Ingestible device with steering capabilities

Abstract

What is presented is an ingestible device that can include a capsule, an interventional tool, and a processor configured to controllably use the interventional tool to manipulate structures in a living body. The ingestible device can also include a camera configured to generate images of various in-vivo environments as the ingestible device traverses the living body. These images can be wirelessly transmitted to an electronic device located outside the living body to enable greater control over the interventional tool.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 868109, filed June 28, 2019, entitled “A Capable Device with Propulsion and Imaging Capabilities,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] Various embodiments relate to apparatuses designed to generate images of biological structures located inside a living body and then transmit the images to an electronic device located outside the living body. Background Technology

[0004] Endoscopy is a medical procedure in which structures inside a living body are visually examined using a camera attached to the end of a flexible tube. Alternatively, an optical fiber exposed near the end of the flexible tube can transmit light reflected from the structures inside the body to a camera located outside the body. The flexible tube is used to position the camera or optical fiber in the desired location. Medical professionals can diagnose symptoms affecting the living body by examining the images generated by the camera. For example, during upper endoscopy, the flexible tube is inserted through the mouth or nose so that the medical professional can examine the esophagus, stomach, or upper part of the small intestine (also known as the "duodenum"). During lower endoscopy (also known as "colonoscopy"), the flexible tube is inserted through the rectum so that the medical professional can examine the large intestine (also known as the "colon").

[0005] The quality, reliability, and safety of endoscopes have improved. For example, increased camera resolution allows healthcare professionals to provide more informed (and therefore more accurate) opinions. However, endoscopy is an invasive procedure and therefore carries several potential complications. Patients may suffer from infection, unexpected reactions to sedation (including death), bleeding (e.g., due to the removal of tissue used for examination as part of a biopsy), or tissue tearing due to friction from pushing a flexible tube through bends, particularly in cancer patients whose gastrointestinal (GI) tissues have been weakened by chemotherapy drugs, or in pediatric patients with more fragile anatomy and / or smaller bodies.

[0006] Furthermore, endoscopy can be a time-consuming procedure that requires expensive hospital resources. For example, patients may be instructed to prepare for an endoscopy at home, travel to a medical facility, and remain there until sufficient recovery occurs. Although the endoscopy itself may only last 15–30 minutes, the experience can take 8–12 hours. The sedation-related recovery time spent in a medical facility such as a hospital or clinic can be a significant factor in the total cost of the procedure. Attached Figure Description

[0007] The various features of this technology will become more apparent to those skilled in the art through a detailed study in conjunction with the accompanying drawings. Embodiments of this technology are illustrated in the drawings by way of example rather than limitation, wherein similar reference numerals may denote similar elements.

[0008] Figure 1 The image includes a cross-sectional view of an example of a propulsive ingestible device designed to monitor the internal environment as it passes through a living body (such as a human or animal) powered by its own electricity.

[0009] Figure 2A A front perspective view including the payload portion of the ingestible device.

[0010] Figure 2B include Figure 2A Rear perspective view of the payload portion of the ingestible device.

[0011] Figure 3 A perspective view including the electrical components of the ingestible device.

[0012] Figure 4 A perspective view including the drive section of the ingestible device.

[0013] Figure 5A A perspective view including the propulsion section of the ingestible device.

[0014] Figure 5B include Figure 5A A transparent perspective view of the propulsion section of the ingestible device.

[0015] Figure 5C This illustrates how the propulsion unit can be arranged adjacent to the stator blades in the distal element of the take-up device.

[0016] Figure 5D yes Figure 5C A separate rear view of the remote component.

[0017] Figure 6A A perspective view of an ingestible device having a circular structural body with a central axis passing through it.

[0018] Figure 6B include Figure 6A Side view of the ingestible device.

[0019] Figure 6C include Figure 6A Rear view of the ingestible device.

[0020] Figure 7A The image includes a cross-sectional view of the ingestible device, showing how small the size of the seal, formed from a punched or drilled sheet, is compared to the diameter of the motor shaft, thus enabling the formation of a single contact line between the seal and the motor shaft.

[0021] Figure 7B This illustrates how the orifice plate can be secured within the formed recess when the seal is encapsulated within the main seal body.

[0022] Figure 8A An example of a flexible printed circuit board assembly (PCBA) in unfolded form is depicted.

[0023] Figure 8B Depicting the folding form Figure 8A Flexible PCBA.

[0024] Figure 9 This includes a high-level illustration of the communication between a device designed for live ingestion and a controller that controls the movement of the ingestible device.

[0025] Figure 10 A flowchart is depicted illustrating the process of monitoring the in vivo environment using a device designed for live ingestion.

[0026] Figure 11 A flowchart is depicted for the process of controlling a propulsion ingestion device with optical sensors as it passes through a living organism.

[0027] Figure 12 This includes a high-level illustration of communication between an ingestible device having interventional components for manipulating the surrounding environment and a controller through which the interventional components can be controlled.

[0028] Figure 13 It is a perspective view of an ingestible device having multiple interventional components located proximal to the capsule.

[0029] Figure 14 This illustrates how each interventional component in the ingestible device can be mounted on a separate disc contained within the capsule.

[0030] Figure 15 This includes perspective and end views of the radially arranged compartment containing the drive mechanisms required for the corresponding intervention components.

[0031] Figure 16 The image includes a perspective view of an ingestible device with a biopsy mechanism that can remove a sample from a structure in a living organism and then store the sample for further analysis.

[0032] Figure 17 This illustrates how an ingestible device can include one or more storage compartments in which a sample can be sealed.

[0033] Figure 18A It is a perspective view of an extractable device with an interventional component capable of removing polyps protruding from tissue.

[0034] Figure 18B This is a perspective view of another removable device with an interventional component capable of removing polyps.

[0035] Figure 19 It is a perspective view of an ingestible device having an intervening component including one or more sharp edges for cutting.

[0036] Figure 20 This includes four examples of interventional components capable of grasping structures within a living organism.

[0037] Figure 21 A side view of an ingestible device having one or more elastic bands fixed around its proximal end.

[0038] Figure 22 It is a perspective view of an extractable device including an interventional component with a blunt shape, which can be used to press on tissue to temporarily replace circulating blood.

[0039] Figure 23 Includes perspective, side, and end views of an ingestible device with multiple anchoring elements that can be used for stabilization.

[0040] Figure 24A The image includes a side view and an end view of an ingestible device containing a series of intervening components with material stored therein.

[0041] Figure 24B This illustrates how an interventional component with material stored therein can be actuated by a spring.

[0042] Figure 25 A perspective view of an ingestible device having an interventional component capable of storing and then deploying surgical sutures.

[0043] Figure 26 A perspective view of an ingestible device having an interventional component capable of cauterizing tissue within a living body.

[0044] Figure 27 An example of a communication environment is depicted, including a propulsion ingestible device communicatively coupled to a controller.

[0045] Figure 28 This is a block diagram illustrating an example of a processing system that can implement at least some of the operations described herein. Detailed Implementation

[0046] Contemporary research has begun to explore more effective ways to monitor the body's internal environment. For example, some entities have developed cameras capable of capturing images of the digestive tract. Typically, these cameras are placed inside capsules the size of vitamins, which patients can swallow. As the capsule passes through the digestive tract, the camera can generate hundreds or thousands of images, which can be wirelessly transmitted to an electronic device worn by the patient. This process is known as "capsule endoscopy."

[0047] Capsule endoscopy allows medical professionals to observe internal environments, such as the small intestine, that are not easily accessible by conventional endoscopes. However, capsule endoscopy remains a relatively uncommon procedure. One reason is that the camera cannot be controlled after the capsule is ingested. Due to the orientation of the capsule as it naturally passes through the digestive tract, the camera may miss areas of interest. Another reason is that the devices used for capsule endoscopy may take several hours to reach the target anatomy, and then several more hours to record images. The patient may then need to return to a medical facility (such as a hospital or clinic) to transmit the recorded images.

[0048] Therefore, the propulsion-enhancing ingestible device (also known as a "pill" or "pillbot") described herein includes a capsule (also known as a "shell"), a camera, an antenna, and one or more propulsion components and propulsion control elements. Because the ingestible device is designed to propel itself by living tissue, it may be referred to as a "propulsion device".

[0049] As the ingestible device passes through the gastrointestinal tract, a camera can generate images. The camera can be designed to capture images at various frame rates, such as 2, 6, or 15 frames per second (fps). In some embodiments, the camera can capture more than 15 fps. The frame rate can vary depending on the speed at which the ingestible device travels. For example, the ingestible device can be designed to increase the frame rate as the speed increases. The images generated by the camera are transmitted to an antenna for transmission to an electronic device located outside the living body. More specifically, a processor can transmit the images to a transceiver responsible for modulating the images onto the antenna for transmission to the electronic device. In some embodiments, the images are transmitted to the electronic device in real time, allowing a medical professional to take appropriate action based on the content of the images. For example, a medical professional can identify areas of interest requiring further examination while reviewing the images. In this case, a propulsion component can directionally advance the ingestible device so that the camera focuses on the area of ​​interest. This action allows the ingestible device to collect additional data (e.g., in the form of images, biometrics, etc.) about the area of ​​interest.

[0050] Medical professionals can be general practitioners, specialists (such as surgeons or gastroenterologists), nurses, or technicians responsible for managing ingestible devices as they pass through a living body. However, unlike traditional endoscopy, medical professionals do not need to be in close proximity to the patient being examined (also known as the "subject"). For example, when the patient is in a different environment such as home or a battlefield, medical professionals can examine images generated by cameras on electronic devices located in a remote hospital. In this way, the capabilities of traditional GI departments can be extended using the techniques described here.

[0051] In some embodiments, the ingestible device includes at least one interventional component (also referred to as an "interventional device," "interventional mechanism," "instrument," or "tool") that can be used to manipulate structures within the body. These interventional components can allow for advanced diagnostic and therapeutic procedures to be performed beyond the analysis of images generated by a camera. As discussed further below, the ingestible device may include interventional components that can be used to sample fluids and / or tissues, deliver medications, mark anatomical locations for subsequent re-acquisition, cauterize tissue, and perform other procedures. Including interventional components at a high level enables the ingestible device to perform diagnostic and / or interventional procedures that are traditionally only accessible to healthcare professionals using conventional endoscopes.

[0052] Embodiments may be described with reference to specific capsule shapes, propulsion components, sensors, networks, etc. However, those skilled in the art will recognize that the features of these embodiments are equally applicable to other capsule shapes, propulsion components, sensors, networks, etc. For example, while features may be described in the case of an ingestible sensor having multiple propellers arranged in a cross-shaped configuration, such features may be embodied in an ingestible sensor having another type of propeller or a different arrangement of propellers or a combination of these variations.

[0053] Overview of Ingestible Devices

[0054] Figure 1 This includes a cross-sectional view of an example of an ingestible device 100 designed to monitor the internal environment as it passes through a living organism, such as a human or animal. Note that... Figure 1 The other illustrations in this document are not drawn to scale and are shown significantly enlarged for clarity. Because the ingestible device 100 can be designed to propel itself through a living tissue, it may be referred to as a "propulsion device." The ingestible device 100 includes a capsule 102 having a cylindrical body 104 and hydrodynamically atraumatically shaped ends 106a-b. An example of a hydrodynamically atraumatically shaped end is a circular shape that will not cause damage upon contact with living tissue, such as… Figure 1The roughly hemispherical end is shown. This geometry can be called a "spherical cylinder." Although Figure 1 The illustrated ingestible device 100 has a generally hemispherical end, but in other embodiments, it may include ends of other hydrodynamic shapes. For example, at least one end of capsule 102 may be a dome with a flat portion through which light can be directed to an optical sensor. As another example, at least one end of capsule 102 may be a truncated cone. At least one end of capsule 102 may also have rounded corners, leaving a flat or minimally curved surface along those ends. The cylindrical body 104 and the hemispherical ends 106a-b may be collectively referred to as “structural components” of capsule 102. To avoid contamination of the cavity defined by the cylindrical body 104 and / or the hemispherical ends 106a-b, the structural components may be hermetically sealed to each other.

[0055] In some embodiments, these structural components comprise the same material. For example, the structural components may comprise plastics (e.g., polyethylene (PE), polyvinyl chloride (PVC), polyetheretherketone (PEEK), acrylonitrile-butadiene-styrene (ABS), polycarbonate, nylon, etc.), stainless steel, titanium-based alloys, or another biocompatible material. The term "biocompatible" as used herein refers to being harmless to living tissue. Biocompatible polymers may be formed around components of the ingestible device 100 by three-dimensional (3D) printing, machining, sintering, injection molding, or other means. In other embodiments, these structural components comprise different materials. For example, the hemispherical end 106a with the optical sensor 110 mounted may be made of transparent plastic, while the other hemispherical end 106b and the cylindrical body 104 may be made of polymers or metal alloys. Furthermore, these structural components may include coatings that inhibit the structural components themselves from being exposed to the in vivo environment. For example, these structural components may be coated with silicone rubber, diamond-like carbon, Teflon, or some other biocompatible, hydrophobic, or hydrophilic coating that contributes to the safety, durability, or operational efficiency of the ingestible device 100. Alternatively, these structural components may be coated with an antimicrobial material, such as antibiotic-loaded polymethyl methacrylate (PMMA).

