows easily to IS move the probe within small tubular cavities.
  • said object is achieved by a probe having the characteristics set out in the claims .
  • FIGS. 1 and 2 are front schematic views of a probe according to the present invention, rotated by
  • FIG. 3 is a schematic view showing the planar development of the probe shown in Figures 1 and 2,
  • FIG. 6 and 7 are schematic views showing two alternative embodiments of the actuator means for generating the energy field
  • FIG. 8 is a schematic view showing a probe according to the present invention provided at its ends with expandable devices for anchoring to the walls of a tubular cavity,
  • FIG. 9 is a schematic view showing one of the expandable end devices of the probe according to the
  • Figure 10 is a schematic view showing the operating principle of the device according to the present invention.
  • Figure 11 is a schematic view of a probe ID according to the invention, provided with a vision device, and
  • FIG. 12 is an enlarged scale schematic view of the vision device.
  • the probe 10 comprises a body 12 with tubular shape, capable of varying its shape under the action of an energy field.
  • the tubular body 12 is
  • ⁇ D constituted by a nano-composite or by a micro-composite formed by a polymeric matrix in which are dispersed metallic particles which are sensitive to a magnetic field.
  • the magnetic particles form bridges in the network of the crossed bonds of the polymeric
  • 3D probe according to the present invention is constituted by shape memory material, capable of varying its shape under the action of a field of thermal energy.
  • the reference number 14 schematically designates a device generating an energy 5 field, applied onto an external surface of the body 12.
  • the devices 14 are of the type able to generate a magnetic field.
  • the body 12 is made of a shape S memory alloy, the devices 12 are essentially constituted by resistors capable of producing a field of thermal energy by local heating.
  • the devices 12 are preferably arranged according to a general helical configuration on the outer surface of the tubular body
  • Figure 3 schematically shows the planar development of the outer surface of the tubular body 12.
  • the reference number 16 designates conductive lines which carry the electrical power supply to the individual devices 14 for the generation of the field
  • Figures 4 and 5 schematically show the probe according to the present invention in a resting position and in a deformed position under the action of an energy field. In the configuration shown in Figure
  • the body 12 has for example the shape of a tube with rectilinear axis .
  • the devices 14 for generating the energy field are activated in such a way as to create an energy
  • FIG. 6 and 7 schematically show a scene and the manner in which the devices 14 for generating the energy field can be obtained.
  • the device 14 is able to generate a field of S thermal energy.
  • a platelet 18 made of highly resistive material is applied in contact with the outer surface of the body 12.
  • the platelet 18 is connected to two highly conductive electrodes 20.
  • a layer 22 of insulating material insulates the body 12
  • the device 14 is able to generate a magnetic field and is associated to a body 12 made of plasto-magnetic material.
  • the device 14 comprises a platelet 24 of magnetic material applied
  • Figure 8 shows a probe according to the present invention provided at its ends with expandable devices 28 capable of being activated with an electrical
  • FIG. 9 schematically shows one of the two devices 28 in an expanded configuration.
  • each expandable device 28 has an elastic sheath 30 which is dilated by means of the electrical excitation of an element 32 with variable geometry which can be
  • ⁇ S constituted by shape memory material or by plasto- magnetic material .
  • Figure 10 schematically shows the manner in which the probe according to the present invention advances on a sliding plane 34. Starting from the non deformed
  • the expandable device 28 positioned at the front end of the probe 10 with reference to the direction of advance is activated.
  • the device 28 determines an anchoring against the inner walls of a 5 tubular cavity or produces a suction cup effect on the sliding plane 34.
  • the rear expandable element 28 is deactivated, the tubular body 12 is deformed by activating the thermal or magnetic energy field generator devices 14.
  • the deformation of S the tubular body 12 causes an advance of the rear expandable device 28 in the direction indicated by the arrow 35 in Figure 10.
  • the rear expandable device 28 is activated.
  • the front expandable element 28 is deactivated and the devices 14
  • ID are deactivated to in such a way as to return the body 12 to the non deformed position. This causes an advancement of the front end of the probe 12. This process is repeated in sequence in order to cause the advancing motion of the probe.
  • FIGS. 11 and 12 schematically show the probe according to the present invention in a resting position and in a deformed position under the action of an energy field.
  • the vision device globally designated by the
  • the vision device 36 can be positioned at an end of the tubular body 12.
  • the vision device 36 comprises a transparent outer case 38 and a focusing lens 40 to focus the image on an image plane 42 formed by a video camera, for instance
  • ⁇ S of the CMOS or CCD type positioned orthogonally to the axis of the tubular body 12.
  • the dimensions of the section of the probe do not exceed 5 mm, whilst the tubular body 12 can have a
  • the probe can therefore be used in a great variety of diagnostic applications and surgical operations exploiting the possibility of inserting the probe and controlling its motion within anatomical cavities of the human body.
  • the construction details and the embodiments may vary widely from what is described and illustrated herein, without thereby departing from the scope of the present invention as defined by the claims that follow.

