Iningestible device with propulsion capability including direct z-axis translational mobility

Abstract

An ingestible, remotely controllable imaging device includes a plurality of motors arranged with thrust axes thereof perpendicular to each other for providing movement of the device. In some embodiments, at least one of the motors is aligned such that its thrust axis is parallel to a yaw axis (e.g., z-axis) of the device, while at least one other motor is aligned such that its thrust axis is parallel to a main thrust axis of the device.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 343,694, filed on May 19, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a device designed to generate images of biological structures located inside a living body and transmit the images to a device located outside the living body. Background Art

[0004] Endoscopy is a medical procedure in which structures within a living body are visually inspected with a camera attached to the end of a flexible tube. Alternatively, an optical fiber exposed near the end of the flexible tube can carry light reflected by structures within the body to a camera located outside the living body. The flexible tube is used to position the camera or optical fiber at a desired location. A physician can diagnose conditions affecting the living body by examining the images generated by the camera. For example, during an upper endoscopy, a flexible endoscope is inserted through the patient's mouth or nose so that the physician can examine the esophagus, stomach, or upper portion of the small intestine (duodenum). During a lower endoscopy or "colonoscopy," an endoscope is inserted through the rectum so that the physician can examine the colon.

[0005] Advances have been made in the quality, reliability, and safety of endoscopes. For example, improvements in camera resolution have allowed medical professionals to provide more informed (and therefore more accurate) opinions. However, endoscopy is an invasive procedure and therefore has several potential complications. Patients may suffer discomfort, infection, unexpected reactions to sedation (including death), bleeding (e.g., due to removal of tissue for testing as part of a biopsy test), or tearing of tissue due to friction in advancing a flexible tube through tortuosity, especially in cancer patients whose chemotherapeutic drugs weaken the tissue of the gastrointestinal (Gl) tract or in pediatric patients whose anatomy is more fragile and / or whose bodies are smaller.

[0006] Additionally, endoscopy can be a time-consuming procedure that requires expensive hospital resources. For example, a patient may be instructed to prepare for an endoscopy at home, travel to a medical setting, and then remain in the medical setting until adequate recovery has occurred. Although the endoscopy itself typically lasts only 15-30 minutes, the experience may take 8-12 hours. The recovery time associated with sedation spent in a medical setting such as a hospital or clinic can be a significant portion of the total cost of the procedure. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Various features of the present technology will become more apparent to those skilled in the art through a study of the specific embodiments in conjunction with the accompanying drawings. Embodiments of the present technology are shown by way of example and not limitation in the accompanying drawings, wherein the same reference numerals may indicate similar elements.

[0008] Figure 1 Included are cross-sectional views of examples of a propelled ingestible device designed to monitor an internal environment as it travels through a living body (eg, a human or animal body) under its own power.

[0009] Figure 2A Front perspective view including payload section of ingestible device.

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

[0011] Figure 3 A perspective view of the power section of an ingestible device is included.

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

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

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

[0015] Figure 5C Shown is how the impeller may be arranged adjacent to the stator blades in the distal element of the ingestible device.

[0016] Figure 5D yes Figure 5C Isolated rear view of the distal element.

[0017] Fig. 6A Included is a perspective view of an ingestible device having a circular structural body with a central axis passing therethrough.

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

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

[0020] Fig. 7AIncluded is a cross-sectional view of the ingestible device showing how undersizing of a seal formed from a stamped or drilled sheet of material compared to the diameter of the motor shaft can create a single line of contact between the seal and the motor shaft.

[0021] Figure 7B It shows how the orifice disk can be secured in the recess formed when the seal is enclosed in the main seal body.

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

[0023] Figure 8B Depicts the folded form Fig. 8A Flexible PCBA.

[0024] Fig. 9 Included is a high-level illustration of communication between a device designed for ingestion by a living being and a controller by which movement of the ingestible device is controlled.

[0025] Fig.10 Draw a flow chart of the process of monitoring the in vivo environment using a device designed for ingestion by a living subject.

[0026] Fig.11 A flow chart is depicted of a process for controlling a propelled ingestible device having an optical sensor as it travels through a living body.

[0027] Fig.12 An example of a communication environment is depicted that includes a propelled ingestible device communicatively coupled to a controller.

[0028] Fig.13 is a block diagram illustrating an example of a processing system in which at least some of the operations described herein may be implemented.

[0029] Fig.14 is a perspective view of an ingestible device comprising motors having thrust axes that are perpendicular to each other and provide direct translation along the z-axis.

[0030] Fig.15 yes Fig.14 A perspective view of certain internal components of the ingestible device.

[0031] Fig.16 yes Fig.14 Another perspective view of certain internal components of the ingestible device.

[0032] Fig.17 yes Fig.14 Bottom view of the ingestible device.

[0033] Fig.18 yes Fig.14 An orthogonal schematic top view of an ingestible device.

[0034] Fig.19 yes Fig.14 An orthogonal schematic left side view of an ingestible device.

[0035] Fig. 20 yes Fig.14 An orthogonal schematic rear view of an ingestible device.

[0036] Fig.21 is a cutaway perspective view of a motor assembly according to another embodiment of the ingestible device.

[0037] Fig.22A yes Fig.21 A side cross-sectional view of a motor assembly.

[0038] Fig. 22B yes Fig.21 A top cross-sectional view of a motor assembly.

[0039] Fig.23A Shows Fig.21 A first perspective exterior view of a motor assembly.

[0040] Fig. 23B Shows Fig.21 A second perspective exterior view of the motor assembly.

[0041] Fig.23C Shows Fig.21 A third perspective exterior view of the motor assembly.

[0042] Fig.23D Shows Fig.21 A fourth perspective exterior view of a motor assembly.

[0043] Fig.24A A first perspective view of a three-motor assembly is shown.

[0044] Fig. 24B A second perspective view of the three-motor assembly is shown.

[0045] Fig.24C A third perspective view of the three-motor assembly is shown.

[0046] Fig.24D A fourth perspective view of the three-motor assembly is shown.

[0047] Fig.25A A first perspective exterior view of an ingestible device is shown, comprising Figures 24A to 24D Three motor components.

[0048] Fig.25B Shows Fig.25AA second perspective exterior view of the ingestible device.

[0049] Fig.26A Shows Fig.25A A first perspective cross-sectional view of an ingestible device.

[0050] Fig.26B Shows Fig.25A A second perspective cross-sectional view of the ingestible device. DETAILED DESCRIPTION

[0051] In this specification, references to "an embodiment," "one embodiment," etc. mean that the particular feature, function, structure, or characteristic being described is included in at least one embodiment of the technology presented herein. The appearances of such phrases in this specification do not necessarily all refer to the same embodiment. On the other hand, the embodiments mentioned are not necessarily mutually exclusive.

[0052] Contemporary research has begun to explore how to monitor the internal environment in more efficient ways. For example, several companies have developed cameras that can capture images of the digestive tract. Typically, these cameras are placed inside a vitamin-sized capsule that the patient can swallow. As the capsule travels through the digestive tract, the camera can generate hundreds or thousands of images, and these images can be wirelessly transmitted to an electronic device carried by the patient. The process is called "capsule endoscopy."

[0053] Capsule endoscopy allows medical professionals to observe internal environments, such as the small intestine, which cannot be easily reached with conventional endoscopes. However, capsule endoscopy remains a relatively uncommon procedure. One reason for this is the lack of control over the camera after the ingestion of the capsule. As the capsule naturally travels through the digestive tract, the camera may miss areas of interest due to the orientation of the capsule. Another reason is that the device used for capsule endoscopy may take several hours to reach the target anatomical structure and then several more hours to record the image. The patient may then need to return to the medical environment (e.g., a hospital or clinic) to deliver the recorded images.

[0054] Thus, described herein is a controllable propulsion ingestible device comprising a capsule (also referred to as a "shell" or "housing"), a camera, an antenna, and one or more propulsion components and propulsion control elements. Because the ingestible device is designed to propel itself through a living body, the ingestible device may be referred to as a "propulsion device."

[0055] The camera can generate images as the ingestible device traverses the gastrointestinal tract. 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 15fps. The frame rate can vary based on the speed at which the ingestible device is traveling. For example, the ingestible device can be designed to increase the frame rate as the speed of movement increases. The images generated by the camera are forwarded to the antenna for transmission to an electronic device located outside the living body. More specifically, the processor can send the image to a transceiver, which is responsible for modulating the image onto the antenna for transmission to the electronic device. In some embodiments, the image is transmitted to the electronic device in real time, so that the medical professional can take appropriate action based on the content of the image. For example, the medical professional can find an area of ​​interest that needs further examination when viewing the image. In this case, the propulsion component (one or more) can orient the propulsion-type ingestible device so that the camera focuses on the area of ​​interest. Such an action enables the ingestible device to collect additional data about the area of ​​interest (e.g., in the form of images, biometric values, etc.).

[0056] The medical professional may be a general practitioner, a specialist (e.g., a surgeon or gastroenterologist), a nurse, or a technician who is responsible for managing the ingestible device as it travels through a living body. However, unlike a conventional endoscope, the medical professional does not need to be in close proximity to the patient (also referred to as a "subject") being examined. For example, a medical professional may examine images generated by a camera on an electronic device located in a remote hospital while the patient is lying in another environment, such as a home, a battlefield, etc. In this way, the techniques described herein may be used to expand the capabilities of a traditional Gl department.

[0057] Embodiments may be described with reference to particular capsule shapes, propulsion components, sensors, networks, etc. However, one skilled in the art will recognize that features of these embodiments are equally applicable to other capsule shapes, propulsion components, sensors, networks, etc. For example, while a feature may be described in the context of an ingestible sensor having multiple propellers arranged in a cross-type configuration, the feature may be implemented in an ingestible sensor having another type of propeller or propellers arranged differently, or a combination of these variations.