[0056] like Figure 1 As shown, at least one hemispherical end 106a may include an opening 108 through which the field of view of the optical sensor 110 extends. In some embodiments, the opening 108 is filled with a transparent material, such as glass or plastic. Alternatively, the optical sensor 110 may be positioned such that its outermost lens is substantially aligned with the outer surface of the hemispherical end 106a, or the optical sensor 110 may be positioned such that the focal length of the lens is similar to the radius of the hemispherical end 106a, thereby ensuring focusing on any anatomical structures directly contacting the capture device 100. Although Figure 1The illustrated hemispherical end 106a includes a single opening, but other embodiments of the hemispherical end 106a may include multiple openings (e.g., for multiple optical sensors, biosensors, or combinations thereof). In some embodiments, the hemispherical end 106a is made entirely of a transparent material. In such embodiments, the hemispherical end 106a may not include a dedicated opening for the optical sensor 110, since the optical sensor 110 can use electromagnetic radiation that has already penetrated the transparent material to generate image data. The hemispherical end 106a may include surface features that diffuse or guide illumination away from the capture device 100. Furthermore, a portion of the hemispherical end 106a may become substantially opaque to suppress or eliminate intermittent reflections of light that may interfere with the optical sensor 110.

[0057] For ease of manufacture, opening 108 is typically circular. However, opening 108 can have other forms. For example, in some embodiments, opening 108 is rectangular, while in other embodiments, opening 108 has a rectangular portion with circular endpoints. These circular endpoints can be oriented on opposite sides of the hemispherical end 106a, such that an optical sensor located below the circular endpoints can observe the in vivo environment along both sides of the propulsive ingestion device 100.

[0058] In various embodiments, capsule 102 may have any of a variety of different sizes, such as any of those listed in Table I.

[0059]

[0060] Table I: Examples of Capsule Sizes

[0061] like Figure 1 As shown, the ingestible device 100 may include four parts with different functions: a payload section 200, a power section 300, a drive section 400, and a propulsion section 500. Each of these parts will be described in more detail below with reference to Figures 2, 3, 4, and 5. Although these parts are shown as different from each other, the components associated with each part are not necessarily located in the same position. Figure 1 Within the corresponding boxes shown. For example, the power section 300 may include a power distribution unit that extends into the payload section 200, the drive section 400, and / or the propulsion section 500 to deliver power to the components in these sections.

[0062] Figure 2A A front perspective view including the payload portion 200 of the ingestible device, and Figure 2BThis is a rear perspective view including the payload section 200 of the image capture device. The payload section 200 may include an optical sensor 202, a power and data bus 204, a control unit 206, a manipulator controller 208, an airtight seal 210, and an illumination source 212. Embodiments of the image capture device may include some or all of these components, as well as other components not shown herein. For example, if the image capture device is designed for imaging only, the payload section 200 may not include the manipulator controller 208, since no manipulation will be performed. Reference is made below. Figure 13-26 Embodiments of an ingestible device having an interventional component controlled by a manipulator controller are further discussed.

[0063] As the ingestible device passes through the gastrointestinal tract, the optical sensor 202 can generate image data based on electromagnetic radiation reflected by structures located within the gastrointestinal tract. For example, if the optical sensor 202 is a camera, images or videos can be captured as the ingestible device passes through the body. Another example of the optical sensor 202 is an infrared sensor. Instead of or in addition to the optical sensor 202, other embodiments of the ingestible device may include acoustic sensors, such as ultrasonic sensors. Thus, the ingestible device may include one or more sensors configured to generate image data based on energy reflected by structures within the body. An illumination source 212 (also referred to as a “light source”) housed within the ingestible device is typically responsible for generating electromagnetic radiation. An example of the illumination source 212 is a light-emitting diode (LED). Here, the illumination source 212 is arranged such that electromagnetic radiation is emitted through the same aperture in the capsule that receives reflected electromagnetic radiation. In other embodiments, the illumination source 212 is arranged such that electromagnetic radiation is emitted through a first aperture in the capsule, while reflected electromagnetic radiation is received through a second aperture in the capsule.

[0064] Some embodiments of the advanceable device include multiple optical sensors 202. For example, the advanceable device may include a camera equipped with a charge-coupled device (CCD) or complementary metal-oxide-semiconductor (CMOS) sensor assembly capable of detecting electromagnetic radiation in the visible range and an infrared sensor capable of detecting electromagnetic radiation in the infrared range. These optical sensors can generate different datasets that collectively provide meaningful information that may aid in diagnostics and spatial localization. Here, for example, the infrared sensor is capable of measuring heat emitted by objects included in a color image captured by the camera.

[0065] The power and data bus 204 (also referred to as a “bus” or “bus connector”) can be responsible for distributing data and / or power to various components in the propulsion ingestible device. For example, bus 204 can forward image data generated by optical sensor 202 to control unit 206, and control unit 206 can forward the image data to a transceiver configured to modulate the data onto an antenna for transmission to a receiver located outside the body. As further described below, the receiver can be part of an electronic device on which an individual can view images corresponding to the image data, control the ingestible device, etc. Bus 204 can include cables, connectors, wireless chipsets, processors, etc. In some embodiments, bus 204 manages data and power on separate channels. For example, bus 204 may use a first set of cables to manage data and a second set of cables to manage power. In other embodiments, bus 204 manages data and power on a single channel (e.g., having components capable of transmitting data and power simultaneously).

[0066] Control unit 206 can manage other components within the propulsion take-up device. For example, control unit 206 can parse input received by the antenna and then provide appropriate instructions to other components within the propulsion take-up device. As further described below, an individual can provide input using a controller device (or simply "controller") located external to the body. This input can represent a request to start using optical sensor 202 to generate image data, start using the antenna to transmit image data, stop using optical sensor 202 to generate image data, stop using the antenna to transmit image data, or move the propulsion take-up device to a desired location. Control unit 206 can include any combination of a central processing unit (CPU), graphics processing unit (GPU), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), microcontroller, logic component, or other similar processing unit.

[0067] In some embodiments, the propulsion ingestible device is designed to manipulate the in vivo environment in a certain way. In such embodiments, the payload portion 200 may include interventional components such as biopsy attachments, needles, cutting mechanisms (e.g., CO2 lasers, argon lasers, Nd:YAG lasers, rotary cutting elements, scissors, forceps, or dissecters), pushing mechanisms, grasping mechanisms (e.g., polyp removal tools), cauterization mechanisms (e.g., ohmic cauterizers or radio frequency (RF) cauterizers), or delivery mechanisms (e.g., syringes, drug-impregnated materials, or structures encapsulating drugs in a closed state). Manipulator controller 208 can control these interventional components. For example, manipulator controller 208 can control a biopsy attachment that extends through the capsule to collect tissue based on instructions received from control unit 206. More specifically, manipulator controller 208 can extend the biopsy attachment through a hole in the capture device to collect a tissue sample, and then retract the biopsy attachment back into the capsule through the hole.

[0068] In some embodiments, the propulsion ingestion device is designed to manipulate the in vivo environment in a certain way. In such embodiments, the payload portion 200 may include interventional components such as biopsy attachments, needles, cutting mechanisms, propulsion mechanisms, cauterization mechanisms (e.g., ohmic cauterizers or radiofrequency cauterizers), drug delivery mechanisms, etc. Manipulator controller 208 can control these interventional components. For example, manipulator controller 208 may control a biopsy attachment that extends through the capsule to collect tissue based on instructions received from control unit 206.

[0069] To prevent fluid from entering the capsule, the payload portion 200 and the electrical portion 300 can be hermetically sealed to each other. Therefore, the hermetically sealed element 210 can be fixed along the interface between the payload portion 200 and the electrical portion 300. The hermetically sealed element 210 can be made of epoxy resin, metal, glass, plastic, rubber, ceramic, adhesive, or other sealing materials. One factor determining the suitability of the materials used to form the hermetically sealed element 210 is whether the surface energy of these materials is similar to the surface energy of the substrate to which the hermetically sealed element 210 is bonded. Therefore, the configuration of the hermetically sealed element 210 can depend on the configuration of the capsule's structural components. For example, if the capsule's structural components include stainless steel, then the hermetically sealed element 210 can be made of epoxy resin in which metal (e.g., stainless steel) particles are suspended. Alternatively, the hermetically sealed element 210 can be formed using flexible gaskets, adhesive films, welding, seals, etc.

[0070] Figure 3This is a perspective view including the power section 300 of the ingestible device. The power section 300 may include a power component 302, a power distribution unit 304, and hermetic seals 306a-b fixed along each end. The hermetic seals 306a-b may be substantially similar to the hermetic seal 210 fixed to the payload section 200 as described with reference to FIG2. Furthermore, the hermetic seal 210 fixed to the lower end of the payload section 200 may be the same seal as the hermetic seal 306a fixed to the upper end of the power section 300. Therefore, a single hermetic seal can connect the payload section 200 and the power section 300.

[0071] The power component 302 (also referred to as the "energy storage component") can be configured to power other components of the propulsion ingestible device, such as any optical sensors, biosensors, processors, communication components (e.g., transmitters, receivers, transceivers, and antennas), and any other components that require power. For example, the power component 302 can be responsible for providing the power required for an optical sensor (e.g., optical sensor 202 of Figure 2) to generate image data. As another example, the power component 302 can be responsible for generating the driving energy that will be applied to an antenna to enable the wireless transmission of image data to a receiver located outside the body.

[0072] The power component 302 may be, for example, a silver oxide battery, a nickel-cadmium battery, a lithium battery (e.g., a single cell with a liquid cathode, a solid cathode, or a solid electrolyte), a capacitor, a fuel cell, a piezoelectric component, or another energy capture and / or storage device. In some embodiments, the power component 302 includes one or more battery plates exposed to a fluid through which the ingestible device passes. In such embodiments, the power component 302 may be designed to operate on fluids (e.g., bodily fluids such as stomach acid) that are readily accessible in the body environment for which the ingestible device is designed. Typically, batteries operate by shuttling positively charged ions from one place to another through a solution called an electrolyte, which has both positively and negatively charged particles. However, in the case of exposed battery plates, a pair of metal electrodes may be attached to the outer surface of the ingestible device. One metal electrode (e.g., made of zinc) may emit ions into the fluid, which acts as an electrolyte by delivering a small current to the other metal electrode (e.g., made of copper).

[0073] In some embodiments, the power component 302 is designed to wirelessly receive power from a source located outside the body. In such embodiments, the source may generate a time-varying electromagnetic field that transmits power to the power component 302. The power component 302 can extract power from the electromagnetic field and then power other components in the ingestible device as needed. The same antenna used for data transmission can be used to receive the power, or different antennas, inductively coupled coils, or capacitively coupled structures can be used. The source may be a controller for controlling the ingestible device, an electronic device for viewing image data, or some other electronic device (e.g., a mobile phone or wireless charger belonging to the patient). Alternatively, the wireless power source may be included in an item such as a belt or band that can be worn such that the wireless power source is near the ingestible device as it passes through the living body. Such a wearable item may include a battery pack integrated within the item itself or attached to the patient. Furthermore, such a wearable item may include one or more antennas for data transmission.

[0074] The power component 302 can be designed to be mounted in a specific segment of the ingestible device. Here, for example, the power component 302 has the form of a button cell, which allows the power component 302 to be secured within the cylindrical body of the capsule. However, other embodiments of the power component 302 can be designed to be mounted within the hemispherical end of the capsule or in another region within the capsule.

[0075] As described above, the power distribution unit 304 can be responsible for distributing the power stored in the power component 302 to other components in the accessible device. Therefore, components of the power distribution unit 304 can extend into the payload section 200, the drive section 400, and / or the propulsion section 500. For example, the power distribution unit 304 may include cables connected to optical sensors, bus connectors, control units, control sensors, and / or manipulator controllers that may be located in the payload section 200. The power distribution unit 304 may also include components for regulating, stabilizing, or modifying the power to be distributed. Examples of such components include voltage regulators, converters (e.g., DC-DC converters), metal-oxide-semiconductor field-effect transistors (MOSFETs), capacitors, transformers, resistors, or inductors.

[0076] Figure 4This is a perspective view including the drive section 400 of the ingestible device. The drive section 400 may include an energy-to-movement converter 402, a heat transfer component 404, and hermetic seals 406a-b fixed along each end. The hermetic seals 406a-b may be the same as or substantially similar to the hermetic seal 210 fixed to the payload section 200 as shown with reference to FIG2. Furthermore, the hermetic seal 306b fixed to the lower end of the power section 300 may be the same seal as the hermetic seal 406a fixed to the upper end of the drive section 400. Therefore, a single hermetic seal can connect the power section 300 and the drive section 400.