Landscapes

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

Abstract

A probe, in particular for cavities, comprising a body (12) that is capable of varying its shape under the action of an energy field and means (14) for generating a variable energy field, in such a way as to cause the advancement of the body (12) as a result of successive changes in its shape.

Description

WA probe, in particular for tubular cavities"
* * *
The present invention relates to a probe, in particular for tubular cavities. S The present invention was developed for the purpose of providing a probe which can be used in a miniaturised and remotely controlled robotic system, usable to explore tubular cavities. The present invention can, for example, be used in the diagnostic ID or surgical field, to explore anatomic cavities and blood vessels, or in the industrial field for the exploration of tubular cavities of various kinds.
The object of the present invention is to provide a probe with an actuating system which allows easily to IS move the probe within small tubular cavities.
According to the present invention, said object is achieved by a probe having the characteristics set out in the claims .
The present invention shall now be described in ΞD detail with reference to the accompanying drawings, provided purely by way of non limiting example, in which:
- Figures 1 and 2 are front schematic views of a probe according to the present invention, rotated by
ΞS 90° relative to each other,
- Figure 3 is a schematic view showing the planar development of the probe shown in Figures 1 and 2,
- Figures 4 and 5 are schematic views showing the probe at rest and under the action of an energy field,
3D - Figures 6 and 7 are schematic views showing two alternative embodiments of the actuator means for generating the energy field,
- Figure 8 is a schematic view showing a probe according to the present invention provided at its ends with expandable devices for anchoring to the walls of a tubular cavity,
- Figure 9 is a schematic view showing one of the expandable end devices of the probe according to the
S invention,
Figure 10 is a schematic view showing the operating principle of the device according to the present invention,
Figure 11 is a schematic view of a probe ID according to the invention, provided with a vision device, and
- Figure 12 is an enlarged scale schematic view of the vision device.
With reference to Figures 1 and 2, the number 10
IS schematically designates a probe according to the present invention. The probe 10 comprises a body 12 with tubular shape, capable of varying its shape under the action of an energy field. In a first embodiment of the present invention, the tubular body 12 is
ΞD constituted by a nano-composite or by a micro-composite formed by a polymeric matrix in which are dispersed metallic particles which are sensitive to a magnetic field. The magnetic particles form bridges in the network of the crossed bonds of the polymeric
ΞS structure. When the material is subjected to the action of a magnetic field, changes accumulate in the molecular conformation and this leads to macroscopic changes in the shape of the tubular body 12.
In an alternative embodiment, the body 12 of the
3D probe according to the present invention is constituted by shape memory material, capable of varying its shape under the action of a field of thermal energy.
In Figures 1 and 2, the reference number 14 schematically designates a device generating an energy 5 field, applied onto an external surface of the body 12. If the body 12 is made of composite metal/polymer material sensitive to the action of a magnetic field, the devices 14 are of the type able to generate a magnetic field. If the body 12 is made of a shape S memory alloy, the devices 12 are essentially constituted by resistors capable of producing a field of thermal energy by local heating. The devices 12 are preferably arranged according to a general helical configuration on the outer surface of the tubular body
ID 12. Figure 3 schematically shows the planar development of the outer surface of the tubular body 12. In Figure 3, the reference number 16 designates conductive lines which carry the electrical power supply to the individual devices 14 for the generation of the field
IS of magnetic or thermal energy.
Figures 4 and 5 schematically show the probe according to the present invention in a resting position and in a deformed position under the action of an energy field. In the configuration shown in Figure