[0058] Ingestible Devices Overview

[0059] Figure 1 Includes a cross-sectional view of an example of an ingestible device 100 designed to monitor an in vivo environment as it travels through a living body (e.g., a human or animal body). Figure 1and other illustrations are not drawn to scale and are shown significantly enlarged for greater clarity. Because the ingestible device 100 can be designed to propel itself through a living body, the ingestible device 100 can 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 rounded shape that does not cause damage when contacting living tissue, such as Figure 1 The generally hemispherical end shown in FIG. This geometry may be referred to as a "spherocylinder." Although Figure 1 The ingestible device 100 shown in has generally hemispherical ends, but may include other fluid-dynamically shaped ends in other embodiments. For example, at least one end of the capsule 102 may be a dome having a flat portion through which light may be directed toward the optical sensor. As another example, at least one end of the capsule 102 may be a truncated cone. At least one end of the capsule 102 may also have rounded corners that leave 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 the capsule 102. To avoid contamination of the inner cavity defined by the cylindrical body 104 and / or the hemispherical ends 106a-b, the structural components may be hermetically sealed from each other.

[0060] In some embodiments, these structural components include the same material. For example, the structural components may include plastic (e.g., polyethylene (PE), polyvinyl chloride (PVC), polyetheretherketone (PEEK), acrylonitrile butadiene styrene (ABS), polycarbonate, nylon, etc.), stainless steel, titanium-based alloy, or another biocompatible material. As used herein, the term "biocompatible" means harmless to living tissue. Biocompatible polymers may be three-dimensionally (3D) printed, machined, sintered, injection molded, or otherwise formed around the components of the ingestible device 100. In other embodiments, these structural components include different materials. For example, the hemispherical end 106a on which the optical sensor 110 is 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. In addition, 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 operating efficiency of the ingestible device 100. Additionally or alternatively, these structural components may be coated with an antimicrobial material, such as antibiotic-loaded polymethylmethacrylate (PMMA).

[0061] like Figure 1As 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 so that its outermost lens is substantially aligned with the outer surface of the hemispherical end 106a, or the optical sensor 110 may be positioned so that the focal length of the lens is similar to the radius of the hemispherical end 106a, so that focus is ensured for any anatomical structure that is in direct contact with the ingestible device 100. Although Figure 1 The hemispherical end 106a shown in the figure includes a single opening, but other embodiments of the hemispherical end 106a may include multiple openings (e.g., for multiple optical sensors, biometric sensors, or a combination thereof). In some embodiments, the hemispherical end 106a is entirely composed of a transparent material. In such an embodiment, the hemispherical end 106a may not include a dedicated opening for the optical sensor 110, because the optical sensor 110 can use electromagnetic radiation that has penetrated the transparent material to generate image data. The hemispherical end 106a may include surface features that can diffuse or direct illumination away from the ingestible device 100. In addition, a portion of the hemispherical end 106a may be rendered substantially opaque to suppress or eliminate intermittent reflections of light that may interfere with the optical sensor 110.

[0062] Due to the convenience of manufacturing, the opening 108 is generally circular. However, the opening 108 can have other forms. For example, in some embodiments, the opening 108 is rectangular, while in other embodiments, the opening 108 has a rectangular portion with a rounded end. These rounded ends can be oriented on opposite sides of the hemispherical end 106a, so that an optical sensor positioned below the rounded end can observe the in vivo environment along both sides of the push-type ingestible device 100.

[0063] In various embodiments, the capsule 102 can have any of a variety of different sizes, such as any of those listed in Table 1.

[0064] size 000 00 0 1 2 3 4 Inner cavity volume (ml) 1.37 0.91 0.68 0.50 0.37 0.30 0.21 Length(mm) 35 30 29 26.5 24 21.5 19.5 Diameter(mm) 15 13.5 11 7 6.5 6 5.5

[0065] Table 1: Example dimensions of capsules.

[0066] like Figure 1 As shown, the ingestible device 100 may include four sections with different responsibilities: a payload section 200, a power section 300, a drive section 400, and a propulsion section 500. Figure 3 , Figure 4 5 describe each of these sections in more detail. Although the sections are shown as distinct from one another, the components associated with each section may not necessarily be located in the same Figure 1For 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 components in those sections.

[0067] Figure 2A A front perspective view of a payload section 200 including an ingestible device, and Figure 2B A rear perspective view of a payload section 200 including an ingestible 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, a hermetic seal 210, and an illumination source 212. Embodiments of the ingestible device may include some or all of these components, as well as other components not shown here. For example, if the ingestible device has been designed for imaging only, the payload section 200 may not include the manipulator controller 208 because no manipulation will be performed.

[0068] When the ingestible device traverses the gastrointestinal tract, the optical sensor 202 can generate image data based on electromagnetic radiation reflected by structures located in the gastrointestinal tract. For example, if the optical sensor 202 is a camera, images or videos can be captured when the ingestible device travels through the body. Another example of the optical sensor 202 is an infrared sensor. Other embodiments of the ingestible device may include an acoustic sensor, such as ultrasound, instead of the optical sensor 202, or include an acoustic sensor in addition to the optical sensor 202. Therefore, the ingestible device may include one or more sensors that are configured to generate image data based on energy reflected by structures in the body. An illumination source 212 (also referred to as a "light source") housed in the ingestible device is generally responsible for generating electromagnetic radiation. An example of an illumination source 212 is a light emitting diode (LED). Here, the illumination source 212 is configured so that electromagnetic radiation is emitted through the same hole in the capsule, and the reflected electromagnetic radiation is received through the hole. In other embodiments, the illumination source 212 is arranged so that electromagnetic radiation is emitted through a first hole in the capsule, and the reflected electromagnetic radiation is received through a second hole in the capsule.

[0069] Some embodiments of the propelled ingestible device include a plurality of optical sensors 202. For example, the ingestible 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 may generate different data sets that together provide meaningful information that can be used to make a diagnosis and assist in spatial positioning. Here, for example, the infrared sensor may be capable of measuring the heat emitted by an object included in a color image captured by the camera.

[0070] The power and data bus 204 (also referred to as a "bus" or "bus connector") may be responsible for distributing data and / or power to various components in the propelled ingestible device. For example, the bus 204 may forward image data generated by the optical sensor 202 to the control unit 206, and the control unit 206 may 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 may be part of an electronic device on which an individual may view images corresponding to the image data, control the ingestible device, etc. The bus 204 may include cables, connectors, wireless chipsets, processors, etc. In some embodiments, the bus 204 manages data and power on separate channels. For example, the bus 204 may manage data using a first set of cables and manage power using a second set of cables. In other embodiments, the bus 204 manages data and power on a single channel (e.g., having components capable of transmitting data and power simultaneously).

[0071] The control unit 206 may be responsible for managing other components in the propulsive ingestible device. For example, the control unit 206 may be responsible for parsing the input received by the antenna and then providing appropriate instructions to other components in the propulsive ingestible device. As further described below, an individual may use a controller device (or simply referred to as a "controller") located outside the body to provide input. The input may represent a request to start using the optical sensor 202 to generate image data, a request to start using the antenna to transmit image data, a request to stop using the optical sensor 202 to generate image data, a request to stop using the antenna to transmit image data, or a request to move the propulsive ingestible device to a desired position. The control unit 206 may include any combination of a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller, a logic component, or other similar processing units.

[0072] In some embodiments, the push-type ingestible device is designed to manipulate the in vivo environment in some way. In such embodiments, the payload section 200 may include interventional components such as a biopsy attachment, a needle, a cutting mechanism, a pushing mechanism, a cauterization mechanism (e.g., an ohmic cauterizer or a radiofrequency cauterizer), a drug delivery mechanism, etc. The manipulator controller 208 can control these interventional components. For example, the manipulator controller 208 can control a biopsy attachment extending through the capsule to collect tissue based on instructions received from the control unit 206.

[0073] In order to prevent fluid from entering the capsule, the payload section 200 and the power section 300 can be hermetically sealed to each other. Therefore, the airtight seal 210 can be fixed along the interface between the payload section 200 and the power section 300. The airtight seal 210 can be made of epoxy, metal, glass, plastic, rubber, ceramic, glue or other sealing materials. One factor that determines whether the material used to form the airtight seal 210 is suitable is whether the surface energy of those materials is similar to the surface energy of the substrate to which the airtight seal 210 is combined. Therefore, the composition of the airtight seal 210 may depend on the composition of the structural components of the capsule. For example, if the structural components of the capsule include stainless steel, the airtight seal 210 can be made of epoxy in which metal (e.g., stainless steel) particles are suspended. Alternatively, the airtight seal 210 can be formed using a flexible gasket, an adhesive film, welding, a seal, etc.

[0074] Figure 3 A perspective view of a power segment 300 including an ingestible device. The power segment 300 may include a power component 302, a power distribution unit 304, and an airtight seal 306a-b secured along each end. The airtight seals 306a-b may be substantially similar to the airtight seal 210 secured to the payload segment 200 as described with respect to FIG. 2 . Additionally, the airtight seal 210 secured to the lower end of the payload segment 200 may be the same seal as the airtight seal 306a secured to the upper end of the power segment 300. Thus, a single airtight seal may join the payload segment 200 and the power segment 300.

[0075] The power component 302 (also referred to as an "energy storage component") can be configured to supply power to other components of the propelled ingestible device, such as any optical sensor(s), biometric sensor(s), processor(s), communication components (e.g., transmitters, receivers, transceivers, and antennas), and any other components requiring power. For example, the power component 302 can be responsible for providing the power required by an optical sensor (e.g., optical sensor 202 of FIG. 2) to generate image data. As another example, the power component 302 can be responsible for generating drive energy to be applied to an antenna to enable wireless transmission of image data to a receiver located outside the body.

[0076] The power component 302 can be, for example, a silver oxide battery, a nickel-cadmium battery, a lithium battery (e.g., a battery 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 that are exposed to the fluid through which the ingestible device travels. In such embodiments, the power component 302 can be designed to run on a fluid (e.g., a body fluid such as gastric acid) that is easily accessible within the in vivo environment for which the ingestible device is designed. Typically, the working principle of a battery is to transport positively charged ions from one place to another through a solution called an electrolyte, which contains positively and negatively charged particles. However, in the case of exposed battery plates, a pair of metal electrodes can be fixed to the outer surface of the ingestible device. A metal electrode (e.g., composed of zinc) can emit ions into a fluid that acts as an electrolyte by transmitting a small current to another metal electrode (e.g., composed of copper).