[0077] When from the power distribution unit (e.g.) Figure 3 When the power distribution unit 304 receives power, the mechanical-electric converter 402 can drive another component of the ingestible device. Here, for example, the drive section 400 includes multiple motors, and each motor can be responsible for driving a different actuator. Examples of motors 402 include DC or AC electric motors, actuators made of shape memory alloys, electromagnets, shafts, piezoelectric components, etc. The actuators can be connected to the motors via one or more shafts, gears, levers, bearings, etc.

[0078] Components in the ingestible device may generate heat, which should be dissipated to avoid harm to the body. For example, if the propulsion is driven for an extended period, components such as the energy-mobility converter and the motor housing may generate heat. Therefore, these components may include or be connected to a heat transfer component 404 that helps dissipate the heat. In some embodiments, the heat transfer component 404 dissipates heat directly into a fluid (e.g., water, bile, gastric acid, or mixtures thereof) surrounding the ingestible device. For example, the motor housing may be constructed of a material with acceptable thermal conductivity (e.g., stainless steel) to facilitate heat dissipation. In other embodiments, the heat transfer component 404 releases heat into the capsule. When heat is released into the capsule, it can be naturally transferred to the fluid surrounding the ingestible device through conduction and convection.

[0079] Figure 5A A perspective view including the propulsion section 500 of the ingestible device, and Figure 5B A transparent perspective view of the propulsion section 500, including the ingestible device. The propulsion section 500 may include one or more thrusters 502, one or more inlets 504, and an airtight seal 508 fixed along its upper end. The airtight seal 508 may be substantially similar to the airtight seal 210 fixed to the payload section 200 as shown with reference to FIG2. Furthermore, the airtight seal 508 may be the same seal as the airtight seal 406b fixed to the lower end of the drive section 400. Thus, a single airtight seal may connect the drive section 400 and the propulsion section 500.

[0080] As described above, the take-up device may include one or more propulsion components (also referred to as a "propulsion system" or "thrust component"). Each propulsion component may include a thruster configured to generate propulsive force for moving the take-up device and an energy-to-mobility converter configured to power the thruster. Here, for example, propulsion section 500 includes four rotors 502 driven by four motors located in drive section 400. In some embodiments, each thruster is driven by a different electromechanical converter. In other embodiments, multiple thrusters may be driven by a single energy-to-mobility converter. For example, a single motor may be responsible for powering multiple thrusters, although the speed of each thruster may be varied by mechanical connections (e.g., a clutch system or a gear system).

[0081] As further described below, multiple thrusters 502 can be arranged to facilitate movement along different axes. For example, in Figure 5A In the -B configuration, four thrusters 502 are arranged radially around a central axis 516, which is configured in a cross shape passing through the capsule. More specifically, these thrusters 502 are positioned radially offset from the central axis and offset around it at different angles. By independently driving these thrusters 502, movement in any direction or orientation can be achieved in a manner similar to that of a quadcopter. Thus, the take-up device can be commanded to move forward and backward at different speeds. Furthermore, the take-up device can be commanded to change its orientation by rotating about three mutually perpendicular axes. These changes in orientation and forward / reverse movement can be translated into changes in yaw (normal axis), pitch (lateral axis), and roll (longitudinal axis), so that movement to any position can be represented in three-dimensional space.

[0082] exist Figure 5A In -B, the thruster 502 is a rotor capable of drawing in fluid through an inlet 504 formed in the capsule. The term "rotor" as used herein refers to a component capable of rotating to generate propulsion. An example of a rotor is a thruster. However, other thrusters may be used instead of or in addition to a rotor. Examples of propulsion components include helical surfaces, fins, whip-like attachments (also called "flagellates"), oscillating mechanisms, etc. Furthermore, instead of being located in the hemispherical end of the capsule, the propulsion component may also be arranged along the cylindrical body of the capsule. For example, the ingestible device may include oscillating fins arranged along opposite sides of the cylindrical body of the capsule. These oscillating fins may be used in conjunction with a thruster, helical surface, or whip-like attachment located in the hemispherical end of the capsule to provide greater control over the movement of the ingestible device.

[0083] like Figure 5AAs shown in Figure 5-B, the capsule may include one or more channels through which fluid can be drawn in by the propulsion device 502. Each channel includes an inlet 504 through which fluid can be drawn in and an outlet 506 through which fluid can be discharged. Examples of inlets 504 include conduits, lumens, blades, tubes, etc. While the embodiment shown in Figure 5 includes the same number of propulsion devices 502 and inlets 504, this need not always be the case. For example, a propulsion device mounted in the hemispherical end of the capsule may be able to draw in fluid through one or more inlets to prevent moving parts such as propulsion devices 502 from contacting living tissue. The efficiency of the rotating propulsion device can be optimized with fixed stator blades to control eddies, increase speed, and increase controllability, as referenced below. Figure 5C -D Further discussion. In some embodiments, a coaxial counter-rotating thruster can be used to completely eliminate stationary stator blades. The thruster and blade number and geometry can be adjusted according to diameter, velocity, and fluid properties to optimize the removal of bubbles and debris.

[0084] In some embodiments, a filter is placed in at least one channel defined by the capsule. For example, the filter may be fixed in each channel defined by the capsule. The filter may be necessary to ensure that objects larger than a certain size suspended in the fluid inhaled through inlet 504 are removed. For example, if the ingestible device is designed for use in the gastrointestinal tract, the filter may be designed to prevent solid particles, such as food particles, from contacting the propeller 502.

[0085] Another problem is that, unless designed properly, propellers tend to cause the fluid to rotate (or “stir”) rather than generate thrust. This problem can be solved by adding one or more stator blades (also called “stator vanes”) to each flow channel. The terms “stator blade” and “stator vane” refer to fixed blades positioned within the flow channel through which the fluid is drawn in and then ejected by the propeller. Figure 5C This shows how thruster 502 can... Figure 5A -B's ingestible device has adjacent stator blades 514 arranged in the distal element 512. These stator blades 514 can be used to draw direct current, reduce stirring effects, and increase thrust and thrust consistency. Figure 5C As shown, each thruster 402 can be connected to a separate motor housing 510, in which the motor responsible for driving the thruster is located. The thrusters 502 (and therefore the motor housings 510) can be arranged in a cross configuration for better control of the thrust.

[0086] Figure 5D yes Figure 5CA separate rear view of the distal element 512 is shown. In embodiments where the distal element 512 includes a plurality of stator leaves 514, the stator leaves 514 may be arranged radially about the geometric center of the distal element 512. Typically, the stator leaves 514 are arranged substantially uniformly about the geometric center, such as... Figure 5D As shown. However, in some embodiments, the stator blades 514 are arranged around the geometric center in a non-uniform manner.

[0087] Figure 6A -C includes a perspective view, a side view, and a rear view of an ingestible device 600 having a non-invasive structural body 602 with a central axis 612 passing through it. Figure 6A The structural body 602 shown in -C is a spherical cylinder comprising cylindrical segments interconnected between hemispherical segments. In other embodiments, the structural body 602 may be elliptical, rectangular, teardrop-shaped, or similar shapes.

[0088] As described above, the take-up device 600 may include one or more thrusters for controlling movement along three mutually perpendicular axes. Here, for example, the take-up device 600 includes four rotors 604a-d arranged radially around a structural body 602 orthogonal to a central axis 612. The four rotors 604a-d may include a first pair of rotors 604a-b arranged radially opposite each other relative to the central axis 612 and a second pair of rotors 604c-d arranged radially opposite each other relative to the central axis. Each pair of rotors may be configured to share the same chirality; for example, when rotated clockwise relative to the central axis 612, rotors 604a-b may all generate a forward thrust. Simultaneously, the rotor pairs may be configured to have opposite chirality; for example, when all four rotors rotate clockwise relative to the central axis 612, rotors 604a-b may generate a forward thrust, while rotors 604c-d may generate a backward thrust. Figure 6C As shown, the first and second pairs of rotors 604a-d can be arranged in a cruciform configuration, such that adjacent rotors rotate in opposite directions to generate thrust in the same direction, while radially opposite rotors rotate in the same direction to generate thrust in the same direction. This configuration allows for independent control of thrust, pitch, yaw, and roll through the combined effect of individual rotors; therefore, position and orientation control can be achieved in a manner similar to that of a quadcopter.

[0089] Each rotor may be located in a different channel defined by the structural body 602, and each channel may include an inlet 606 through which fluid is drawn in by the respective rotor and an outlet 608 through which fluid is discharged by the respective rotor. Typically, the channels are defined by the structural body 602 in a direction substantially parallel to the central axis. Here, for example, the inlet 606 of each channel is located in a cylindrical section of the structural body 602, while the outlet 608 of each channel is located in a hemispherical section of the structural body 602. During operation, rotors 604a-d may draw in fluid through the inlet 606 to generate a flow 610 that propels the take-up device in a particular direction. In some embodiments, the channels are tapered. For example, the inlet 606 of each channel may have a smaller diameter than the outlet 608, or the inlet 606 of each channel may have a larger diameter than the outlet 608.

[0090] In some embodiments, each rotor is designed to rotate in both a primary and secondary direction. For example, the first pair of rotors 604a-b may be configured to rotate clockwise and counterclockwise relative to the central axis 612. Similarly, the second pair of rotors 604c-d may rotate counterclockwise and clockwise relative to the central axis 612. Thus, while the flow 610 is shown as flowing toward a first end 614 (also referred to as the “far end”) of the ingestible device 600, the flow 610 may alternatively flow toward a second end 616 (also referred to as the “proximal end”) of the ingestible device 600.

[0091] As described above, the term "rotor" as used herein refers to a component capable of rotation to generate propulsion. Propulsion transfers momentum to the surrounding fluid to produce movement. Depending on the speed and operational requirements of the take-up device 600, the main body 602 may be equipped with one, two, three, four, or more rotors. For example, in... Figure 6A In embodiment C, four rotors are arranged in a cross-shaped configuration within the first end 614 of the main body 602. In other embodiments, three rotors are arranged in a triangular configuration within the first end 614 of the main body 602.

[0092] Each rotor can be driven independently by a different motor. For example, in Figure 6A In embodiment C, the intake device 600 includes four motors configured to power four rotors 604a-d. In other embodiments, multiple rotors may be driven by a single mechanical-electric converter. For example, a single motor may be responsible for powering a first pair of rotors 604a-b, although the speeds of these rotors may be varied by mechanical connections (e.g., a clutch system or a gear system).

[0093] In some embodiments, each rotor has a fixed pitch. For example, in Figure 6AIn embodiment C, four rotors 604a-d are fixedly arranged along a radial plane orthogonal to the central axis 612. In other embodiments, at least one rotor has a variable pitch. In such embodiments, greater control over the movement of the take-up device 600 can be achieved by simultaneously controlling the pitch and rotation of the rotors 604a-d.

[0094] The rotor can be made of one or more biocompatible materials. Examples of biocompatible materials include titanium alloys, stainless steel, ceramics, polymers, fiber-reinforced polymers (e.g., glass fiber or carbon fiber), plastics (e.g., polycarbonate, nylon, PEEK, or ABS), resins, composite materials, etc. Furthermore, each rotor can have an antibacterial, hydrophobic, or hydrophilic coating applied thereto. For example, each rotor can be coated with antibiotic-loaded PMMA. The coating applied to the rotor can depend on the type of in vivo environment for which the ingestible device 600 is designed.

[0095] Generally, to manufacture rotors, multiple blades are attached to the hub by welding, gluing, or alternatively, forging the entire rotor into a single piece. The number of blades depends on the desired efficiency, speed, acceleration, maneuverability, etc. For example, a 3-bladed rotor exhibits good acceleration compared to other types of rotors, while a 4-bladed rotor exhibits good maneuverability compared to other types of rotors. Rotors with a higher number of blades (e.g., rotors with 5 or 6 rotor blades) exhibit good holding power in turbulent internal environments (such as internal environments with high flow velocities). Single-bladed rotors have advantages in manufacturability and durability. Figure 6A In the embodiment shown in -C, each rotor includes three helical surfaces that work together to rotate in a fluid (e.g., water, bile, etc.) with a helical effect.

[0096] One of the challenges in generating thrust at small scales is the persistent presence of air bubbles that can become trapped near the rotor, such as the thruster, preventing proper engagement between the rotor and the fluid. This problem can be addressed by carefully designing the shape, number, and arrangement of the blades along each rotor to help eliminate these bubbles. Careful matching of the blade pitch, the shape of the internal cavity, the motor speed, the clearance between the rotor and the wall, the clearance between the rotor and the stator blades, and surface material properties all influence bubble formation and removal.

[0097] The rotor can be formed based on a simple truncated Archimedean screw geometry. Alternatively, as mentioned above, the rotor can have multiple individual blades with optimized curvature for propulsion in a forward or backward direction. Similarly, if the stator blades are positioned in the channels through which the rotor draws in and then ejects fluid, these stator blades can have flat or curved blades.