ΞD 4, all magnetic or thermal energy field generator devices are deactivated. In this condition, the body 12 has for example the shape of a tube with rectilinear axis . The devices 14 for generating the energy field are activated in such a way as to create an energy
ΞS field that is not uniform along the axis of the tubular body 12. In Figure 5 the number "1" designates the devices in the excited state and the number "0" designates the deactivated devices. The application of the field of magnetic or thermal energy field in non
3D uniform fashion along the axis of the tubular body 12 causes a deformation, for instance of a sinuous type, of the tubular body 12. Said deformation generally causes a decrease in the distance between the opposite ends of the tubular body. Figures 6 and 7 schematically show a scene and the manner in which the devices 14 for generating the energy field can be obtained. In the example shown in Figure 6, the device 14 is able to generate a field of S thermal energy. In this case, a platelet 18 made of highly resistive material is applied in contact with the outer surface of the body 12. The platelet 18 is connected to two highly conductive electrodes 20. A layer 22 of insulating material insulates the body 12
ID of shape memory alloy from the electrodes 20.
In the example shown in Figure 7, the device 14 is able to generate a magnetic field and is associated to a body 12 made of plasto-magnetic material. The device 14 comprises a platelet 24 of magnetic material applied
IS on the outer surface of the body 12 and positioned between two electrodes 26.
Figure 8 shows a probe according to the present invention provided at its ends with expandable devices 28 capable of being activated with an electrical
ΞD command. Figure 9 schematically shows one of the two devices 28 in an expanded configuration. Preferably, each expandable device 28 has an elastic sheath 30 which is dilated by means of the electrical excitation of an element 32 with variable geometry which can be
ΞS constituted by shape memory material or by plasto- magnetic material .
Figure 10 schematically shows the manner in which the probe according to the present invention advances on a sliding plane 34. Starting from the non deformed
3D configuration shown in Figure 8, at first the expandable device 28 positioned at the front end of the probe 10 with reference to the direction of advance is activated. In its expanded state, the device 28 determines an anchoring against the inner walls of a 5 tubular cavity or produces a suction cup effect on the sliding plane 34. Subsequently, while the rear expandable element 28 is deactivated, the tubular body 12 is deformed by activating the thermal or magnetic energy field generator devices 14. The deformation of S the tubular body 12 causes an advance of the rear expandable device 28 in the direction indicated by the arrow 35 in Figure 10. Subsequently, the rear expandable device 28 is activated. Then, the front expandable element 28 is deactivated and the devices 14
ID are deactivated to in such a way as to return the body 12 to the non deformed position. This causes an advancement of the front end of the probe 12. This process is repeated in sequence in order to cause the advancing motion of the probe.
IS Figures 11 and 12 schematically show the probe according to the present invention in a resting position and in a deformed position under the action of an energy field.
The vision device, globally designated by the
ΞD reference number 36, can be positioned at an end of the tubular body 12. As schematically shown in Figure 12, the vision device 36 comprises a transparent outer case 38 and a focusing lens 40 to focus the image on an image plane 42 formed by a video camera, for instance
ΞS of the CMOS or CCD type, positioned orthogonally to the axis of the tubular body 12. When a CMOS video camera is mounted in the inner part of the front end of the probe, the dimensions of the section of the probe do not exceed 5 mm, whilst the tubular body 12 can have a
3D diameter of less than 2 mm. The probe can therefore be used in a great variety of diagnostic applications and surgical operations exploiting the possibility of inserting the probe and controlling its motion within anatomical cavities of the human body. Naturally, without altering the principle of the invention, the construction details and the embodiments may vary widely from what is described and illustrated herein, without thereby departing from the scope of the present invention as defined by the claims that follow.