[0077] In some embodiments, the power component 302 is designed so that it can receive power wirelessly from a source located outside the body. In such an embodiment, the source can 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 supply power to other components in the ingestible device as needed. The power can be received using the same antenna as the antenna used for data transmission or using a different antenna, an inductively coupled coil, or a capacitively coupled structure. The source can be a controller for controlling the ingestible device, an electronic device for checking image data, or some other electronic device (e.g., a mobile phone or wireless charger belonging to the patient). Alternatively, the wireless power supply can be included in an article (e.g., a belt or strap) that can be worn so that the wireless power supply is located near the ingestible device when it travels through the living body. Such a wearable item can include a battery pack integrated into the article itself or attached to the patient. In addition, such a wearable item can include one or more antennas for data transmission.

[0078] The power component 302 can be designed to fit within a specific section of the ingestible device. Here, for example, the power component 302 has a button cell form factor, which allows the power component 302 to be fixed within the cylindrical body of the capsule. However, other embodiments of the power component 302 can be designed to fit within the hemispherical end of the capsule or within another region within the capsule.

[0079] As described above, the power distribution unit 304 may be responsible for distributing the power stored in the power component 302 to other components in the ingestible device. Therefore, components of the power distribution unit 304 may 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 to DC converters), metal oxide semiconductor field effect transistors (MOSFETs), capacitors, transformers, resistors, or inductors.

[0080] Figure 4 A perspective view of a drive section 400 including an ingestible device. The drive section 400 may include (one or more) energy-motion converters 402, (one or more) heat transfer components 404, and airtight seals 406a-b secured along each end. The airtight seals 406a-b may be the same or substantially similar to the airtight seal 210 secured to the payload section 200 as described with respect to FIG. 2 . In addition, the airtight seal 306b secured to the lower end of the power section 300 may be the same seal as the airtight seal 406a secured to the upper end of the drive section 400. Thus, a single airtight seal may connect the power section 300 and the drive section 400.

[0081] In the case of a power distribution unit (e.g. Figure 3 When receiving power from the power distribution unit 304 of the ingestible device, the (one or more) mechanical power converters 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 propeller. Examples of motors 402 include DC or AC electric motors, drives composed of shape memory alloys, electromagnets, shafts, piezoelectric components, etc. The propellers can be connected to the motors through one or more shafts, gears, levers, bearings, etc.

[0082] Components in the ingestible device may generate heat, which should be dissipated to avoid causing damage in the body. For example, if the propeller (one or more) is driven for an extended period of time, components such as energy-motion converters and motor housings may generate heat. Therefore, these components may include or be connected to (one or more) heat transfer components 404 that can help dissipate the heat. In some embodiments, the heat transfer component 404 releases heat directly into the fluid (e.g., water, bile, gastric acid, and mixtures thereof) surrounding the ingestible device. For example, the motor housing may be made of a material with an acceptable thermal conductivity (e.g., stainless steel) to facilitate the dissipation of heat. In other embodiments, the heat transfer component 404 releases heat into the capsule. When the heat is discharged into the capsule, the heat can be naturally transferred to the fluid surrounding the ingestible device by conduction and convection.

[0083] Figure 5A A perspective view of a propulsion section 500 comprising an ingestible device, and Figure 5B A transparent perspective view of a propulsion section 500 including an ingestible device. The propulsion section 500 may include one or more thrusters 502, one or more air inlets 504, and an airtight seal 508 secured along an upper end thereof. The airtight seal 508 may be substantially similar to the airtight seal 210 secured to the payload section 200 as described with respect to FIG. 2 . Furthermore, the airtight seal 508 may be the same seal as the airtight seal 406 b secured 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.

[0084] As described above, the ingestible device may include one or more propulsion components (also referred to as a "propulsion system" or "thrust component"). Each propulsion component may include a propeller and an energy-motion converter, the propeller being configured to generate a propulsion force for moving the ingestible device, and the energy-motion converter being configured to supply power to the propeller. Here, for example, the propulsion section 500 includes four rotors 502 driven by four motors located in the drive section 400. In some embodiments, each propeller is driven by a different mechanical power converter. In other embodiments, multiple propellers may be driven by a single energy-motion converter. For example, a single motor may be responsible for supplying motive force to multiple propellers, but the speed of each propeller may be varied by a mechanical connection (e.g., a clutch system or a gear system).

[0085] As described further below, multiple thrusters 502 may be arranged to facilitate movement along different axes. Figure 5A-B, for example, four thrusters 502 are arranged radially around a central axis 516 defined by passing through the capsule in a cross-type configuration. More specifically, these thrusters 502 are set at positions radially offset from the central axis and are set at different angles offset around the central axis. By independently driving these thrusters 502, movement can be achieved in any direction or orientation in a manner similar to a quadcopter. Therefore, the ingestible device can be commanded to move forward and backward at different speeds. In addition, the ingestible device can be instructed to change its orientation by rotating around three mutually perpendicular axes. These changes in orientation and forward / backward movement can be converted into changes in yaw (normal axis), pitch (lateral axis) and roll (longitudinal axis), and thus movement to any position can be represented in three-dimensional space.

[0086] exist Figure 5A -B, the propeller 502 is a rotor capable of drawing fluid through an air inlet 504 formed in the capsule. As used herein, the term "rotor" refers to a component that can rotate to generate propulsion. An example of a rotor is a propeller. However, other propellers can be used instead of or in addition to the rotor. Examples of propulsion components include spirals, fins, impact-shaped attachments (also called "flagellum"), wave-like mechanisms, etc. In addition, the propulsion component can be arranged along the cylindrical body of the capsule instead of being arranged in the hemispherical end of the capsule; or in addition to being arranged in the hemispherical end of the capsule, the propulsion component can 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 can be used in combination with propellers (one or more), helices (one or more), or impact-shaped attachments (one or more) located in the hemispherical end of the capsule to provide greater control over the movement of the ingestible device.

[0087] like Figure 5A -B, the capsule may include one or more channels through which fluid may be drawn by (one or more) propellers 502. Each channel includes an inlet 504 through which fluid may be drawn and an outlet 506 through which fluid may be discharged. Examples of inlets 504 include pipes, lumens, blades, tubes, etc. Although the embodiment shown in FIG. 5 includes the same number of propellers 502 and inlets 504, this may not always be the case. For example, a propeller mounted in the hemispherical end of the capsule may be able to draw fluid through one or more inlets to prevent moving parts (such as propellers 502) from contacting living tissue. Fixed stator blades may be used to optimize rotating propeller efficiency in order to control vortices, increase speed, and increase controllability, as described below with respect to FIG. 5C to FIG. 5DFurther discussed. In some embodiments, coaxial counter-rotating propellers can be used to completely eliminate fixed stator blades. The propeller and guide vane blade count and geometry can be adjusted to optimize the removal of bubbles and debris based on diameter, speed, and fluid properties.

[0088] In some embodiments, a filter is placed in at least one of the passages defined through the capsule. For example, a filter may be fixed in each passage defined through the capsule. A filter may be necessary to ensure that objects exceeding a certain size suspended in the fluid inhaled through the inlet 504 are removed. For example, if the ingestible device is designed for use in the gastrointestinal tract, the filter (multiple filters) may be designed to prevent solid particles (e.g., food particles) from contacting the propeller (multiple propellers) 502.

[0089] Another problem is that propellers tend to impart a rotational motion (or "agitation") on the fluid, rather than generating thrust, unless properly designed. This problem can be addressed by adding one or more stator guide vanes (also called "stator blades") to each flow channel. The terms "stator guide vanes" and "stator blades" refer to stationary blades positioned within a flow channel through which the fluid is drawn and then ejected by the propeller. Figure 5C shows how the thruster 502 can be adjacent to Figure 5A -B, the stator blades 514 arrangement in the distal element 512 of the ingestible device. These stator blades 514 can be used to straighten the fluid flow, reduce the stirring effect, and increase the thrust and thrust consistency. Figure 5C As shown, each propeller 402 may be connected to a separate motor housing 510, in which the motor responsible for driving the propeller is located. The propellers 502 (and therefore the motor housings 510) may be arranged in a cross-shaped configuration to better control the propulsive force.

[0090] Figure 5D yes Figure 5C . In embodiments where the distal element 512 includes a plurality of stator blades 514, the stator blades 514 may be radially arranged around the geometric center of the distal element 512. Typically, the stator blades 514 are arranged approximately uniformly around the geometric center, such as Figure 5D However, in some embodiments, the stator blades 514 are arranged in a non-uniform manner about the geometric center.

[0091] Fig. 6A -C includes perspective, side, and rear views of an ingestible device 600 having an atraumatic structural body 602 having a central axis 612 therethrough. FIG. 6A to FIG. 6CThe structural master 602 shown in FIG. 6 is a spherocylinder, which includes cylindrical segments interconnected between hemispherical segments. In other embodiments, the structural master 602 can be elliptical, rectangular, teardrop-shaped, etc.

[0092] As described above, the ingestible device 600 may include one or more thrusters for controlling movement along three mutually perpendicular axes. Here, for example, the ingestible device 600 includes four rotors 604a-d radially arranged around the structural body 602 perpendicular to the central axis 612. The four rotors 604a-d may include a first pair of rotors 604a-d arranged radially opposite to each other relative to the central axis 612 and a second pair of rotors 604c-d arranged radially opposite to each other relative to the central axis. Each pair of rotors can be configured to share the same chirality; for example, when rotated clockwise relative to the central axis 612, the rotors 604a-b can both generate forward thrust. At the same time, the pairs of rotors can be configured to have opposite chirality; for example, when all four rotors rotate clockwise relative to the central axis 612, the rotors 604a-b can generate forward thrust, while the rotors 604c-d can generate backward thrust. As Figure 6C As shown, the first and second pairs of rotors 604a-d can be arranged in a cross-type configuration, so that adjacent rotors rotate in opposite directions to generate thrust in the same direction, while diametrically opposed rotors rotate in the same direction to generate thrust in the same direction. This configuration allows independent control of thrust, pitch, yaw, and roll through the combination of the effects of the individual rotors; therefore, control of position and orientation can be achieved in a manner similar to that of a quadcopter.