[0098] Preventing fluid from entering the ingestible device is crucial, especially in the propulsion section, which includes the interface with the moving motor. Therefore, the ingestible device can be designed with tight tolerances, using hydrophobic and / or hydrophilic materials or mechanical seals. Seals can maintain tolerances at the microscale, thus contributing to safety and consistency without requiring complex assembly processes. Figure 7A -B illustrates how a low-profile and low-friction seal can be achieved to prevent fluid from entering the motor housing of the ingestible device 700.

[0099] Figure 7A The diagram includes a cross-sectional view of the receptacle 700, showing how small the size of the seal 704, formed from a punched or drilled sheet, is compared to the diameter of the motor shaft 702, thus enabling the formation of a single contact line 706 between the seal 704 and the motor shaft 702. Sealing effect, static friction, and dynamic friction can be optimized by adjusting dimensional interference and the resulting embedding tension. The punched or drilled sheet can be made of polytetrafluoroethylene (PTFE) or similar materials such as ultra-high molecular weight (UHMW) polyethylene. This design can be easily produced with relatively few machining operations. Another advantage of this method is that multiple seals can be produced simultaneously using a simple drilling jig. By drilling a small hole in the sheet (e.g., 0.5-0.6 mm in diameter for a 0.7 mm diameter motor shaft) and then expanding it on the motor shaft 702, circumferential tension (also known as “circumferential stress”) is created. This circumferential tension causes the expanded hole to protrude slightly, creating a minimum contact line 706 with the motor shaft 702 and reducing friction while providing a seal.

[0100] Seal 704 can be manufactured using a hypodermic cannula punch. Multiple seals can be drilled simultaneously on a lathe while still within the hypodermic cannula using simple fixing devices and drill guides. Assembly can be performed by placing seal 704 onto motor shaft 702 and then securing it in place using a curable adhesive (e.g., UV-curable adhesive), RF welding, thermal welding, etc. Seal 704 can be expanded on motor shaft 702 and then encapsulated within main seal body 708 using a curable adhesive or another sealing technology.

[0101] like Figure 7A As shown in Figure -B, the main seal 708 can be attached to the motor housing 710 using a curable adhesive or another sealing technology. To optimize shaft friction and seal reliability, one or more seals can be implemented on a single motor shaft. Continuous lip seals with different clearances can help optimize energy efficiency, aging, and overall safety and performance. Figure 7BAs shown, when the seal 704 is encapsulated within the main seal 708, a recess 712 can be formed. An orifice plate 714, having a defined through-hole for receiving the motor shaft 702, can be positioned within the recess to further suppress leakage into the motor housing 710. The orifice plate 714 can be made of plastic, metal, rubber, fluororubber, Teflon, UHMW polyethylene, high-density polyethylene, or similar materials.

[0102] Therefore, a manufacturer can obtain a flexible substrate with a generally circular shape, form a hole (e.g., by punching or drilling) at the geometric center of the flexible substrate, and then expand the hole in the flexible substrate around a motor shaft with a diameter larger than the hole. This method can create an elastic interference fit between the flexible substrate and the motor shaft, thereby forming a seal. The manufacturer can then fix the flexible substrate along its outer periphery to form an hermetically tight seal. For example, as described above, the flexible substrate can be fixed using curable adhesives, RF welding, thermal welding, etc.

[0103] Some or all of the electronic components described herein, contained within an ingestible device, can be mounted on a flexible printed circuit board assembly (PCBA). Figure 8A -B illustrates examples of the flexible PCBA800 in both unfolded and folded forms. (Example) Figure 8A As shown, a flexible PCBA may include at least two rigid regions 802, which provide support for components 804 mounted thereon and associated solder joints, and contribute to the overall definition of the PCBA 800. These rigid regions 802 may be connected by flexible regions 806, which can be folded to allow the PCBA 800 to be assembled within an ingestible device. The PCBA 800 may include conductive connections between electronic components to allow for the transmission of electrical and / or data between them. More specifically, the PCBA 800 may include one or more conductive layers that serve as connections between electronic components mounted to the rigid regions 802. Each pair of conductive layers may be separated by an insulating layer (also referred to as a “non-conductive layer”) made of a non-conductive material such as polyimide.

[0104] Figure 9 This includes a high-level illustration of the communication between a device 900 designed for live subject capture and a controller 950 that controls the movement of the capture device 900 via it. Because images generated by the capture device 900 can be viewed on the controller 950, the controller 950 may also be referred to as a “data viewing station” or “data viewing unit.” Initially, the controller 950 sends a first input (step 901) instructing the operation of the camera housed within the capture device 900. Alternatively, the capture device 900 may be designed to automatically operate the camera when the device is first powered on or activated by removal from its packaging.

[0105] The ingestible device 900 can, in response to a first input, cause a camera to generate an image of a structure in a living organism (step 902). This structure can be a biological structure or a non-biological structure (also referred to as a "foreign object"). The ingestible device 900 can then transmit the image to a controller 950 for viewing (step 903). More specifically, a processor responsible for processing the image generated by the camera can forward the image to a transmitter for modulation onto an antenna for wireless transmission to the controller. In some embodiments, the transmitter is part of a transceiver capable of sending and receiving communications to and from the controller 950.

[0106] The controller 950 may also send a second input (step 904) instructing a request to change the position and / or orientation of the intakeable device 900. This second input may be referred to as a “steering command” or a “propulsion command.” The intakeable device 900 may, in response to the second input, drive at least one propeller (step 905). In the case of driving multiple propellers in response to the second input, the intakeable device 900 may generate multiple signals for driving the multiple propellers. These signals may be different from each other. For example, each of the multiple propellers may rotate at a different speed. As another example, some propellers of the intakeable device 900 may rotate while others remain stationary.

[0107] Figure 10 A flowchart is depicted for a process 1000 of monitoring the internal environment using a device designed for live ingestion. Initially, the subject ingests the ingestible device as part of a capsule endoscopy procedure to observe the gastrointestinal tract (step 1001). The ingestible device (and its control software) can support a variety of different data collection modes. For example, the ingestible device can support a “general mode” suitable for open navigation and / or a “swallowing mode” suitable for unidirectional passage through the esophagus.

[0108] As the ingestible device passes through a living body, the optical sensors included in the ingestible device can then begin generating image data (step 1002). In some embodiments, the ingestible device causes the optical sensors to begin generating image data in response to receiving an instruction to do so. This instruction can be submitted, for example, by an operator via a controller communicatively coupled to the ingestible device. In other embodiments, the ingestible device causes the optical sensors to automatically generate image data in response to determining that predetermined criteria have been met. For example, the ingestible device can cause the optical sensors to begin generating image data in response to determining that the ingestible device has entered a specific in vivo environment. The ingestible device can achieve this determination by examining bioassay data generated by bioassay sensors. For example, the ingestible device can determine whether it is currently in the stomach by examining bioassay data representing a pH measurement. Images can be captured at any of a variety of resolutions, such as 48x48 pixels, 320x240 pixels, or 640x480 pixels. In other embodiments, images can be captured at higher or lower resolutions. The image data can be stored, at least temporarily, in a memory located within the ingestible device (step 1003).

[0109] The ingestible device can then wirelessly transmit at least some image data via an antenna to a receiver located outside the living body (step 1004). In some embodiments, the receiver is housed in an electronic device associated with the subject. For example, the image data may be transmitted to a mobile phone associated with the subject, and the mobile phone may forward the image data to another electronic device for viewing by an operator responsible for controlling the ingestible device. In some embodiments, the image data is transmitted to the receiver periodically (e.g., every 3 seconds, 5 seconds, 30 seconds, 60 seconds, etc.). In other embodiments, the image data is transmitted to the receiver in real time. That is, the ingestible device may stream the image data to the receiver as it is generated by an optical sensor.

[0110] To reduce the amount of raw data that must be transmitted via bus or wireless link, image data (as well as identification data, telemetry data, etc.) can be compressed to a reduced amount without significantly affecting the user's perception of quality. For example, algorithms that reduce color / hue differently than intensity reduction, or algorithms that reduce high-frequency content differently than low-frequency content, can be used. Standardized image and / or video compression algorithms, such as JPEG, H.264 (MPEG), H.265, etc., can be used to compress the data. To further reduce the data volume, the image resolution can be reduced before compression and transmission. For example, an optical sensor can generate an image with a resolution of 640x480 pixels, but this image can be downsampled to 320x240 pixels before JPEG compression. The resolution can be adjusted during operation to achieve a desired trade-off between image quality and frame rate (e.g., reducing image quality to increase frame rate when the ingestible device passes through the esophagus). After the data has been transmitted via wireless link, additional compression algorithms can be used, such as when the data is transmitted to a controller with computational and storage resources available to execute more demanding compression algorithms than those executed on the ingestible device itself. This additional compression can be used to reduce the size of data stored on the controller or other electronic devices. The data can be encrypted on the ingestible device, controller, or other electronic devices to prevent unauthorized third parties from accessing patient identification information (PII) or other medically sensitive information.

[0111] Figure 11 A flowchart depicts a process 1100 for controlling an ingestible device with optical sensors as it passes through a living body. Initially, the ingestible device is inserted into the living body (step 1101). For example, if the ingestible device is designed to monitor the digestive system, it may be ingested by the subject. As the ingestible device passes through the living body, it receives a first input from a controller located outside the living body, instructing the ingestible device to begin recording image data (step 1102).

[0112] The ingestible device may, in response to a first input, cause the optical sensor to begin generating image data (step 1103). Alternatively, the optical sensor may be configured to automatically begin generating image data after the ingestible device is removed from its packaging or after a mechanical switch accessible along the outer surface of the ingestible device is activated. In some embodiments, the ingestible device may be remotely activated by a source located outside the living body via an RF signal, magnetic signal, optical signal, etc. For example, the optical sensor may begin generating image data in response to determining that the ingestible device has been outside the packaging for a certain amount of time (e.g., 3 minutes, 5 minutes, 10 minutes, etc.). As another example, the optical sensor may begin generating image data in response to determining that the ingestible device has entered a specific in vivo environment.

[0113] The ingestible device can then wirelessly transmit at least some image data to a receiver using an antenna (step 1104). For example, a processor can transmit the image data to a transceiver responsible for modulating the image data onto the antenna for transmission to the receiver. In some embodiments, the image data is transmitted in its original (i.e., unprocessed) form. In other embodiments, the image data is transmitted in a processed form. For example, the processor can filter values ​​from the image data, add metadata (e.g., specifying location, time, or identifiers associated with a living organism), etc. As described above, the receiver can be a controller or part of some other electronic device. For example, a medical professional can use a mobile workstation wirelessly connected to the ingestible device to view the image data and control the ingestible device. As another example, a medical professional can view the image data on a tablet and control the ingestible device using a dedicated input device similar to a controller for a video game console.

[0114] In some cases, medical professionals may wish to observe specific structures in a living organism. Therefore, the ingestible device can receive a second input indicating a movement command, allowing the optical sensor to observe the structure (step 1105). In other words, the ingestible device can move such that the structure is within the field of view (FoV) of the optical sensor. The ingestible device can move by changing its position and / or orientation. The ingestible device can determine the appropriate drive signal for each propulsion component based on the desired location and / or characteristics of the in vivo environment, such as viscosity, flow rate, temperature, etc. Once the ingestible device has reached the desired position, it can automatically maintain its position until a predetermined time interval expires or until a command to move to a new position is received from the controller.

[0115] The ingestible device can then respond to the second input to drive at least one thruster (step 1106). In some embodiments, the thruster is driven entirely based on the second input. For example, if the second input represents a command to move forward, the thruster can be driven to achieve forward movement.

[0116] For embodiments of ingestible devices powered by onboard batteries, it is generally desirable to minimize battery discharge before the ingestible device is ready for use in order to maximize available power during operation. To avoid battery depletion during transport and storage prior to deployment, the ingestible device can enter a low-power inactive state, in which current drawn from the battery is minimized or the battery is disconnected from other components (e.g., using mechanical switches, transistors such as MOSFETs, or other means). To leave this state, the ingestible device can be activated by a sensor.

[0117] Some embodiments of the ingestible device employ a photoelectric sensor that is activated upon detection of light. The photoelectric sensor can be configured to generate a reading indicating the currently detectable level of visible, infrared, or ultraviolet light. In these embodiments, the ingestible device can be transported and stored in substantially opaque packaging to prevent accidental or premature activation of the photoelectric sensor. When the packaging is opened, the photoelectric sensor is exposed to light, and the ingestible device can be activated. Other embodiments of the ingestible device employ a low-power magnetic sensor that is activated when the ingestible device is exposed to a magnetic field. Alternatively, the ingestible device may include a low-power magnetic sensor that is activated when the ingestible device is not exposed to a magnetic field. For example, a magnet may be included in the packaging, such that the ingestible device is constantly exposed to the magnetic field during transport and storage. This embodiment has several advantages. First, the risk of premature activation is minimal, as the packaging may accompany the ingestible device until it is about to be opened. Second, the individual responsible for opening the ingestible device does not need to introduce an activation signal, such as a magnetic field. Other embodiments of the ingestible device may use a reed relay as a mechanical power switch to activate the ingestible device upon exposure to a magnetic field. In embodiments where the ingestible device is activated by exposure to a magnetic field, a single-use or multi-use magnetic fixation device can be used to facilitate activation by maintaining the magnet in the correct orientation relative to the ingestible device. Other embodiments of the ingestible device may be activated by a mechanical element (e.g., a switch or button) that is sealed to prevent fluid ingress but positioned along the outer surface of the housing for accessibility.