Claims

1. A probe, in particular for exploring or conducting operations or work processes in cavities, comprising a preferably cylindrical hollow or solid 5 tubular body (12) capable of varying its shape under the action of a magnetic or thermal field and independent means (14) , connected by means of conducting strips (16) to a power supply system able to activate the means (14) one by one or in groups, said
ID means (14) being positioned locally on the body (12) in such a way that their magnetic or thermal activation induces local deformations of the body (12) to produce the movement of the body (12) itself as a result of successive changes in its shape.
IS
2. A probe as claimed in claim 1, characterised in that the body (12) is constituted by a matrix of polymeric material in which are dispersed particles of magnetic material .
3. A probe as claimed in claim 1, characterised in ΞD that the body (12) is constituted by an alloy of shape memory material .
4. A probe as claimed in claim 2, characterised in that said generator means (14) are provided to generate a field of magnetic energy.
ΞS 5. A probe as claimed in claim 3, characterised in that said generator means (14) are provided to generate a field of thermal energy.
6. A probe as claimed in claim 1, characterised in that said body (12) under resting conditions has a
3D substantially hollow or solid cylindrical shape.
7. A probe as claimed in claim 1, characterised in that it comprises a pair of expandable devices (28) associated to the ends of said body (12) .
8. A probe as claimed in claim 1, characterised in that it comprises a vision device (36) positioned at an end of said body (12) .
9. A probe as claimed in claim 1, characterised in S that said energy field generating means (14) are provided for generating a non uniform energy field along an axis of said body, in such a way as to produce an approach between the ends of said body in a deformed condition. ID All substantially as described and illustrated herein and for the purposes specified herein.
PCT/IB2004/000652 2003-03-25 2004-02-25 A probe, in particular for tubular cavities WO2004084714A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTO20030218 ITTO20030218A1 (en) 2003-03-25 2003-03-25 PROBE, IN PARTICULAR FOR TUBULAR CAVITIES.
ITTO2003A000218 2003-03-25

Publications (1)

Publication Number Publication Date
WO2004084714A1 true WO2004084714A1 (en) 2004-10-07

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PCT/IB2004/000652 WO2004084714A1 (en) 2003-03-25 2004-02-25 A probe, in particular for tubular cavities

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IT (1) ITTO20030218A1 (en)
WO (1) WO2004084714A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2452561A (en) * 2007-09-10 2009-03-11 Sentient Medical Ltd Bougie with illuminating and imaging means
FR2921499A1 (en) * 2007-09-26 2009-03-27 Snecma Sa CATHETER OR ENDOSCOPE-TYPE ORIENTABLE STRUCTURE

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4176662A (en) * 1977-06-17 1979-12-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Apparatus for endoscopic examination
US5405337A (en) * 1993-02-24 1995-04-11 The Board Of Trustees Of The Leland Stanford Junior University Spatially distributed SMA actuator film providing unrestricted movement in three dimensional space
US5843153A (en) * 1997-07-15 1998-12-01 Sulzer Intermedics Inc. Steerable endocardial lead using magnetostrictive material and a magnetic field
US6072154A (en) * 1996-09-05 2000-06-06 Medtronic, Inc. Selectively activated shape memory device
US20020142119A1 (en) * 2001-03-27 2002-10-03 The Regents Of The University Of California Shape memory alloy/shape memory polymer tools
US20030065250A1 (en) * 2001-09-17 2003-04-03 Case Western Reserve University Peristaltically Self-propelled endoscopic device
US20030065373A1 (en) * 2001-10-02 2003-04-03 Lovett Eric G. Medical device having rheometric materials and method therefor

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4176662A (en) * 1977-06-17 1979-12-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Apparatus for endoscopic examination
US5405337A (en) * 1993-02-24 1995-04-11 The Board Of Trustees Of The Leland Stanford Junior University Spatially distributed SMA actuator film providing unrestricted movement in three dimensional space
US6072154A (en) * 1996-09-05 2000-06-06 Medtronic, Inc. Selectively activated shape memory device
US5843153A (en) * 1997-07-15 1998-12-01 Sulzer Intermedics Inc. Steerable endocardial lead using magnetostrictive material and a magnetic field
US20020142119A1 (en) * 2001-03-27 2002-10-03 The Regents Of The University Of California Shape memory alloy/shape memory polymer tools
US20030065250A1 (en) * 2001-09-17 2003-04-03 Case Western Reserve University Peristaltically Self-propelled endoscopic device
US20030065373A1 (en) * 2001-10-02 2003-04-03 Lovett Eric G. Medical device having rheometric materials and method therefor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2452561A (en) * 2007-09-10 2009-03-11 Sentient Medical Ltd Bougie with illuminating and imaging means
FR2921499A1 (en) * 2007-09-26 2009-03-27 Snecma Sa CATHETER OR ENDOSCOPE-TYPE ORIENTABLE STRUCTURE
EP2042076A2 (en) * 2007-09-26 2009-04-01 Snecma Guidable structure such as a catheter or an endoscope
EP2042076A3 (en) * 2007-09-26 2010-05-26 Snecma Guidable structure such as a catheter or an endoscope
US8558878B2 (en) 2007-09-26 2013-10-15 Snecma Steerable structure of catheter or endoscope type

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Publication number Publication date
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