[0093] Each rotor may be located in a different channel defined by the structure 602, and each channel may include an inlet 606 and an outlet 608, through which fluid is drawn by the corresponding rotor and through which fluid is discharged by the corresponding rotor. Generally speaking, the channels are defined as passing through 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, and the outlet 608 of each channel is located in a hemispherical section of the structural body 602. When operating, the rotors 604a-d can draw fluid through the inlet 606 to produce a flow 610 that propels the ingestible device in a particular direction. In some embodiments, the channels are tapered. For example, the inlet 606 of each channel can have a smaller diameter than the outlet 608, or the inlet 606 of each channel can have a larger diameter than the outlet 608.

[0094] In some embodiments, each rotor is designed to rotate in a primary direction and a secondary direction. For example, the first pair of rotors 604a-b can be configured to be able to rotate in a clockwise and counterclockwise direction relative to the central axis 612. Similarly, the second pair of rotors 604c-d can be able to rotate in a counterclockwise and clockwise direction relative to the central axis 612. Thus, while the flow 610 is shown as flowing toward the first end 614 (also referred to as the "distal end") of the ingestible device 600, the flow 610 may alternatively flow toward the second end 616 (also referred to as the "proximal end") of the ingestible device 600.

[0095] As mentioned above, the term "rotor" as used herein refers to a component that is capable of rotating to generate propulsive force. The propulsive force imparts momentum to the surrounding fluid to generate motion. Depending on the speed and maneuvering requirements of the ingestible device 600, the structural body 602 can be equipped with one, two, three, four, or more rotors. Fig. 6A In -C, for example, four rotors are arranged in a cross configuration within the first end 614 of the structural body 602. In other embodiments, three rotors are arranged in a triangle configuration within the first end 614 of the structural body 602.

[0096] Each rotor can be driven independently by a different motor. Fig. 6A -C, for example, the ingestible device 600 includes four motors configured to supply power to four rotors 604a-d. In other embodiments, multiple rotors can be driven by a single mechanical power converter. For example, a single motor can be responsible for supplying power to a first pair of rotors 604a-b, but the speed of these rotors can be varied through a mechanical connection (e.g., a clutch system or a gear system).

[0097] In some embodiments, each rotor has a fixed pitch. Fig. 6A -C, for example, four rotors 604a-d are fixedly arranged along a radial plane perpendicular to the central axis 612. In other embodiments, at least one rotor has a variable pitch. In such embodiments, greater control over the motion of the ingestible device 600 can be achieved by simultaneously controlling the pitch and rotation of the rotors 604a-d.

[0098] The rotor may be composed 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. In addition, each rotor may have an antibacterial, hydrophobic or hydrophilic coating applied thereto. For example, each rotor may be coated with PMMA loaded with antibiotics. The coating applied to the rotor may depend on the type of in vivo environment for which the ingestible device 600 is designed.

[0099] Typically, to produce the rotor, multiple blades are secured to the hub by welding, gluing, or, alternatively, by forging the entire rotor as a single piece. The number of blades may depend on the desired efficiency, speed, acceleration, maneuverability, etc. For example, a 3-blade rotor exhibits good acceleration compared to other types of rotors, while a 4-blade rotor exhibits good maneuverability compared to other types of rotors. Rotors with higher blade counts (e.g., rotors with 5 or 6 rotor blades) exhibit good retention in turbulent in-flow environments (e.g., those with high flow rates). Single-blade rotors may have advantages in manufacturability and durability. In Fig. 6A In the embodiment shown in -C, each rotor includes three helicoidal surfaces that act together to rotate through a fluid (eg, water, bile, etc.) by a helical effect.

[0100] One of the difficulties in generating thrust on a small scale is the persistence of air bubbles that can become trapped near rotors such as propellers, preventing the rotors from properly engaging the fluid. This problem can be addressed by carefully designing the shape, number, and placement of blades along each rotor to help clear the bubbles. Careful matching of blade pitch, cavity shape, motor speed, clearance between the rotor and the wall, clearance between the rotor and stator blades, and surface material properties can affect bubble generation and clearing.

[0101] The rotor may be formed based on a simple truncated Archimedean screw geometry. Alternatively, as described above, the rotor may feature a plurality of individual blades having a curvature optimized for propulsion in a forward or backward direction. Likewise, if the stator blades are positioned in a channel through which the rotor draws and then ejects fluid, those stator blades may feature flat or curved blades.

[0102] Preventing fluid from entering the ingestible device, especially in the propulsion section including the mobile motor interface, is also critical. Therefore, the ingestible device can implement tight tolerances, hydrophobic and / or hydrophilic materials, or mechanical seals. Seals can maintain micro-scale tolerances and can therefore be used to maintain safety and consistency without the need for complex assembly processes. Fig. 7A -B shows how a low profile and low friction seal may be implemented to prevent fluid from entering the motor housing of the ingestible device 700.

[0103] Fig. 7AA cross-sectional view of an ingestible device 700 is included, which shows how a seal 704 formed by a stamped or drilled sheet material that is undersized compared to the diameter of a motor shaft 702 can produce a single contact line 706 between the seal 704 and the motor shaft 702. The sealing action, static friction, and dynamic friction can be optimized by adjusting the dimensional interference and the resulting embedding tension. The stamped or drilled sheet material can be made of polytetrafluoroethylene (PTFE) or a similar material (e.g., ultra-high molecular weight (UHMW) polyethylene). The design can be easily produced with relatively few machining operations. Another advantage of this method is that multiple seals can be made at one time with a simple drilling fixture. By drilling a small hole in the sheet material (e.g., a small hole diameter of 0.5-0.6 mm for a motor shaft with a diameter of 0.7 mm), and then expanding it on the motor shaft 702, a hoop tension (also known as "hoop stress") is generated. The hoop tension will cause the expanded hole to protrude slightly, thereby creating a minimum contact line 706 with the motor shaft 702 and reducing friction while providing a seal.

[0104] The seal 704 can be made using a hypodermic tube punch. Multiple seals can be drilled simultaneously on a lathe while still in the hypodermic tube, using a simple fixture and drill guide. The assembly process can be completed by placing the seal 704 on the motor shaft 702 and then securing it in place with a curable adhesive (e.g., a UV curable adhesive), radio frequency (RF) welding, heat welding, etc. The seal 704 can be expanded on the motor shaft 702 and then potted within the main seal body 708 with a curable adhesive or another sealing technology.

[0105] like Fig. 7A As shown in Figure 7-B, the main seal body 708 can be connected to the motor housing 710 with a curable adhesive or another sealing technology. One or more seals can be implemented on a single motor shaft to optimize shaft friction and seal reliability. Continuous lip seals with different gaps can help optimize energy efficiency, aging, and overall safety and performance. Figure 7B As shown, when the seal 704 is potted inside the main seal body 708, a pocket 712 may be formed. An orifice disk 714 having a hole defined therethrough for receiving the motor shaft 702 may be positioned within the pocket to further inhibit leakage into the motor housing 710. The orifice disk 714 may be constructed of plastic, metal, rubber, fluororubber, Teflon, UHMW polyethylene, high density polyethylene, or similar materials.

[0106] Thus, a manufacturer may obtain a flexible substrate having a substantially circular shape, form a hole at the geometric center of the flexible substrate (e.g., by punching or drilling), and then expand the hole in the flexible substrate around the motor shaft having a larger diameter than the hole. This approach may result in a resilient interference fit between the flexible substrate and the motor shaft, thereby forming a seal. The manufacturer may then secure the flexible substrate along the outer periphery to form an airtight seal. For example, as described above, the flexible substrate may be secured with a curable adhesive, RF welding, thermal welding, etc.

[0107] Some or all of the electronic components described herein as being contained within the ingestible device may be mounted on a flexible printed circuit board assembly (PCBA). FIG. 8A to FIG. 8B An example of a flexible PCBA 800 is depicted in its unfolded form and folded form, respectively. Fig. 8A As shown, the flexible PCBA may include at least two rigid regions 802 that provide support for components 804 mounted thereon and the accompanying solder joints, as well as help define the structure of the PCBA 800 as a whole. These rigid regions 802 may be connected by flexible regions 806 that may 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 power and / or data to be transmitted 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") that is composed of a non-conductive material such as polyimide.

[0108] Fig. 9 A high-level illustration of communications between a device 900 designed for ingestion by a living being and a controller 950, by which the movement of the ingestible device 900 is controlled, is included. Because images generated by the ingestible device 900 can be reviewed at the controller 950, the controller 950 may also be referred to as a "data review station" or "data review unit." Initially, the controller 950 transmits a first input indicating an instruction to operate a camera housed within the ingestible device 900 (step 901). Alternatively, the ingestible device 900 may be designed to automatically operate the camera when the device is first powered on or activated by being removed from packaging.

[0109] The ingestible device 900 can cause a camera to generate an image of a structure in a living body in response to a first input (step 902). The 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 the controller 950 for inspection (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 transmitting communications to the controller 950 and receiving communications from the controller 950.

[0110] The controller 950 may further transmit a second input indicating a request to change the position and / or orientation of the ingestible device 900 (step 904). The second input may be referred to as a "steering instruction" or a "propulsion instruction". The ingestible device 900 may cause at least one propeller to be driven in response to the second input (step 905). In an instance where multiple propellers are driven in response to the second input, the ingestible 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 ingestible device 900 may rotate while other propellers of the ingestible device 900 remain stationary.

[0111] Fig.10 A flow chart of a process 1000 for monitoring an in vivo environment using a device designed for in vivo ingestion is depicted. Initially, a subject ingests an ingestible device as part of a capsule endoscopy procedure for viewing the gastrointestinal tract (step 1001). The ingestible device (and its control software) may support several different data collection modes. For example, the ingestible device may support a "universal mode" suitable for open navigation and / or a "swallowing mode" suitable for unidirectional travel through the esophagus.

[0112] As the ingestible device travels through the living body, an optical sensor included in the ingestible device may then begin generating image data (step 1002). In some embodiments, the ingestible device causes the optical sensor to begin generating image data in response to receiving an instruction to do so. The instruction may be submitted, for example, by an operator through a controller that is communicatively coupled to the ingestible device. In other embodiments, the ingestible device causes the optical sensor to automatically generate image data in response to determining that a predetermined criterion has been met. For example, in response to determining that the ingestible device has entered a specific in vivo environment, the ingestible device may cause the optical sensor to begin generating image data. The ingestible device may reach such a determination by examining biometric data generated by a biometric sensor. For example, the ingestible device may determine whether it is currently in the stomach by examining biometric data representing a pH measurement. Images may be captured at any of a variety of resolutions, such as 48×48 pixels, 320×240 pixels, or 640×480 pixels. In other embodiments, images may be captured at higher or lower resolutions. The image data may be at least temporarily stored in a memory located in the ingestible device (step 1003).