[0118] As described above, the ingestible device can have built-in features, such as sensors and software, for performing self-diagnostic tests. Using these built-in features, the health and performance functions of the ingestible device can be tested periodically. These built-in features also help in debugging and exploring new operating mechanisms. Examples of self-diagnostic tests include checksum errors, software version, battery voltage, power consumption of each motor, testing of other major components, etc. Alternatively or additionally, the camera can be commanded to generate test images (e.g., test images of the package) to be transmitted to a destination (e.g., a controller), where the test images can be compared with a anticipated reference image. Successful transmission of test images requires the ingestible device to be functioning correctly. If no test image is received or the test image is incorrect, it may indicate a defect (e.g., in the ingestible device, communication channel, etc.), which may generate an alarm indicating that the ingestible device should not be deployed.

[0119] Manipulating structures in living organisms

[0120] When an ingestible device is located in a living organism, the ability to manipulate the surrounding environment can be useful. For example, when moving through a living organism, an ingestible device can generate images of structures worthy of further examination. This structure could be tissue, or it could be a foreign object of unknown origin. In such cases, the operator of the ingestible device may wish to perform advanced diagnostics beyond simply analyzing images of the structure. Such diagnostics can be performed if the ingestible device includes one or more interventional tools (also referred to as “interventional components” or “interventional mechanisms”), as discussed further below.

[0121] For simplicity, an ingestible device may be described as having a single interventional component. However, an ingestible device such as those described herein may include multiple interventional components capable of manipulating structures in a living organism in different ways. For example, an ingestible device may include a biopsy attachment capable of collecting a sample and a cauterization mechanism capable of closing a wound to perform a biopsy. Therefore, unless otherwise stated, embodiments of an ingestible device may include any combination of the interventional components described herein.

[0122] Figure 12 This is a high-level illustration of communication between an ingestible device 1200 having interventional components for manipulating the surrounding environment and a controller 1250 through which the interventional components can be controlled. Steps 1201-1203 can be related to... Figure 9 Steps 901-903 are the same or substantially similar. However, in this case, the controller 1250 sends a second input indicating the request of the actuating structure to the ingestible device 1200 (step 1204).

[0123] Once the second input is received, the ingestible device 1200 can manipulate the structure with the interventional component (step 1205). In some embodiments, the interventional component is arranged along the outer surface of the ingestible device 1200 (e.g., within a recess in the capsule), thus allowing it to simply extend toward the structure. In other embodiments, the interventional component is arranged in a cavity within the ingestible device 1200. In such embodiments, the interventional component can extend toward the structure through a hole in the capsule. An operator can control the interventional component via the controller 1250. Therefore, the ingestible device 1200 can control the interventional component based on input provided by the operator through the controller 1250. For example, the operator can be allowed to control the interventional component via a control mechanism, such as a joystick, connected to the controller 1250.

[0124] In some embodiments, the ingestible device 1200 causes a camera to generate a second image of the structure while the interventional component manipulates the structure (step 1206), and then transmits the second image to the controller 1250 for operator review (step 1207). The operator may be a medical professional responsible for managing the ingestible device 1200, such as a general practitioner, nurse, or specialist (e.g., a surgeon or gastroenterologist). By comparing the first and second images, the operator can determine whether the structure has been successfully manipulated. In some embodiments, the second image is part of a series of images that are streamed to the controller 1250 in real time while the interventional component is in use. For example, the ingestible device 1200 may stream a series of images to the controller 1250 throughout the process, allowing the operator to determine how the interventional component was controlled, whether the process was successful, whether the ingestible device 1200 should be repositioned, etc.

[0125] Subsequently, controller 1250 may send a third input indicating that the intervention component has successfully manipulated the structure (step 1208). The operator may submit confirmation via the controller or some other electronic device. In some embodiments, the confirmation is explicit. For example, the operator may specify that the structure has been successfully manipulated by interacting with digital elements shown on a display communicatively coupled to controller 1250. In other embodiments, the confirmation is implicit. For example, the operator may request that the intervention component be moved to a new position, indicating that the structure has been successfully manipulated.

[0126] Alternatively, confirmation can be generated by sensors that monitor whether the interventional component has successfully manipulated the structure. For example, the ingestion device 1200 may include a biopsy attachment for collecting samples, as discussed further below. In such an embodiment, the ingestion device 1200 may include sensors (e.g., acoustic or optical sensors) that determine whether the biopsy attachment includes a sample based on reflected energy. As another example, the biopsy attachment may include a pressure sensor arranged such that sample collection will apply pressure to the pressure sensor.

[0127] Figure 13 This is a perspective view of an ingestible device 1300 having multiple interventional components 1304a-d located proximally at the capsule 1302. Figure 13 In this embodiment, the ingestible device 1300 includes four interventional components spaced circumferentially around the capsule 1302. However, other embodiments may include more than four interventional components or fewer than four interventional components. For example, the ingestible device may include a pair of interventional components located on opposite sides of the capsule 1302.

[0128] The multiple interventional components 1304a-d can represent tools that are complementary to each other. Therefore, each of the multiple interventional components 1304a-d is capable of manipulating the environment surrounding the ingestible device 1300 in a different manner. However, this is not necessarily the case. For example, the ingestible device may include a pair of interventional components configured for grasping (e.g., on opposite sides of capsule 1302) and another interventional component configured for sampling, cutting, cauterizing, etc.

[0129] exist Figure 13 In this embodiment, the ingestible device 1300 includes a biopsy unit 1304a, a delivery unit 1304d capable of conveying material stored therein, and a pair of grasping units 1304b-c. The biopsy unit (also referred to as a "biopsy accessory" or "biopsy tool") can be used to obtain samples from a living organism to determine the presence, cause, or extent of a disease. The delivery unit (also referred to as a "delivery tool") may have material stored therein, such as a drug, cauterizing agent, radiation enhancer, or ink. The term "drug" as used herein can refer to any substance that can be used for treatment, regardless of its form. Examples of drugs include therapeutic drugs, pharmaceuticals, and natural and biorecognition hormones. Meanwhile, the grasping units (also referred to as "grasping tools") can be used to grasp structures in a living organism. Figure 13 In this case, the grasping mechanism includes a manipulator arm 1304b and a polyp removal tool 1304c.

[0130] The capture device 1300 may include a camera 1306 capable of capturing images of the surrounding environment before, during, or after the manipulation of the intervention components 1304a-d. Figure 13 As shown, the plurality of interventional components 1304a-d can be radially spaced around the camera 1306 in a uniform manner. Alternatively, the plurality of interventional components 1304a-d can be radially spaced around the camera 1306 in a non-uniform manner. For example, a pair of interventional components can be positioned close to each other along one side of the capsule 1302, while another interventional component can be positioned along the other side of the capsule 1302. As another example, a first pair of interventional components can be positioned close to each other along one side of the capsule 1302, while a second pair of interventional components can be positioned close to each other along the other side of the capsule 1302.

[0131] As described above, the capture device 1300 may include a light source that emits electromagnetic radiation into the surrounding environment. These light sources may be arranged around the camera 1306 to provide consistent illumination of the surrounding environment. Figure 13 In the middle, multiple illumination sources 1308a-d are radially spaced around the camera in a uniform manner, although the multiple illumination sources 1308a-d are offset from the multiple intervention components 1304a-d.

[0132] Interventional components can be installed in the ingestible device in a variety of different ways. Figure 14-15Two different methods for installing interventional components within a capsule are shown.

[0133] Figure 14 The diagram illustrates how each interventional component in the ingestible device 1400 can be mounted on a separate disc contained within the capsule 1402. Each disc may include mechanisms required to drive or actuate the corresponding interventional component. For example, each disc may include a dedicated controller communicatively coupled to a processor of the ingestible device 1400, from which operating instructions are received. Alternatively or alternatively, each disc may include a driver, an electric motor, etc. In other embodiments, these discs include microelectromechanical systems (MEMS) devices for operating the corresponding interventional component, and may therefore be referred to as "MEMS discs".

[0134] As described above, when in the retracted state, the interventional component can be completely housed within the capsule 1402. However, when in the extended state, the interventional component can be at least partially located outside the capsule 1402. Figure 14 Includes end view, side view and perspective view of the ingestible device 1400, wherein all interventional components 1404a-c are in an extended state.

[0135] Typically, discs 1406a-c are arranged in a longitudinally stacked configuration and secured within capsule 1402. Each disc may have a longitudinally oriented tube 1408a-c extending towards the proximal or distal end of the access device 1400 through which interventional components can be delivered. To accommodate these tubes 1408a-c, at least some discs 1406a-c may include a gap feature through which the tubes of the underlying disc can pass. For example, in Figure 14 In the arrangement, the bottom MEMS disk 1406a has a zero-gap feature, the top MEMS disk 1406c has two gap features, and the middle MEMS disk 1406b has one gap feature. One example of a gap feature is a notch along the disk perimeter, while another example is a hole in the disk. These gap features allow disks 1406a-c to be stacked in a volumetrically efficient and modular arrangement. This approach allows for the easy development and integration of new intervention components without completely redesigning the architecture of the ingestible device 1400.

[0136] Figure 15 Includes perspective and end views of radially arranged compartments 1502a-c, which contain the drive mechanisms required for corresponding intervention components 1504a-c. Figure 15As shown, each intervention component can advance linearly between a retracted state and an extended state. The radially arranged 1500 chambers 1502a-c can occupy the entire 360-degree scan within the capsule. Alternatively, there may be interruptions between these chambers of other components. For example, chambers 1502a-c can be designed such that when connected together, a channel for cables (e.g., for cameras and lighting sources) is formed at the geometric center of the radial arrangement 1500. As another example, chambers 1502a-c can be designed such that when connected together, a cable channel is formed between each pair of chambers.

[0137] In some embodiments, the available radial space is divided into approximately equal regions to ensure modularity of the design. In such embodiments, the intervention components may be designed with a standard radial width to ensure that occupying these compartments is possible. Similar to Figure 14 The method shown, Figure 15 The method shown allows for the easy development and integration of new interventional components without completely altering the architecture of the ingestible device.

[0138] Figure 16 Includes a perspective view of an ingestible device 1600 with a biopsy mechanism 1602 capable of removing a sample from a structure in a living organism and then storing the sample for further analysis. For example, the biopsy mechanism 1602 can retain the sample so that it can be removed for further analysis after the ingestible device 1600 is no longer located inside the living organism. The sample can be taken from an anatomical structure or from a foreign body. Upon approaching the structure, the ingestible device 1600 can extend the biopsy mechanism 1602 from the capsule 1606 toward the structure. For example, the ingestible device 1600 can extend the biopsy mechanism 1602 through a hole 1604 in the capsule 1606, such as... Figure 16 As shown.

[0139] In some embodiments, the biopsy device 1602 includes a hollow structural body with a tapered tip at its distal end, as shown. The hollow structural body may include stainless steel, titanium alloy, or another rigid biocompatible material. When the tapered tip of the hollow structural body is inserted into the structure, a portion of the structure can enter the hollow structural body through a lateral opening 1608. This type of biopsy device may be referred to as an "insertion element." The ingestible device 1600 can then receive confirmation input indicating that the biopsy attachment 1602 has successfully collected a sample. In some embodiments, confirmation is generated by a sensor configured to monitor whether the biopsy attachment includes a sample, while in other embodiments, confirmation is submitted by an operator via the ingestible device 1600 through a controller controlled by the operator. For example, based on analysis of images generated by the ingestible device 1600, the operator may provide confirmation when it is determined that the biopsy device 1602 has penetrated to a sufficient depth into the structure. Upon receiving input, the ingestible device 1600 may retract the biopsy device 1602 from the structure through a hole 1604 in the capsule 1606, while the sample is contained in the lateral opening 1608.

[0140] In other embodiments, the biopsy device 1602 includes a needle comprising a hollow structural body having a sharp tip at its distal end. In such an embodiment, the extractable device 1600 can extend the needle toward the structure such that the sharp tip enters the structure, and then retract such that the sharp tip is withdrawn from the structure. The hollow structural body may include one or more barbs along its inner surface to facilitate sample fixation. For example, a ring-shaped arrangement of barbs may be circumferentially spaced around the inner surface of the hollow structural body. While these barbs may be passive structural elements, each barb may be oriented such that movement of the sample in one direction is inhibited or restricted. For example, the barbs may be oriented to allow easy entry of the sample into the hollow structural body but prevent removal of the sample from the hollow structural body (e.g., when the sharp tip of the needle is withdrawn from the sample-acquiring structure).