[0113] The ingestible device can then wirelessly transmit at least some of the image data to a receiver located outside the living body via an antenna (step 1004). In some embodiments, the receiver is housed in an electronic device associated with the subject. For example, the image data can be transmitted to a mobile phone associated with the subject, and the mobile phone can 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, when the optical sensor generates image data, the ingestible device can stream the image data to the receiver.

[0114] To reduce the amount of raw data that must be transmitted over the bus or wireless link, the image data (as well as identification data, telemetry data, etc.) can be compressed in such a way that the amount is reduced without significantly affecting the user's perception of quality. For example, an algorithm that reduces color / hue differently from intensity, or an algorithm that reduces high-frequency content differently from 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 amount of data, the image resolution can be reduced before compressing and transmitting the image. For example, an optical sensor may generate an image with a resolution of 640×480 pixels, but the image may be downsampled to a resolution of 320×240 pixels before JPEG compression. The resolution can be adjusted during operation to achieve a desired compromise between image quality and frame rate (e.g., when the ingestible device travels through the esophagus, the image quality can be reduced to increase the frame rate). Other compression algorithms may be used after the data has been transmitted over the wireless link, such as where the data is transmitted to a controller that has computing and storage resources available to perform a more demanding compression algorithm than that performed on the ingestible device itself. This additional compression may be used to reduce the size of the data stored on the controller or some other electronic device. The data may be encrypted on the ingestible device, controller, or some other electronic device to prevent unauthorized third parties from accessing patient identifying information (PH) or medically sensitive information.

[0115] Fig.11 A flow chart of a process 1100 for controlling an ingestible device having an optical sensor while passing through a living body is depicted. 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, the ingestible device can be ingested by a subject. As the ingestible device passes through the living body, the ingestible device can receive a first input from a controller located outside the living body indicating an instruction to begin recording image data (step 1102).

[0116] The ingestible device may cause the optical sensor to begin generating image data in response to the first input (step 1103). Alternatively, the optical sensor may be configured to automatically begin generating image data after the ingestible device has been removed from its packaging, or after a mechanical switch accessible on an outer surface of the ingestible device has been activated. In some embodiments, the ingestible device may be remotely activated by a source located outside the living body via an RF signal, a magnetic signal, an 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.

[0117] The ingestible device may then wirelessly transmit at least some of the image data to a receiver using an antenna (step 1104). For example, a processor may transmit the image data to a transceiver that is responsible for modulating the image data onto an antenna for transmission to a receiver. In some embodiments, the image data is transmitted in its original (i.e., raw) form. In other embodiments, the image data is transmitted in a processed form. For example, the processor may filter values ​​from the image data, add metadata (e.g., specifying a location, time, or identifier associated with a living organism), etc. As described above, the receiver may be part of a controller or some other electronic device. For example, a medical professional may 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 may view the image data on a tablet computer and control the ingestible device using a dedicated input device similar to a controller for a video game console.

[0118] In some cases, a medical professional may wish to observe a specific structure in a living body. Therefore, the ingestible device may receive a second input indicating a movement instruction so that the structure can be observed by the optical sensor (step 1105). In other words, the ingestible device can be moved so that the structure is located in the field of view (FoV) of the optical sensor. The ingestible device can move by changing its position and / or direction. The ingestible device can determine an appropriate drive signal for each propulsion component based on the desired position and / or characteristics of the in vivo environment, such as viscosity, flow rate, temperature, etc. Once the ingestible device has reached the desired position, the ingestible device can automatically maintain its position until a predetermined time interval expires, or until an instruction to move to a new position is received from the controller.

[0119] The ingestible device may then cause at least one propeller to be driven in response to the second input (step 1106). In some embodiments, the propeller is driven entirely based on the second input. For example, if the second input represents an instruction to move forward, the propeller may be driven to achieve forward movement.

[0120] For embodiments of the ingestible device that use an onboard battery for power, it is generally desirable to minimize battery discharge before the ingestible device is ready for use in order to maximize the available power during operation. To avoid battery depletion during transportation and storage prior to deployment, the ingestible device may enter a low-power inactive state in which the current drawn from the battery is minimized or the battery is disconnected from other components (e.g., using a mechanical switch, transistor (e.g., MOSFET), or some other device). To leave this state, the ingestible device may be activated by a sensor.

[0121] Some embodiments of the ingestible device use a photoelectric sensor that prompts activation when light is detected. The photoelectric sensor can be configured to produce a reading indicating the current detectable visible light, infrared light, or ultraviolet light level. In these embodiments, the ingestible device can be transported and stored in a substantially opaque package to prevent the light sensor from being accidentally or prematurely activated. When the package is opened, the photoelectric sensor will be exposed to light and the ingestible device can be activated. Other embodiments of the ingestible device use a low-power magnetic sensor that activates when the ingestible device is exposed to a magnetic field. Alternatively, the ingestible device may include a low-power magnetic sensor that activates when the ingestible device is not exposed to a magnetic field. For example, a magnet may be included in the package so that the ingestible device is always exposed to a magnetic field when it is transported and stored. This embodiment has several advantages. First, the risk of premature activation is minimized because the package may accompany the ingestible device until it is about to be deployed. Second, the individual responsible for deploying 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 when exposed to a magnetic field. In embodiments where the ingestible device is activated by exposure to a magnetic field, a disposable or multiple-use magnetic fixture may be used to facilitate activation by holding 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 capsule so as to be accessible.

[0122] As described above, the ingestible device may have built-in features, such as sensors, software, etc., for performing self-diagnostic tests. Using these built-in features, the health and performance functions of the ingestible device can be tested regularly. These built-in features can also help debug and explore new operating mechanisms. Examples of self-diagnostic tests include checksum errors, software versions, battery voltages, power consumption of each motor, tests of other major components, etc. Alternatively or additionally, the camera can be commanded to generate a test image (e.g., a test image of the package) to be transmitted to a destination (e.g., a controller), where the test image can be compared to an expected reference image. The successful transmission of the test image requires the ingestible device to function properly. If the test image is not received or the test image is incorrect, it may indicate a defect (e.g., in the ingestible device, communication channel, etc.), for which an alarm can be generated indicating that the ingestible device should not be deployed.

[0123] Communication environment

[0124] Fig.12An example of a communication environment 1200 is depicted, which includes an ingestible device 1202, which is communicatively coupled to a controller 1204. An operator can control the ingestible device 1202 using the controller 1204. In addition, the ingestible device 1202 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 1206, a computer server 1208, and a mobile phone 1210. The ingestible device 1202, the controller 1204, and the (one or more) electronic devices can be collectively referred to as "networked devices."

[0125] In some embodiments, Fig.12 As shown, the networked devices are connected to each other via a point-to-point wireless connection. For example, the ingestible device 1202 can be communicatively coupled to the controller 1204 via Bluetooth®, near field communication (NFC), Wi-Fi® Direct (also known as "Wi-Fi P2P"), Zigbee®, another commercial point-to-point protocol, or a proprietary point-to-point protocol. In other embodiments, the networked devices are connected to each other via a network, such as a personal area network (PANs), a local area network (LANs), a wide area network (WANs), a metropolitan area network (MANs), a cellular network, or the Internet. For example, the ingestible device 1202 can be communicatively coupled to the monitor 1206 and the computer server 1208 via separate LoRa® communication channels.

[0126] The connection established between the networked devices may be bidirectional or unidirectional. For example, the controller 1204 may be allowed to transmit data to the ingestible device 1202, even though the ingestible device 1202 may not be able to transmit data to the controller 1204. Similarly, the ingestible device 1202 may be allowed to transmit data to the electronic device, even though the electronic device may not be able to transmit data to the ingestible device 1202.

[0127] Embodiments of the communication environment 1200 may include some or all of the networked devices. For example, certain embodiments of the communication environment 1200 include an ingestible device 1202 and a single device (e.g., a mobile phone, a tablet computer, or a mobile workstation) that functions as a controller and an electronic device on which the image data is viewed. As another example, certain embodiments of the communication environment 1200 include an ingestible device 1202 and a computer server 1208 on which the image data is stored for subsequent viewing. In such embodiments, because the image data will be viewed at a later point in time, the communication environment 1200 need not include the controller 1204. As another example, some embodiments of the communication environment 1200 include a dedicated input device without display capabilities that functions as the controller 1204, and an electronic device, such as a tablet computer or a mobile phone, on which the image data is viewed. In such an embodiment, the dedicated input device may be communicatively coupled to the ingestible device and / or the electronic device.

[0128] Since the ingestible device 1202 can work in vivo, close proximity to fluids, tissues, etc. may affect the electromagnetic operating characteristics of the antenna. To address this problem, the antenna can be designed and / or selected to minimize the influence of nearby materials with relative dielectric constants that are significantly different from free space. As an example, an embodiment can use a small loop antenna with one or more turns, which mainly interacts with the magnetic field component in the near field, and is therefore less strongly affected by the high dielectric material near. Alternatively, the antenna can be designed and / or selected to compensate for the influence of (one or more) fluids in the living body. As an example, an embodiment can use a straight, bent, curved or tortuous antenna (e.g., a monopole antenna), wherein when the ingestible device 1202 is surrounded by the fluid or anatomical structure of the living body, the effective electrical antenna length is between one-eighth and one-third of the transceiver operating wavelength. For example, an embodiment can use a monopole antenna or a "whip" antenna that is much shorter than a quarter wavelength of free space. Although such an antenna will not be optimally tuned in the air, proximity to (one or more) high dielectric fluids may cause the antenna to behave electrically as if it is significantly longer and properly tuned to the frequency of interest. This approach also has the advantage of allowing the use of much smaller antennas than the optimal antennas that operate in dry air. The mechanical structure of the antenna can be designed to conform to the housing of the ingestible device 1202.

[0129] The antenna and transceiver circuitry may be designed so that a single antenna is used to transmit and receive data. Alternatively, multiple antennas may be used. For example, different antennas may provide superior performance in certain orientations or fluid conditions, and the performance of each antenna may be monitored during operation so that the antenna with the highest performance is selected at any given point in time. In embodiments using wireless power transfer, the ingestible device 1202 may be configured to use a single antenna for both power and data transfer to eliminate the need for additional antennas. Alternatively, different antennas or electromagnetic coupling structures may be used for power and data transfer, allowing each antenna or electromagnetic coupling structure to be optimized for its respective task.

[0130] In order to allow multiple ingestible devices to operate in close proximity (e.g., multiple patients being treated in the same room or building), a pairing feature may be used to establish the above-mentioned communication channel. The pairing feature may be employed to ensure that each ingestible device is in communication with a single controller. To achieve this, a unique identification number may be assigned to each ingestible device during the manufacturing process. When an ingestible device establishes a communication channel, the ingestible device may send its identifier to determine whether a communication channel has been established with the appropriate controller. Additionally or alternatively, the ingestible device may attach an identifier (or shortened / modified identifier) ​​as a tag to a data packet to specify the appropriate controller. Thus, each controller may assume that a data packet without the correct identifier will be received by another controller and may therefore be ignored. As part of this process, the ingestible device and the corresponding controller may choose to switch to a different communication channel or frequency to avoid having to share time and bandwidth with other pairs of ingestible devices and controllers. The ingestible device and the corresponding controller may choose to change the communication frequency as needed during operation to avoid competing with interfering devices, a strategy known as "frequency hopping."

[0131] Processing system

[0132] Fig.13 1 is a block diagram illustrating an example of a processing system 1300 in which at least some of the operations described herein may be implemented. Components of the processing system 1300 may be housed in an ingestible device (e.g., Figure 1 on an ingestible device 100).

[0133] The processing system 1300 may include a central processing unit ("processor") 1302, a main memory 1306, a non-volatile memory 1310, a wireless transceiver 1312, an input / output device 1318, a control device 1320, a drive unit 1322 including a storage medium 1324, and a signal generating device 1328, which are communicatively connected to a bus 1316. The bus 1316 is shown as an abstraction, which represents one or more physical buses and / or point-to-point connections connected through appropriate bridges, adapters, or controllers. Thus, the bus 1316 may include a system bus, a peripheral component interconnect (PCI) bus, a PCI-Express bus, a HyperTransport bus, an Industry Standard Architecture (ISA) bus, a Small Computer System Interface (SCSI) bus, a Universal Serial Bus (USB), an Inter-Integrated Circuit (I 2 C) bus or a bus compliant with Institute of Electrical and Electronics Engineers (IEEE) standard 1394.

[0134] Processing system 1300 may share a computer processor architecture similar to that of a desktop computer, a tablet computer, a mobile phone, a video game console, a wearable electronic device (e.g., a watch or fitness tracker), a network-connected ("smart") device (e.g., a television or home assistant), an augmented or virtual reality system (e.g., a head-mounted display), or another electronic device capable of executing a set of instructions (sequential or otherwise) specifying actions to be taken by processing system 1300.

[0135] Although main memory 1306, non-volatile memory 1310, and storage medium 1324 are shown as a single medium, the terms "storage medium" and "machine-readable medium" should be taken to include a single medium or multiple media storing one or more sets of instructions 1326. The terms "storage medium" and "machine-readable medium" should also be taken to include any medium capable of storing, encoding, or carrying a set of instructions to be executed by processing system 1300.

[0136] Typically, the routines executed to implement the embodiments of the present disclosure may be implemented as part of an operating system or a specific application, component, program, object, module, or sequence of instructions (collectively referred to as a "computer program"). A computer program typically includes instructions (e.g., instructions 1304, 1308, 1326) that are placed in different memories and storage devices of an electronic device at different times. When read and executed by processor 1302, the instructions cause processing system 1300 to perform operations to perform various aspects of the present disclosure.

[0137] Although embodiments have been described in the context of fully functional electronic devices, those skilled in the art will appreciate that various embodiments can be distributed as program products in various forms. The present disclosure applies regardless of the specific type of machine or computer readable medium used to actually cause the distribution. Further examples of machine and computer readable media include recordable media, such as volatile and non-volatile memory devices 1310, removable disks, hard drives, optical disks (e.g., compact disk read-only memory (CD-ROM) and digital versatile disks (DVDs)), cloud-based storage devices, and transmission media such as digital and analog communication links.

[0138] Wireless transceiver 1312 enables processing system 1300 to communicate data with entities external to processing system 1300 in network 1314 via any wireless communication protocol supported by processing system 1300 and the external entities. Wireless transceiver 1312 may include, for example, an integrated circuit (e.g., to enable communication via Bluetooth or Wi-Fi), a network adapter card, or a wireless network interface card.

[0139] The techniques described herein may be implemented using software, firmware, hardware, or a combination of these forms. For example, dedicated hardwired (i.e., non-programmable) circuits in the form of application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), etc. may be used to implement various aspects of the present disclosure.

[0140] Vertical thrust axis motor calibration

[0141] In some embodiments, the ingestible device may include two or more motors, each of which has a thrust axis perpendicular to each other. One or more of these motors may have its thrust axis vertically aligned relative to the capsule body of the ingestible device, i.e., parallel to its z-axis and perpendicular to the longitudinal axis of the ingestible device. The term "thrust axis" herein refers to the axis along the thrust direction of a particular motor. As described below, such an embodiment may have certain advantages for the purpose of controlling the ingestible device.

[0142] Figures 14 to 20, which shows an embodiment with three motors (a "three-motor" embodiment). As shown, the ingestible device 1400 in this embodiment includes a pair of motors 1401A and 1401B placed at the rear end of the housing 1405, with thrust axes 1402A and 1402B aligned parallel to the longitudinal center axis (i.e., main thrust axis) 1403 of the ingestible device 1400. In the illustrated embodiment, each of the motors 1401A, 1401B, and 1401C includes a propeller having a single-blade Archimedean screw design. However, other embodiments may use different types of propellers, such as multiple individual angled blades, or paddlewheel blades (as discussed further below).

[0143] The two rear motors 1401A and 1401B have opposite chirality, as in the above-described embodiments, to achieve precise yaw control and yaw trim. The third motor ("z-axis motor") 1401C is mounted at or very close to the center of mass of the ingestible device 1400, and has its thrust axis 1402C vertically aligned, i.e., parallel to the z-axis and perpendicular to the thrust axes 1402A and 1402B of the other two motors 1401A and 1401B. The thrust axis 1402C of the z-axis motor 1401C can be aligned along the short center axis of the ingestible device and pass through the center of gravity of the ingestible device. The illustrated embodiment is advantageous in achieving direct translation of the ingestible device 1400 along the z-axis and achieving trim for active buoyancy control of the ingestible device 1400. This embodiment does not require pitch control because there is direct translation control along the z-axis. Note that other embodiments of the ingestible device 1400 may include more than one z-axis motor (i.e., more than one motor having its thrust axis parallel to the z-axis), and may include a fewer or greater number of motors having their thrust axes parallel to the longitudinal axis 1403 (such as motors 1401A and 1401B), and / or additional motors for yaw control, etc.

[0144] A stator 1404 is mounted at the top outlet of the z-axis motor 1401C to reduce eddy currents in the fluid column generated from the motor, thereby making the motor 1401C more efficient. Fig.17 As shown in , the z-axis motor 1401C can be mounted to the inner surface of the housing 1405 by blades 1701, which extend radially outward from the motor 1401C between the outer housing 1702 of the motor 1401C and the inner surface 1703 of the housing 1405 of the ingestible device 1400. The blades 1701 can also serve as a stator at the bottom inlet of the z-axis motor 1401C.

[0145] like Fig.15 , Fig.16 and Figures 18 to 20As shown in the embodiment shown, the ingestible device 1400 also includes a compact cylindrical battery 1406 to provide power for all active components in the ingestible device 1400, including the motor, camera 1412, light source 1413, and radio transceiver (not shown). The ingestible device 1400 shown further includes four circuit boards 1407, 1408, 1409, and 1410. The camera 1412 and LED light source 1413 are mounted on the circuit board 1407. One or more integrated circuits (e.g., FPGAs and / or ASICs) can be mounted on the circuit board 1408 to receive image data from the camera and convert the data into a clean image file. Circuit board 1409 can be mounted with circuits (e.g., a microcontroller, not shown) to control and / or coordinate various functions of the ingestible device 1400 and the radio transceiver (not shown). The circuit board 1410 may have higher power circuitry mounted thereon to power the motors 1401A, 1401B, and 1401C and / or their onboard controllers (not shown). All circuit boards 1407 - 1410 are electrically connected to the battery 1406 , either directly or indirectly.

[0146] T-Motor Embodiment

[0147] Fig.21 A to 26B relate to another embodiment of an ingestible device for in vivo imaging, which may also (but not necessarily) have a motor with a thrust axis oriented perpendicular to the longitudinal axis of the ingestible device for z-axis control. Fig.21 , 22A and 22B, which show an example of the interior of a motor assembly 2300 that can be used in such an ingestible device. In particular, Fig.21 is a cutaway perspective view of the motor assembly 2300, Fig.22A is a side cross-sectional view of the motor assembly 2300 through the center of the fluid channel 2402, and Fig. 22B is a top cross-sectional view of the motor assembly 2300 through the center of the fluid channel 2402.

[0148] As can be seen, the motor assembly 2300 has a generally T-shaped configuration comprising two sections: a hollow motor housing 2401 and a hollow fluid channel 2402 coupled to the motor housing 2401. A battery powered electric motor is disposed within the motor housing 2401. By virtue of the operation of the motor driving the propeller 2501, during operation of the motor, fluid flows through the fluid channel 2402 in either direction. The propeller is rotatably coupled to the electric motor and disposed within a central portion 2405 of the fluid channel 2402. The motor is reversible and can therefore cause the propeller 2501 to rotate clockwise or counterclockwise (from left to right). Fig.21 and the viewing angle in Figure 22).