[0141] The ingestible device 1600 may include a barrier configured to inhibit the biopsy unit 1602 from being exposed to the surrounding environment by restricting entry through the orifice 1604 in the capsule 1606. In other words, the barrier can prevent fluid from entering the capsule 1606 by blocking the orifice 1604.

[0142] In some embodiments, the barrier comprises a rigid material, such as a polymer or metal. In its initial position, the barrier can completely block the orifice 1604 to prevent fluid from entering (and flowing out of the biopsy attachment 1602). The deployment mechanism can be configured to move the barrier before the biopsy attachment 1602 extends through the orifice 1604. The deployment mechanism can be moved by solenoid action, rack and pinion action (e.g., an electric motor with corresponding gears), spring loading, pneumatic loading, hydraulic loading, etc. Typically, the deployment mechanism moves the barrier so that the orifice 1604 is fully open and accessible; however, the deployment mechanism can move the barrier so that a portion of the orifice 1604 remains closed.

[0143] In other embodiments, the barrier comprises an elastomer, such as an unsaturated rubber (e.g., isoprene rubber) or a saturated rubber (e.g., silicone rubber). In such embodiments, the deployment mechanism can move the biopsy device 1602 to an extended position without moving the barrier, thereby allowing the barrier to be punctured by the biopsy device 1602. Alternatively, the barrier may include an opening (e.g., a slit) through which the deployment mechanism can move the biopsy device 1602 without damaging the barrier. An elastomer-based barrier may be ideal in some cases because longitudinal movement of the biopsy device 1602 is possible while still maintaining some sealing action against the fluid.

[0144] As discussed further below, other interventional components may be present to facilitate sample collection. For example, embodiments of the ingestible device 1600 may include a drill bit with a high rake angle (e.g., for peeling off samples), a gripping mechanism, or a cutting mechanism with sharp edges to aid in removing samples from the structure. As another example, the ingestible device may include a brush with bristles (e.g., with microbarbs) that can scrape across the surface of the structure to obtain a sample. For example, the brush may make rotational or linear movements to scrape cells from the tissue of interest.

[0145] Figure 17 The diagram illustrates how an ingestible device can include one or more storage chambers 1702 from which a sample can be sealed. As described above, the ingestible device can include an interventional component 1704 capable of obtaining a sample from a structure in a living organism. For example, the ingestible device can include a needle with a sharp tip that can be inserted into the structure from which the sample is to be extracted, or the ingestible device can include an insertable element (e.g., on a screw jack) that can be inserted into the structure from which the sample is to be extracted. Figure 17 In the middle, the intervention component 1704 is similar to Figure 16 The biopsy apparatus uses an insertable element; however, those skilled in the art will recognize that the ingestible device can employ various types of interventional components to collect samples. Regardless of its form, the interventional component can retract into the capsule along with the sample.

[0146] The collection mechanism can be configured to remove samples from the intervention component 1704 for storage in one of the storage chambers. For example, a vacuum element can pull the sample into one of the storage chambers, or a mechanical element can push or place the sample into one of the storage chambers. This method allows for the acquisition of multiple samples, which are then isolated from each other and from the surrounding environment as the ingestible device passes through the living body.

[0147] like Figure 17 As shown, the ingestible device may include a radially arranged storage chamber 1702 that is rotatable during sample collection by the interventional component. For example, after the sample has been removed from the interventional component 1704 and stored in one of the storage chambers 1702, the radial arrangement can be rotated so that the sample collected by the interventional component 1704 can be stored in the other storage chamber. The ingestible device may be designed such that the capsule can be opened (e.g., with a special tool) and the sample in the storage chamber 1702 can be removed after the ingestible device has left the living body.

[0148] Other embodiments of the ingestible device include radially arranged storage chambers, each associated with a corresponding intervention component. In such embodiments, samples collected by each intervention component can be stored in its own storage chamber to minimize the possibility of cross-contamination. As described above, these intervention components can be individually controlled by dedicated drive mechanisms, or they can be rotated by a single drive mechanism during sample collection, and the ingestible device is cyclical to prepare for collecting the next sample.

[0149] Figure 18A This is a perspective view of an extractable device 1800 having an interventional component 1802 capable of removing polyps 1804 protruding from tissue. This interventional component may be referred to as a "polyp removal mechanism," "polyp removal instrument," or "polyp removal tool." Figure 18A As shown, the intervention component 1802 may include a loop 1806, which can be placed around the polyp 1804 like a lasso and then pulled closed to cut the polyp 1804 from the tissue at its base. The polyp 1804 can be carried into the capsule 1808 for transporting the living organism.

[0150] Other interventional components may facilitate line-based sample removal. For example, polyp 1804 can be targeted with energy by another interventional component (e.g., targeting the ablation element of polyp 1804 with RF waves, microwaves, etc.). As another example, polyp 1804 can be cut off by a cutting mechanism (also referred to as a "cutting tool"). As yet another example, the ingestible device 1800 may include a gripping mechanism (e.g., a manipulator arm) capable of manipulating and / or probing polyp 1804.

[0151] Other embodiments may include a rotary cutting feature for removing material that does not substantially protrude from surrounding tissue. An example of a rotary cutting feature is a rotatable cutting element comprising a shaft with cutting grooves. The rotary cutting feature may feature a cutting surface with a high rake angle to facilitate the stripping of the cut material. The rear angle behind the cutting surface can be used to reduce friction and improve cutting efficiency. The cut material may be retained or retracted into a capsule for further in vitro studies, or the cut material may simply leave the organism through natural peristalsis.

[0152] Figure 18B This is a perspective view of another removable device 1850 having an interventional component 1852 capable of removing polyps 1854. Like Figure 18A Similar to intervention component 1802, intervention component 1852 may include a loop 1856 that can be deployed from and pulled into the hollow structural body 1858. In some embodiments, the hollow structural body 1858 extends into the surrounding environment via capsule 1860 and is then held while the polyp 1854 is being removed. In other embodiments, the hollow structural body 1858 extends into the surrounding environment via capsule 1860 and then retracts into capsule 1860 in a single movement. Both methods allow for the acquisition of multiple samples (e.g., samples of one or different structures) as the ingestible pellet 1850 passes through a living organism. Actuation of intervention component 1852 may be achieved using MEMS devices, mechanical springs, electric motors, solenoids, etc.

[0153] like Figure 18B As shown, loop 1856 can be unfolded to remove at least a portion of polyp 1854 by a shearing action when loop 1856 is pulled close to form a channel. Loop 1856 may comprise braided stainless steel, links of a MEMS device with cutting and / or shearing elements, monofilament polymers, braided polymers, or another flexible material with high tensile strength. For example, links of a MEMS device may be required if high linear force is useful for retraction.

[0154] Figure 19 This is a perspective view of an ingestible device 1900 having an intervention component 1902, which has one or more sharp edges for cutting. This intervention component may be referred to as a "cutting mechanism" or a "cutting tool." Figure 19 In this design, the intervention component 1902 is a rotational excision feature, which includes a shaft 1904 having a cutting groove 1906 for obtaining a sample. In addition to a high radial rear angle, the cutting groove 1906 may have a high radial front angle to facilitate cutting and / or stripping of the sample from its original position. The drive mechanism responsible for rotating the shaft 1904 may be located inside the capsule 1908.

[0155] The sample can be delivered into capsule 1908 via an Archimedes screw. Alternatively, the ingestion device 1900 may include another intervention component configured to capture the sample once separated by the cutting groove 1906. For example, the ingestion device 1900 may include a gripping mechanism capable of grasping the sample or a mechanical claw capable of encapsulating the sample. In some embodiments, the sample delivered into capsule 1908 may be further impregnated. For example, material (e.g., tissue) captured within the cutting groove 1906 may be provided to a shearing element located within capsule 1908.

[0156] As described above, the intervention component 1902 can be exposed to the surrounding environment by advancing it through an opening in the capsule 1908, which is initially blocked by a rigid barrier, or by advancing it through a flexible barrier that defines an opening therein. Alternatively, the intervention component 1902 can be exposed to the surrounding environment by advancing it through a hemispherical shell comprising a shape memory alloy and used to encapsulate the sample after the cutting action.

[0157] Figure 20 This includes four examples of interventional components 2000, 2010, 2020, and 2030 capable of grasping structures in a living organism. Such interventional components may be referred to as "grasping mechanisms," "grasping devices," or "grasping tools."

[0158] The first intervention component 2000 includes a pair of mechanical claws 2002 connected to a structural body 2004, which can slide within a hollow structural body 2006. The pair of mechanical claws 2002 can open naturally when extended away from the opening of the hollow structural body 2006. However, when the pair of mechanical claws 2002 are pulled into the opening of the hollow structural body 2006, the pair of mechanical claws 2002 can close (e.g., due to pressure applied by the edge of the hollow structural body 2006).

[0159] The second intervention component 2010 includes a pair of mechanical grippers 2012, which can be actuated by moving a throat member 2014 connected to a support arm 2016 along the structural body 2018. As the throat member 2014 moves away from the pair of mechanical grippers 2012 along the structural body 2018, tension is applied to the support arm 2016, causing the support arm 2016 to pull the pair of mechanical grippers 2012 into an open state. As the throat member 2014 moves upward along the structural body 2018, the support arm 2016 bends, thereby removing the tension. Removing the tension allows the pair of mechanical grippers 2012 to return to a closed state.

[0160] In some embodiments, both grippers are actuable. Therefore, each gripper is capable of moving between a first position (also referred to as the "open position") and a second position (also referred to as the "closed position"). However, in other embodiments, only one gripper is actuable. In such embodiments, one gripper will remain in the closed position while the other gripper moves between the open and closed positions. The third intervention component 2020 includes a pair of grippers 2022, although only one gripper is actuable between the open and closed states.

[0161] Some gripping mechanisms are designed to simply grasp structures in a living organism. The fourth intervention component 2030 is an example of such a gripping mechanism. Specifically, the fourth intervention component 2030 includes a pair of mechanical claws 2032, which may be referred to as “rat claws” or “crocodile claws.” Other gripping mechanisms are designed to cut structures in a living organism. For example, at least one of the pair of mechanical claws may have sharp edges for cutting. These mechanical claws (also called “cutting claws” or “shearing claws”) can close around the structure to shear it off, or these claws can continuously “bite” until sufficient material is removed from the structure. The material from a single “bite” can be brought back into the ingestible device (e.g., and stored in a storage compartment, as referenced). Figure 17 (Discussion) This is used for further analysis in vitro. Sharp edges may help ensure that samples are obtained without applying significant torque to the structures from which they are extracted.

[0162] A pair of mechanical grippers can be designed to be structurally complementary, enabling them to effectively capture and hold samples. For example, as... Figure 20 As shown, some robotic grippers can have a generally linear profile, while others can have profiles resembling sawtooth waves, sine waves, square waves, etc. When a pair of grippers is in a closed position, a cavity can be formed in which the sample can be held. The cavity can be partially or completely closed by the pair of grippers. For example, a pair of grippers can be designed to isolate the sample from the surrounding fluid in order to minimize the possibility of contamination.

[0163] Figure 21 A side view of an ingestible device 2100 including one or more elastic bands 2102 fixed around its proximal end. These elastic bands 2102 can deploy around a structure (e.g., a polyp) to reduce or eliminate circulation, thereby eventually detaching. The elastic bands 2102 can initially be fixed around a conical portion 2106 of a capsule 2104. The conical portion 2106 may have a hollow core 2108 through which light can be collected for imaging by a camera 2110. Figure 21As shown, a pair of escapement arms 2112 can be configured to rotate to release the elastic band around the structure of interest, and then position the next elastic band in preparation for release. When the elastic band is released from the tapered portion 2106 of the capsule 2104, the remaining elastic bands may roll forward due to the tapering.

[0164] Figure 22 This is a perspective view of an extractable device 2200 including an interventional component 2202 with a blunt shape, which can be used to press on tissue to temporarily replace circulating blood. Figure 22 In this design, interventional component 2202 represents an extended nasal portion protruding from the proximal end of capsule 2204. Interventional component 2202 may extend partially or entirely around the camera. Therefore, interventional component 2202 may have an annular form completely surrounding the camera. The thickness of interventional component 2202 may be less than 0.5 mm, 1 mm, or 2 mm. Interventional component 2202 may comprise polycarbonate or another rigid biocompatible material.

[0165] Initially, the ingestible device 2200 can be aligned with the structure to be pressed. The structure can be, for example, the lining of the stomach or intestine (also referred to as "epithelium"). The ingestible device 2200 can then use a distally located thruster 2206 to push the interventional component 2202 into the structure. Thus, blunt pressure can be achieved using the propulsion system of the ingestible device 2200. Alternatively, blunt pressure can be achieved by the mechanical deployment of the interventional component 2202 relative to the capsule 2204. For example, the interventional component 2202 can be mechanically actuated between a retracted state and an extended state to apply pressure to the structure. Mechanical deployment can be accomplished by solenoid action, rack and pinion action (e.g., an electric motor with corresponding gears), spring loading, pneumatic loading, hydraulic loading, etc.