[0149] When the motor assembly 2300 is installed in the ingestible device, each open end 2506A or 2506B of the fluid channel 2402 is a fluid inlet / outlet (i.e., an inlet or outlet depending on the direction of fluid flow at any given moment). Each inlet / outlet 2506A or 2506B is or is coupled to a corresponding inlet / outlet on the housing (not shown) of the ingestible device, as further described below. In some embodiments, the two inlets / outlets 2506A and 2506B of the motor assembly 2300 face in diametrically opposite directions, such as Fig.21 and 22. However, in other embodiments, this may not be the case, as discussed further below.

[0150] The motor assembly 2300 includes a propeller 2502 rotatably connected to a body 2601 of a battery-powered electric motor. In the illustrated embodiment, the rotation axis 2504 of the propeller 2502 is perpendicular to the thrust axis 2505 of the motor, as compared to the embodiments discussed above. In addition, the propeller 2501 is a paddlewheel propeller, which is also different from the embodiments discussed above. More specifically, the propeller 2501 has a plurality of paddle-type blades 2605, each paddle-type blade 2605 having two or more flat drive surfaces (e.g., a front and a rear) that remain parallel to the rotation axis of the motor during rotation of the propeller (the finite thickness of the blades is ignored for purposes of explanation). This is in contrast to propellers having multi-angle blades or spiral blades as described above. Such as Fig.21 The paddle wheel propeller configuration shown in FIG. 22 may be advantageous in applications where it is desired to provide non-relative thrust. That is, the angled or spiral blades impart a rotational component to the fluid driven by the propeller, whereas a paddle wheel propeller does not. In other embodiments, it may be desirable to impart a rotational component to thrust, such as where it is desirable to use the chirality of one or more motors to manipulate an ingestible device.

[0151] from Fig.22AIt can be seen that in the illustrated embodiment, the fluid channel 2402 has a generally curved path in a cross section perpendicular to the axis of rotation 2504 of the motor. In order to generate thrust, the propeller 2501 is vertically offset (from the perspective in FIG. 22 ) within the fluid channel 2402. More specifically, in a cross section perpendicular to the thrust axis 2504, the minimum clearance amount between the blade 2605 of the propeller 2501 and the lower inner surface 2602 of the fluid channel 2402 is greater than the minimum clearance amount A between the blade and the upper inner surface 2603 of the fluid channel 2402. This additional space B below the propeller 2501 (as shown in FIG. 22 ) is referred to as a “bypass region”. The presence of the bypass region, combined with the viscosity of the fluid within the fluid channel 2402, generates shear forces in the fluid, which results in thrust as the fluid moves through the bypass region and is ejected through the inlet / outlet 2506A or 2506B of the fluid channel 2402.

[0152] In at least one embodiment, dimension A is 0.25 mm and dimension B is 0.5 mm, so that the minimum total amount of clearance between the propeller blades and the lower inner surface 2602 of the fluid channel 2402 is (0.25+0.5)=0.75 mm, which is three times the minimum amount of clearance between the propeller blades and the upper inner surface 2603 of the fluid channel (0.25 mm). In such embodiments, the diameter C of the propeller 2501 can be, for example, 3.0 mm, while the diameter D of the fluid channel 2402 is 2.0 mm.

[0153] Figures 23A to 23D Different perspective views of the entire exterior of the motor assembly 2300 are shown. Note that the motor assembly 2300 can have the shape of its outer housing modified in a minor manner to allow it to fit more closely with other similar motor assemblies within the ingestible device, and / or to adapt its position within the ingestible device, such as Figures 24A to 24D Thus, motor assembly 2300 is a nominal motor assembly based on which such minor modifications in form factor (but not necessarily function) can be easily generated.

[0154] Figures 24A to 24DDifferent perspective views of a three-motor assembly 2400 are shown, which includes three motors based on the nominal motor assembly 2300 discussed above, for generating thrust along three mutually perpendicular coordinate axes (x, y, and z). More specifically, the three-motor assembly 2400 includes an x-motor assembly 2201, a y-motor assembly 2202, and a z-motor assembly 2203, each of which is the same or substantially similar to the nominal motor assembly 2300 discussed above. Each of these motors is so named based on the coordinate axis along which it generates thrust. A portion of the housing adjacent to each inlet / outlet is also shown to provide context as to how the motor assembly is mounted within the ingestible device.

[0155] Fig.25A and Fig.25B Two different perspective exterior views of an ingestible device 2500 that may include a three-motor assembly 2400 are shown. Fig.26A and Fig.26B Shown are the corresponding Fig.25A and Fig.25B Two perspective views of the ingestible device 2500 of FIG. 2500, but with half of the housing removed to make the three-motor assembly 2400 visible, and with certain components not germane to the present description (e.g., circuit boards, batteries, and electrical connectors) removed. Depicted in these figures are the z-shaped motor inlet / outlet 2102, the first x-shaped motor inlet / outlet 2103, the second x-shaped motor inlet / outlet 2105, and the y-shaped motor inlet / outlet 2104. Fig.21 Visible in FIG. B are identical z-shaped motor inlet / outlet 2102 and thrust motor inlet / outlet 2103. That is, inlet / outlet 2103 and inlet / outlet 2105 form opposite ends of a thrust motor assembly (not shown). Although not all inlets / outlets are visible in these views, each inlet / outlet has a paired inlet / outlet on the opposite side of its corresponding motor assembly, as described above and in FIG. Fig.21 and shown in FIG. 22 . Fig.26A and 26B Also shown is a battery holder 2204.

[0156] As mentioned above, in some embodiments, the two inlets / outlets of any particular motor assembly may face in diametrically opposite directions, e.g. Fig.21 22. This is the case for the y motor assembly 2202 and the z motor assembly 2203 discussed above. However, in some embodiments, this may not be the case for each motor assembly in the ingestible device, such as the x motor assembly 2201. More specifically, FIG. 24A to FIG. 24DAs shown, one inlet / outlet 2105 of the x-motor assembly 2201 faces directly toward the back of the ingestible device, while the other inlet / outlet 2103 of the x-motor assembly 2201 faces upward and forward at an acute angle. In some embodiments, this difference in inlet / outlet angles can be used to provide additional controllability (e.g., pitch control) of the ingestible device.

[0157] Examples of Certain Embodiments

[0158] One or more embodiments that have been disclosed above can be summarized as follows [The following paragraph merely reflects the claims and is included strictly for legal reasons. Please skip to the "Claims" section below.]

[0159] 1. An ingestible imaging device, comprising: a housing; an imaging device disposed within the housing; and a plurality of motors for providing a propulsion force to the ingestible imaging device when the ingestible imaging device is immersed in a fluid environment within a living body, wherein at least two of the plurality of motors have propulsion axes that are perpendicular to each other.

[0160] 2. The ingestible imaging device of Example 1, wherein the plurality of motors comprises three motors.

[0161] 3. An ingestible imaging device according to Example 1 or Example 2, wherein the shell has an elongated capsule shape having a longitudinal center axis, and wherein the plurality of motors include a first motor and a second motor, the first motor having a thrust axis parallel to the longitudinal center axis of the shell, and the second motor having a thrust axis perpendicular to the longitudinal center axis of the shell.

[0162] 4. The ingestible imaging device of any one of Examples 1 to 3, wherein the second motor is mounted at the center of mass of the ingestible imaging device.

[0163] 5. An ingestible imaging device according to any one of Examples 1 to 4, wherein the shell of the ingestible imaging device has a second center axis perpendicular to the longitudinal center axis of the shell, and wherein the thrust axis of the second motor is aligned along the second center axis.

[0164] 6. The ingestible imaging device of any of Examples 1 to 5, wherein the second motor is operable to provide active buoyancy trim to the ingestible imaging device when the ingestible imaging device is submerged in a fluid environment within a living body.

[0165] 7. An ingestible imaging device according to any of Examples 1 to 6, wherein the plurality of motors further comprises a third motor having a third thrust axis parallel to the longitudinal center axis of the housing.

[0166] 8. An ingestible imaging device according to any of Examples 1 to 7, wherein at least two of the plurality of motors are reversible so as to each provide bi-directional thrust capability.

[0167] 9. The ingestible imaging device of any of Examples 1 to 8, further comprising a stator located at a fluid outlet associated with the second motor.

[0168] 10. An ingestible imaging device according to any of Examples 1 to 9, wherein at least one of the plurality of motors comprises a propeller having an axis of rotation perpendicular to the thrust axis of the motor.

[0169] 11. An ingestible imaging device according to any of Examples 1 to 10, wherein each of the plurality of motors comprises a propeller having an axis of rotation perpendicular to the thrust axis of the motor.

[0170] 12. An ingestible imaging device according to any of Examples 1 to 11, wherein each of the plurality of motors comprises a propeller configured to rotate about an axis of rotation, the propeller having a plurality of blades, each of the plurality of blades having a drive surface that remains parallel to the axis of rotation of the motor during rotation of the propeller.

[0171] 13. An ingestible imaging device as described in any of Examples 1 to 12, wherein each of the plurality of motors provides bi-directional thrust.

[0172] 14. An ingestible imaging device according to any of Examples 1 to 13, wherein each of the multiple motors includes a propeller mounted in a channel for carrying a fluid, the propeller having an axis of rotation perpendicular to the thrust axis of the motor, and the propeller is spatially offset relative to the geometric center of the channel in a cross-sectional plane perpendicular to the axis of rotation.

[0173] 15. An ingestible imaging device according to any of Examples 1 to 14, wherein the propeller has an axis of rotation and wherein the channel has a curved U-shaped path in a cross-sectional plane perpendicular to the axis of rotation.

[0174] 16. An ingestible imaging device according to any of Examples 1 to 15, wherein each of the plurality of motors comprises a propeller mounted in a channel for carrying a fluid, the propeller having at least one blade and a rotational axis perpendicular to the thrust axis of the motor, and wherein: in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between at least one blade and a lower inner surface of the channel is greater than a minimum clearance amount between at least one blade and an upper inner surface of the channel.

[0175] 17. An ingestible imaging device according to any of Examples 1 to 16, wherein, in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between at least one blade and a lower inner surface of the channel is approximately three times a minimum clearance amount between at least one blade and an upper inner surface of the channel.

[0176] 18. An ingestible imaging device according to any of Examples 1 to 17, wherein the channel is shaped so that during operation of the motor, fluid moving through the channel takes a curved path through the motor in a cross-sectional plane perpendicular to the axis of rotation.