[0166] Multivascularity and / or health can be inferred based on the rate at which blood is replaced when the interventional component 2202 is removed from the structure. For example, cancerous lesions tend to have higher rates of multivascularity and blood reperfusion. Therefore, the ingestible device 2200 can enable a camera to capture a series of images immediately after the interventional component 2202 has been removed from the structure, and then transmit the series of images to a receiver (e.g., in a controller) for further analysis.

[0167] Figure 23 Includes perspective, side, and end views of an intake device 2300 having multiple anchoring members 2302 for stabilization. Figure 23In this embodiment, the ingestible device 2300 includes four anchoring members 2302 circumferentially spaced around the capsule 2304 at a uniform spacing. Other embodiments of the ingestible device 2300 may include more or fewer than four anchoring members 2302. Although the anchoring members 2302 are shown extending from the proximal end of the capsule 2304 toward the distal end of the capsule 2304, the anchoring members 2302 may be anchored along any portion of the capsule.

[0168] The anchoring member 2302 can be in the form of a loop or a line. In embodiments where the anchoring member 2302 is a line, the ends of each line can be blunted. For example, heat can be continuously applied to the ends of each line using a laser welding machine to form a spherical element with a cross-sectional area significantly larger than that of the line. This method ensures that the anchoring member 2302 can engage tissue in a non-invasive manner.

[0169] Anchor member 2302 can engage tissue to mechanically lock the take-up device 2300 in place. This method can be used to perform detailed diagnostics, provide adhesion for interventional components that must push against target anatomical structures with a force greater than that provided by the propulsion system, or eliminate the power consumption associated with hovering commands. Therefore, anchor member 2302 can be used to provide leverage (e.g., when obtaining samples with a biopsy apparatus) in place of or in addition to the propulsion system of the take-up device 2300. Anchor member 2302 can be actuated by shape memory alloys, rack and pinion extensions (e.g., driven by an electric motor and corresponding gears), or elastic loading elements that take on different shapes as they extend from the retention cavity, track, etc.

[0170] Figure 24A Side and end views of an ingestible device 2400 including a series of interventional components 2402 containing material stored therein. These interventional components 2402 can be used to deliver corresponding material to a target anatomical structure in a living organism and are therefore referred to as a “delivery mechanism” or “delivery tool.” One example of a delivery mechanism is a spring-loaded syringe loaded with material that can be injected into a structure. Another example of a delivery mechanism is a compartment loaded with material that can be released into the environment surrounding the ingestible device 2400.

[0171] Examples of materials include pharmaceuticals, causative agents, radiation enhancers, and inks. For example, the delivery mechanism may include therapeutic drugs, agents, natural hormones, or biorecognized hormones that can be released for therapeutic purposes. As another example, the delivery mechanism may include causative agents, such as silver nitrate, to reduce bleeding in wounds inside a living organism. As another example, the delivery mechanism may include radiation enhancers that are released to improve the contrast and / or quality of images captured during radiation-based imaging procedures. As yet another example, the delivery mechanism may include inks that can be used to permanently or temporarily mark locations within a living organism (e.g., as targets in subsequent processes).

[0172] The delivery mechanism can be pushed into the structure to inject the material stored therein. Figure 24B The diagram illustrates how an interventional component 2402, in which material 2406 is stored, can be actuated by a spring 2408. Other embodiments of the interventional component 2402 may be actuated by a MEMS device, a hydraulic system, a pneumatic system, or a chemical system. In some embodiments, the interventional component 2402 is configured to slide within a hollow structural body having a cavity exposed to the surrounding environment via a capsule 2404. In such embodiments, this can be achieved by referring to the above reference... Figures 7A-7B The process discussed involves sealing each tube to prevent fluid from flowing into capsule 2404. In other embodiments, the interventional component 2402 is configured to extend through a hole in capsule 2404. For example, each interventional component 2402 is capable of extending through a hole with a flexible barrier that prevents fluid from flowing into capsule 2404.

[0173] Figure 25 The image shows a perspective view of an access device 2500 including an interventional component 2502 capable of storing and subsequently deploying surgical staples 2504 (or simply "staples"). Staples can be used to close wounds caused by open bleeding, polyp removal, biopsies, etc. The staples can be closed by a high-torque, slow-motion mechanism 2508, such as a MEMS device, included in the interventional component 2502.

[0174] In some embodiments, the suture staple comprises a metallic alloy, while in other embodiments, the suture staple comprises a bioresorbable material (also referred to as a "bioresorbable material"). As used herein, the terms "bioresorbable material" and "bioresorbable material" refer to materials that, when placed in the living body, will begin to dissolve and be slowly replaced by tissue. Examples of bioresorbable materials include tricalcium phosphate and polylactic acid-polyglycolic acid copolymers. If the wound heals more quickly over time, then a bioresorbable material may be ideal, thus eliminating the need for suture staples.

[0175] exist Figure 25In this embodiment, the interventional component 2502 includes a suture cartridge 2506, the sutures being fed to a high-torque, slow-motion mechanism 2508 via a feeding mechanism 2510 (e.g., a feed rod). However, the wound can be closed in other ways. For example, embodiments of the ingestible device 2500 can utilize bioabsorbable adhesives (e.g., polyethylene glycol-based hydrogels) or biocompatible adhesives (e.g., polymethyl methacrylate (PMMA)). As another example, embodiments of the ingestible device 2500 can utilize bioabsorbable sutures or bioabsorbable stents.

[0176] Figure 26 This is a perspective view of an extractable device 2600 including an interventional component 2602 capable of cauterizing tissue within a living organism. This interventional component 2602 may be referred to as a "cauterization mechanism" or "cauterization instrument." Cauterization can be used to close wounds caused by open bleeding, polyp removal, biopsies, etc. Therefore, cauterization mechanisms are often accompanied by biopsy mechanisms, grasping mechanisms, etc. For example, in... Figure 26 In the process, the ingestion device 2600 includes a first intervention component 2602 capable of cauterizing tissue and a second intervention component 2604 capable of grasping tissue (and surrounding structures, if necessary).

[0177] In some embodiments, the interventional component 2602 includes a resistance heating element that applies heat to the tissue via conduction. In other embodiments, the interventional component 2602 includes an ablation element that applies heat by directly targeting the tissue with RF waves, microwaves, or the like. Thus, heat can be transferred to the tissue via conduction, convection, or radiation.

[0178] Instead of or except for reference Figure 13-26 Beyond those discussed, the ingestible device may include other interventional components. For example, the ingestible device may include a gripping element comprising a shaft with barbs along its distal end (e.g., along the surface of a spherical or conical element). In such embodiments, the ingestible device may extend the gripping element to penetrate the structure of interest. The ingestible device may then partially retract the interventional component, such that at least a portion of the structure is displaced as a sample. In some embodiments, the interventional component retracts into the ingestible device to allow subsequent analysis of the sample, while in other embodiments, the interventional component detaches from the ingestible device to release the sample into the living organism.

[0179] Communication environment

[0180] Figure 27An example of a communication environment 2700 is depicted, which includes an ingestible device 2702 communicatively coupled to a controller 2704. An operator can use the controller 2704 to control the ingestible device 2702. Furthermore, the ingestible device 2702 can be configured to transmit data (e.g., image data or biometric data) to one or more electronic devices. Examples of electronic devices include a monitor 2706, a computer server 2708, and a mobile phone 2710. The ingestible device 2702, the controller 2704, and the electronic devices can be collectively referred to as "networked devices".

[0181] In some embodiments, networked devices connect to each other via peer-to-peer wireless connections, such as Figure 27 As shown. For example, the ingestible device 2702 can be accessed via Bluetooth. Near Field Communication (NFC) Direct (also known as "Wi-Fi P2P") Another commercial or proprietary peer-to-peer protocol is communicatively coupled to controller 2704. In other embodiments, networked devices are interconnected via a network such as a Personal Area Network (PAN), Local Area Network (LAN), Wide Area Network (WAN), Metropolitan Area Network (MAN), cellular network, or the Internet. For example, the ingestible device 2702 may be connected via a separate... The communication channel is communicatively coupled to monitor 2706 and computer server 2708.

[0182] The connection established between networked devices can be bidirectional or unidirectional. For example, controller 2704 may be allowed to transmit data to ingestible device 2702, even if ingestible device 2702 may be unable to transmit data to controller 2704. Similarly, ingestible device 2702 may be allowed to transmit data to electronic device, even if electronic device may be unable to transmit data to ingestible device 2702.

[0183] Embodiments of the communication environment 2700 may include some or all of the networked devices. For example, some embodiments of the communication environment 2700 include an ingestible device 2702 and a single device (e.g., a mobile phone, tablet, or mobile workstation) that serves as a controller and an electronic device on which image data is viewed. As another example, some embodiments of the communication environment 2700 include an ingestible device 2702 and a computer server 2708 on which image data is stored for later viewing. In such embodiments, because the image data will be viewed at a later point in time, the communication environment 2700 does not need to include a controller 2704. As another example, some embodiments of the communication environment 2700 include a dedicated input device without display capabilities that serves as a controller 2704 and an electronic device, such as a tablet or mobile phone, on which image data is viewed. In such embodiments, the dedicated input device may be communicatively coupled to the ingestible device and / or the electronic device.

[0184] Because the ingestible device 2702 can operate within the body, close proximity to fluids, tissues, etc., can affect the electromagnetic operating characteristics of the antenna. To address this, the antenna can be designed and / or selected to minimize the influence of nearby materials with a relative permittivity significantly different from that of free space. As an example, one embodiment may use a small loop antenna with one or more loops, which primarily interacts with the magnetic field components in the near field and is therefore less affected by the proximity of high-dielectric materials. Alternatively, the antenna can be designed and / or selected to compensate for the influence of fluids within the living body. As an example, embodiments may use straight, bent, curved, or zigzag antennas (e.g., monopole antennas) where the effective electrical antenna length is between one-eighth and one-third of the transceiver's operating wavelength when the ingestible device 2702 is surrounded by fluid or a living dissection. For example, one embodiment may use a monopole or "whip" antenna that is significantly shorter than a quarter wavelength of free space. While such an antenna would not be optimally tuned in air, proximity to high-dielectric materials may cause the antenna to behave electrically as if it were significantly longer and properly tuned to the frequency of interest. This method also has the advantage of allowing the use of antennas that are much smaller than those optimal for operation in dry air. The mechanical structure of the antenna can be designed to fit the housing of the capture device 2702.

[0185] The antenna and transceiver circuitry can be designed so that a single antenna is used for both transmitting and receiving data. Alternatively, multiple antennas can be used. For example, different antennas may provide superior performance under certain directional or fluid conditions, and the performance of each antenna can be monitored during operation to select the antenna with the highest performance at any given time. In embodiments using wireless power transmission, the ingestible device 2702 can be configured to use a single antenna for both power and data transmission, eliminating the need for additional antennas. Alternatively, different antennas or electromagnetic coupling structures can be used for power and data transmission, allowing each to be optimized for its respective task.

[0186] To allow multiple ingestible devices to operate in close proximity (e.g., multiple patients receiving treatment in the same room or building), pairing features can be used to establish the communication channels discussed above. Pairing features can be used to ensure that each ingestible device communicates with a single controller. To achieve this, a unique identifier can be assigned to each ingestible device during manufacturing. When an ingestible device establishes a communication channel, it can send its identifier to determine whether the communication channel is established with the appropriate controller. Alternatively, the ingestible device can attach the identifier (or a shortened / modified identifier) ​​as a tag to data packets to specify the appropriate controller. Thus, each controller can assume that data packets without the correct identifier will be received by the other controller and therefore ignored. As part of this process, the ingestible device and its corresponding controller can optionally switch to different communication channels or frequencies to avoid having to share time and bandwidth with other paired ingestible devices and controllers. The ingestible device and its corresponding controller can optionally change the communication frequency as needed during operation to avoid competing with interfering devices; this strategy is known as "frequency hopping."

[0187] Processing system

[0188] Figure 28 This is a block diagram illustrating an example of a processing system 2800, in which at least some of the operations described herein can be implemented. Components of the processing system 2800 may be hosted in an ingestible device (e.g., Figure 1 On the ingestible device 100.

[0189] Processing system 2800 may include a central processing unit (“processor”) 2802 communicatively connected to bus 2816, main memory 2806, non-volatile memory 2810, wireless transceiver 2812, input / output device 2818, control device 2820, drive unit 2822 including storage medium 2824, and signal generation device 2828. Bus 2816 is shown as an abstraction, representing one or more physical buses and / or point-to-point connections connected by appropriate bridges, adapters, or controllers. Therefore, bus 2816 may include a system bus, peripheral component interconnect (PCI) bus, PCI-Express bus, HyperTransport bus, Industry Standard Architecture (ISA) bus, Small Computer System Interface (SCSI) bus, Universal Serial Bus (USB), Inter-Integrated Circuit (ICI) bus, etc. 2 C) Bus or bus conforming to IEEE Standard 2894.

[0190] Processing system 2800 may share a computer processor architecture similar to that of: desktop computers, tablets, mobile phones, video game consoles, wearable electronic devices (such as watches or fitness trackers), network-connected (“smart”) devices (such as televisions or home assistant devices), augmented or virtual reality systems (such as head-mounted displays), or another electronic device capable of executing a set of instructions (sequential or otherwise) that specify the actions to be taken by processing system 2800.

[0191] Although main memory 2806, non-volatile memory 2810, and storage medium 2824 are shown as a single medium, the terms "storage medium" and "machine-readable medium" should be understood to include a single medium or multiple media storing one or more sets of instructions 2826. The terms "storage medium" and "machine-readable medium" should also be understood to include any medium capable of storing, encoding, or carrying a set of instructions for execution by processing system 2800.

[0192] Generally, routines executed to implement embodiments of the present disclosure can be implemented as part of an operating system or a particular application, component, program, object, module, or sequence of instructions (collectively, a "computer program"). A computer program typically includes instructions (e.g., instructions 2804, 2808, 2826) located at different times in different memories and storage devices within an electronic device. When read and executed by processor 2802, the instructions cause processing system 2800 to operate to perform various aspects of the present disclosure.

[0193] Although embodiments have been described in the context of a fully functional electronic device, those skilled in the art will understand that various embodiments can be distributed as a program product in various forms. This disclosure applies regardless of the specific type of machine or computer-readable medium used to actually cause the distribution. Other examples of machine and computer-readable media include recordable media such as volatile and non-volatile storage devices 2810, removable disks, hard disks, optical disks (e.g., optical disc read-only memories (CD-ROMs) and digital versatile disks (DVDs)), cloud-based storage, and transmission-type media such as digital and analog communication links.

[0194] The wireless transceiver 2812 enables the processing system 2800 to transmit data with entities outside the processing system 2800 within the network 2814 via any wireless communication protocol supported by the processing system 2800 and the external entity. The wireless transceiver 2812 may include, for example, an integrated circuit (e.g., capable of communicating via Bluetooth or Wi-Fi), a network adapter card, or a wireless network interface card.

[0195] The techniques described herein can be implemented using software, firmware, hardware, or a combination of these forms. For example, aspects of this disclosure can be implemented using dedicated hardwired (i.e., non-programmable) circuitry, such as application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), etc.

[0196] Comment

[0197] For illustrative purposes, the foregoing description of various embodiments has been provided. It is not intended to be exhaustive or to limit the claimed subject matter to the precise forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to best illustrate the principles of the invention and its practical application, thereby enabling those skilled in the art to understand the claimed subject matter, the various embodiments, and the various modifications suited to the particular intended use.

[0198] Although the detailed description illustrates various embodiments, the technology can be practiced in many ways, no matter how detailed the description may appear. Embodiments can vary considerably in their implementation details, yet are still contained within the specification. Specific terms used in describing certain features or aspects of the various embodiments should not be construed as implying that such terms are hereby redefined as limited to any particular feature, characteristic, or aspect of the technology associated with that term. In general, unless expressly defined herein, the terms used in the following claims should not be construed as limiting the technology to the specific embodiments disclosed in the specification. Therefore, the actual scope of the technology includes not only the disclosed embodiments but also all equivalent ways of practicing or implementing those embodiments.

[0199] The language used in this specification has been chosen primarily for readability and instruction purposes. It may not have been chosen to depict or limit the subject matter. Therefore, the scope of this technology is not defined by this detailed description, but rather by any claims published in the application based thereon. Thus, the disclosure of various embodiments is intended to illustrate, and not limit, the scope of the technology as set forth in the following claims.

Claims

1. An apparatus comprising: Capsule, the capsule (i) Having a central axis extending through a cylindrical body, the cylindrical body being interconnected between a first end and a second end. (ii) Having a plurality of channels defined through the capsule, the plurality of channels being fluidly isolated from each other, such that each channel provides an independent path for fluid flow through the capsule, wherein each of the plurality of channels has an inlet located in the cylindrical body and an outlet located in the first end, and (iii) Including biocompatible materials suitable for ingestion in living organisms; The intervention tool is configured as follows: (i) Extending through a hole located near the second end of the capsule to collect a first biopsy sample from a structure in the living organism. Specifically, upon collection of the first biopsy sample, pressure is applied to the pressure sensor of the interventional tool; and (ii) In response to the pressure applied to the pressure sensor indicating that the first biopsy sample has been collected, the sample retracts into the capsule through the orifice; Multiple storage compartments, in which corresponding biopsy samples collected by the interventional tool are stored. Each of the plurality of storage compartments includes a vacuum element for removing the respective plurality of biopsy samples from the interventional tool; A rotatable platform, wherein the plurality of storage compartments are radially distributed around the rotatable platform. When the interventional tool retracts into the capsule through the orifice, the interventional tool is positioned such that the first biopsy sample is located in the first storage compartment among the plurality of storage compartments, and The rotatable platform is configured to use the vacuum element to radially rotate the plurality of storage chambers when the first biopsy sample is stored in the first storage chamber, such that a second storage chamber among the plurality of storage chambers can be used to receive a second biopsy sample collected by the interventional tool. A sensor configured to generate image data based on energy reflected from a structure; antenna; A processor configured to transmit data via an antenna to a receiver located outside the living organism; and A transceiver configured to modulate data before transmitting it via an antenna.

2. The apparatus according to claim 1, wherein, The second end is a hemispherical end made of transparent material, wherein the sensor is positioned within the hemispherical end, and wherein the sensor is configured to generate the image data based on energy reflected by the structure and passing through the transparent material.

3. The apparatus according to claim 1, wherein, The interventional tool includes at least one of the following: a biopsy mechanism, a needle, a cutting mechanism, a pushing mechanism, a pulling mechanism, a grasping mechanism, a cauterization mechanism, or a delivery mechanism.

4. The apparatus according to claim 1, wherein, The interventional tool includes a biopsy unit, and wherein the processor is further configured to: The first input is a command instructing the biopsy apparatus to expand and collect a sample from the structure. Allowing the biopsy unit to extend through the hole toward the structure, and The biopsy unit retracts from the structure through a hole in the capsule.

5. The apparatus according to claim 1, wherein, The second end is a hemispherical end made of transparent material, and the second end further includes: A light source, positioned within the hemispherical end, is configured to emit electromagnetic radiation through the transparent material toward the structure.

6. The apparatus according to claim 1, wherein, The second end is a hemispherical end, the hemispherical end including an opening filled with a transparent material, and the second end further includes: The sensor, positioned within the hemispherical end, is configured to generate the image data based on energy reflected by the structure and passing through the transparent material; and A light source, positioned in the hemispherical end, is configured to emit electromagnetic radiation through the transparent material toward the structure.

7. The apparatus according to claim 1, further comprising: Multiple intervention tools; The plurality of storage compartments, each associated with a corresponding intervention tool among the plurality of intervention tools. Each of the plurality of storage compartments is configured to store a biopsy sample collected by a corresponding interventional tool among the plurality of interventional tools.

8. The apparatus according to claim 1, further comprising: A barrier configured to prevent the interventional tool from being exposed to the living organism when the barrier is in a first position. Wherein, when the barrier is in the first position, the aperture is completely blocked; and The deployment mechanism is configured to move the barrier to a second position before the interventional tool extends from the capsule through the orifice. When the barrier is in the second position, the hole is at most partially blocked.

9. The apparatus according to claim 8, wherein, It further includes a deployment mechanism configured to move the barrier to the first position in response to the processor determining that the interventional tool has retracted through a hole in the capsule.

10. The apparatus according to claim 4, wherein, The biopsy device includes a needle having a hollow body with a sharp tip at its distal end.

11. The apparatus according to claim 10, wherein, The needle includes barbs along the inner surface of the hollow structural body, and wherein the barbs are oriented to prevent the sample from being removed from the hollow structural body when the sharp tip is retracted from the structure.

12. The apparatus according to claim 1, further comprising: A barrier configured to prevent the interventional tool from being exposed to the living body when the interventional tool is in a first position completely within the capsule; as well as The deployment mechanism is configured to move the interventional tool to a second position where at least a portion of the interventional tool is outside the capture device. In this process, the interventional tool is moved from the first position to the second position to puncture the barrier.

13. The apparatus according to claim 1, further comprising: Multiple intervention tools; Multiple discs, the multiple discs being positioned within the capsule, The plurality of disks are stacked vertically; The plurality of interventional tools are each mounted on a different disc among the plurality of discs positioned within the capsule; and Each of the plurality of discs includes a mechanism for driving the corresponding interventional tool.

14. The apparatus according to claim 1, wherein, The interventional tool includes a polyp removal tool with a loop, and wherein the processor is further configured to: Receive input indicating that a sample should be collected from the structure using a polyp removal tool. Extend the loop around a portion of the structure, then retract it to cut that portion from the structure. The polyp removal tool is retracted from the structure while retaining that portion of the structure with a loop.

15. The apparatus of claim 1, further comprising: Multiple intervention tools, each installed in a different modular module within a plurality of modular modules. The modular compartments are arranged radially around the central axis of the capsule.

16. The apparatus according to claim 1, wherein, The interventional tool includes a shaft having a plurality of barbs arranged along a distal tip, and wherein the processor is further configured to: Receive input indicating that an interventional tool should be used to collect samples from the structure. The interventional tool is extended toward the structure so that its distal tip penetrates the structure. The interventional tool is partially retracted so that at least a portion of the structure is displaced as the sample, and The interventional tool is detached from the device, thereby releasing the sample into the living organism.

17. The apparatus according to claim 1, in, The intervention tool includes a gripping mechanism comprising a plurality of engaging elements operable independently between a first position and a second position. Wherein, when each engaging element is in the first position, the multiple engaging elements are spaced apart, and In this configuration, when each engagement element is in the second position, multiple engagement elements are close to each other.

18. The apparatus according to claim 1, wherein, The interventional tool includes a delivery mechanism in which material is stored, and wherein the processor is further configured to: Receive input of instructions to release material into the living organism, and The conveying mechanism releases at least some of the material stored therein.

19. The apparatus according to claim 18, wherein, The material is a radiation enhancer, a burning agent, an ink, or a drug.

20. The apparatus according to claim 18, wherein, The delivery mechanism includes a needle having a sharp tip at its distal end through which the material is ejected, and wherein the processor is configured to extend the needle into a structure in a living organism, such that at least some material is injected into the structure.

21. An apparatus comprising: The capsule has a cylindrical body interconnected between a first end and a second end, and includes a biocompatible material suitable for live ingestion; An interventional tool is configured to extend through a hole near the second end of the capsule to collect multiple biopsy samples from the living organism; The sensor is configured to generate image data based on energy reflected from the structure of the living organism; antenna; The processor is configured as follows: The image data is transmitted in real time to a receiver located outside the living organism via the antenna. The antenna receives a first input indicating a request to use the interventional tool to collect a first biopsy sample. In response to receiving the first input, a first instruction is generated, the first instruction causing the interventional tool to extend through the hole toward the structure; The second input is received via the antenna, and the second input indicates that the pressure applied to the pressure sensor of the interventional tool indicates that the interventional tool has acquired the first biopsy sample; as well as In response to receiving the second input, a second instruction is generated, which causes the interventional tool to retract from the structure through the orifice; Multiple storage compartments, in which corresponding biopsy samples collected by the interventional tool are stored. Each of the plurality of storage compartments includes a vacuum element for removing the respective plurality of biopsy samples from the interventional tool; A rotatable platform is located within the capsule, wherein the plurality of storage compartments are radially distributed on the rotatable platform. Wherein, when the interventional tool retracts from the structure through the orifice, the interventional tool is positioned such that the first biopsy sample is located in the first storage compartment among the plurality of storage compartments, and The rotatable platform is configured to radially rotate the plurality of storage chambers using the vacuum element when the first biopsy sample is stored in the first storage chamber, such that a second storage chamber among the plurality of storage chambers can be used to receive a second biopsy sample collected by the interventional tool; and The transceiver is configured to modulate the image data before it is transmitted by the antenna.

22. The apparatus according to claim 21, wherein, The interventional tool is one of a plurality of interventional tools that can be independently controlled by the processor.

23. The apparatus according to claim 22, wherein, Each of the plurality of interventional tools is configured to manipulate structures in a living organism in a different manner.

24. The apparatus of claim 21, further comprising: Multiple thrusters are configured to control the movement of the device about three mutually perpendicular axes when the device is located inside the living body.

25. The apparatus according to claim 24, wherein, The processor is also configured to drive at least one of the plurality of thrusters when the intervention tool is deployed.

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