[0177] 19. An ingestible imaging device according to any of Examples 1 to 18, wherein the plurality of motors comprises three motors having thrust axes that are perpendicular to each other.

[0178] 20. An ingestible imaging device, comprising: a shell having an elongated capsule shape and having a longitudinal central axis defining the longest dimension of the shell; a light source disposed within the shell; an imaging device disposed within the shell; and a first motor, a second motor, and a third motor disposed within the shell to provide propulsion to the ingestible imaging device when the ingestible imaging device is immersed in a fluid environment within a living body, each of the first motor, the second motor, and the third motor having a propeller having a rotation axis and a thrust axis perpendicular to the rotation axis, wherein the thrust axis of the first motor is parallel to the longitudinal central axis of the shell, and the thrust axis of the second motor is perpendicular to the longitudinal central axis of the shell.

[0179] 21. An ingestible imaging device as described in Example 20, wherein the thrust axis of the third motor is perpendicular to the longitudinal center axis of the shell and the thrust axis of the second motor.

[0180] 22. An ingestible imaging device according to Example 20 or Example 21, wherein the propeller of each of the first motor, the second motor and the third motor has at least one blade, and the driving surface of the at least one blade remains parallel to the rotation axis of the motor during rotation of the propeller.

[0181] 23. An ingestible imaging device according to any of Examples 20 to 22, wherein each of the first motor, the second motor, and the third motor comprises a propeller mounted in a channel for carrying a fluid, the propeller having at least one blade and a rotation axis perpendicular to the thrust axis of the motor, and wherein: in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between at least one blade and a lower inner surface of the channel is greater than a minimum clearance amount between at least one blade and an upper inner surface of the channel.

[0182] 24. An ingestible imaging device, comprising: a shell having an elongated capsule shape and having a longitudinal center axis defining the longest dimension of the shell; a light source disposed within the shell; an imaging device disposed within the shell; and a first motor, a second motor, and a third motor disposed within the shell to provide a propulsion force to the ingestible imaging device when the ingestible imaging device is immersed in a fluid environment within a living body, wherein a thrust axis of the first motor is parallel to the longitudinal center axis of the shell, and a thrust axis of the second motor is perpendicular to the longitudinal center axis of the shell.

[0183] 25. The ingestible imaging device of Example 24, wherein each of the first motor, the second motor, and the third motor has a propeller having an axis of rotation and a thrust axis perpendicular to the axis of rotation.

[0184] 26. An ingestible imaging device according to Example 24 or Example 25, wherein the thrust axis of the third motor is perpendicular to the longitudinal center axis of the shell and the thrust axis of the second motor.

[0185] 27. An ingestible imaging device according to any of Examples 24 to 26, wherein the propeller of each of the first motor, the second motor and the third motor has at least one blade, the drive surface of the at least one blade remaining parallel to the rotation axis of the motor during rotation of the propeller.

[0186] 28. An ingestible imaging device according to any of Examples 24 to 27, wherein each of the first motor, the second motor, and the third motor comprises a propeller mounted in a channel for carrying a fluid, the propeller having at least one blade and a rotation axis perpendicular to the thrust axis of the motor, and wherein: in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between at least one blade and a lower inner surface of the channel is greater than a minimum clearance amount between at least one blade and an upper inner surface of the channel.

[0187] Any or all of the above features and functions may be combined with each other, unless otherwise specified above or any such embodiments are incompatible due to their functions or structures, which is obvious to a person of ordinary skill in the art. Unless contrary to physical possibility, it is foreseeable that (i) the methods / steps described herein may be performed in any order and / or in any combination, and (ii) the components of the various embodiments may be combined in any manner.

[0188] Although the subject matter is described in language specific to structural features and / or actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Instead, the specific features and actions described above are disclosed as examples of implementing the claims, and other equivalent features and actions are intended to be within the scope of the claims.

Claims

1. An ingestible imaging device comprising: case; An imaging device, the imaging device being disposed in the housing; as well as A plurality of motors are provided to provide propulsion to the ingestible imaging device when the ingestible imaging device is submerged in a fluid environment within a living body, wherein at least two of the plurality of motors have thrust axes that are perpendicular to each other.

2. The ingestible imaging device of claim 1, wherein: The plurality of motors includes three motors.

3. The ingestible imaging device of claim 1, wherein: The shell has an elongated capsule shape having a longitudinal center axis, and wherein the plurality of motors include a first motor having a thrust axis parallel to the longitudinal center axis of the shell and a second motor having a thrust axis perpendicular to the longitudinal center axis of the shell.

4. The ingestible imaging device of claim 3, wherein: The second motor is mounted at the center of mass of the ingestible imaging device.

5. The ingestible imaging device of claim 3, wherein: The housing of the ingestible imaging device has a second central axis perpendicular to the longitudinal central axis of the housing, and wherein the thrust axis of the second motor is aligned along the second central axis.

6. The ingestible imaging device of claim 3, wherein: The second motor is operable to provide buoyancy trim to the ingestible imaging device when the ingestible imaging device is submerged in a fluid environment within the living body.

7. The ingestible imaging device of claim 3, wherein: The plurality of motors also includes a third motor having a third thrust axis parallel to the longitudinal center axis of the housing.

8. The ingestible imaging device of claim 3, wherein: At least two of the plurality of motors are reversible so as to each provide bi-directional thrust capability.

9. The ingestible imaging device of claim 3, further comprising a stator located at a fluid outlet associated with the second motor.

10. The ingestible imaging device of claim 1, wherein: At least one of the plurality of motors includes a propeller having an axis of rotation perpendicular to a thrust axis of the motor.

11. The ingestible imaging device of claim 1, wherein: Each of the plurality of motors includes a propeller having an axis of rotation perpendicular to a thrust axis of the motor.

12. The ingestible imaging device of claim 1, wherein: Each of the plurality of motors includes a propeller configured to rotate about an axis of rotation, the propeller having a plurality of blades, each of the plurality of blades having a drive surface that remains parallel to the axis of rotation of the motor during rotation of the propeller.

13. The ingestible imaging device of claim 1, wherein: Each of the plurality of motors provides bidirectional thrust.

14. The ingestible imaging device of claim 1, wherein: Each of the plurality of motors includes a propeller mounted within a channel for carrying a fluid, the propeller having an axis of rotation perpendicular to a thrust axis of the motor, the propeller being spatially offset relative to a geometric center of the channel in a cross-sectional plane perpendicular to the axis of rotation.

15. The ingestible imaging device of claim 14, wherein: The propeller has an axis of rotation, and wherein the passage has a curved path in a cross-sectional plane perpendicular to the axis of rotation.

16. The ingestible imaging device of claim 1, wherein: Each of the plurality of motors comprises a propeller mounted within a channel for carrying a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor, and wherein: In a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between the at least one blade and a lower inner surface of the passage is greater than a minimum clearance amount between the at least one blade and an upper inner surface of the passage.

17. The ingestible imaging device of claim 16, wherein: In a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between the at least one blade and a lower interior surface of the passage is approximately three times a minimum clearance amount between the at least one blade and an upper interior surface of the passage.

18. The ingestible imaging device of claim 16, wherein: The passage is shaped such that during operation of the electric machine, fluid moving through the passage takes a tortuous path through the electric machine in a cross-sectional plane perpendicular to the axis of rotation.

19. The ingestible imaging device of claim 16, wherein: The plurality of motors includes three motors having thrust axes that are perpendicular to each other.

20. An ingestible imaging device comprising: a housing having an elongated capsule shape and having a longitudinal central axis defining a longest dimension of the housing; a light source, the light source being disposed in the housing; An imaging device, the imaging device being disposed in the housing; as well as A first motor, a second motor, and a third motor are arranged in the shell to provide propulsion to the ingestible imaging device when the ingestible imaging device is immersed in a fluid environment in a living body, each of the first motor, the second motor, and the third motor has a propeller, the propeller has a rotation axis and a thrust axis perpendicular to the rotation axis, wherein the thrust axis of the first motor is parallel to the longitudinal center axis of the shell, and the thrust axis of the second motor is perpendicular to the longitudinal center axis of the shell.

21. The ingestible imaging device of claim 20, wherein: The thrust axis of the third motor is perpendicular to the longitudinal center axis of the housing and to the thrust axis of the second motor.

22. The ingestible imaging device of claim 20, wherein: The propeller of each of the first, second and third motors has at least one blade, a drive surface of which remains parallel to the rotation axis of the motor during rotation of the propeller.

23. The ingestible imaging device of claim 20, wherein: Each of the first, second and third motors comprises a propeller mounted in a channel for carrying a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor, and wherein: In a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between the at least one blade and a lower inner surface of the passage is greater than a minimum clearance amount between the at least one blade and an upper inner surface of the passage.

24. An ingestible imaging device comprising: a housing having an elongated capsule shape and having a longitudinal central axis defining a longest dimension of the housing; a light source, the light source being disposed in the housing; An imaging device, the imaging device being disposed in the housing; as well as A first motor, a second motor, and a third motor are disposed within the housing to provide a propulsion force to the ingestible imaging device when the ingestible imaging device is immersed in a fluid environment within a living body, wherein a thrust axis of the first motor is parallel to a longitudinal center axis of the housing, and a thrust axis of the second motor is perpendicular to the longitudinal center axis of the housing.

25. The ingestible imaging device of claim 24, wherein: Each of the first motor, the second motor, and the third motor has a propeller having a rotation axis and a thrust axis perpendicular to the rotation axis.

26. The ingestible imaging device of claim 24, wherein: The thrust axis of the third motor is perpendicular to the longitudinal center axis of the housing and to the thrust axis of the second motor.

27. The ingestible imaging device of claim 24, wherein: The propeller of each of the first, second and third motors has at least one blade, a drive surface of which remains parallel to the rotation axis of the motor during rotation of the propeller.

28. The ingestible imaging device of claim 27, wherein: Each of the first, second and third motors comprises a propeller mounted in a channel for carrying a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor, and wherein: In a cross-sectional plane perpendicular to the thrust axis, a minimum clearance amount between the at least one blade and a lower inner surface of the passage is greater than a minimum clearance amount between the at least one blade and an upper inner surface of the passage.

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