Ingestible device with propulsion capabilities including direct Z-axis translation

Abstract

The ingestible, remotely controllable imaging device includes multiple motors arranged with their thrust axes perpendicular to one another to provide movement of the device, in one embodiment, at least one of the motors is aligned to have its thrust axis parallel to the yaw axis (e.g., z-axis) of the device, while at least one other motor has its thrust axis aligned parallel to the main thrust axis of the device.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Patent Application No. 63 / 343,694, filed May 19, 2022, which is incorporated by reference in its entirety herein.

[0002] (Technical field) The present disclosure relates to devices designed to generate images of biological structures located inside a living body and transmit the images to an electronic device located outside the living body. [Background technology]

[0003] Endoscopy is a medical procedure in which structures within a living body are visually inspected using a camera attached to the end of a flexible tube. Alternatively, an optical fiber exposed near the end of the flexible tube may 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. By inspecting the images generated by the camera, a physician can diagnose conditions affecting the living body. For example, during an upper endoscopy, a flexible endoscope may be inserted through a patient's mouth or nose, allowing the physician to inspect the esophagus, stomach, or upper portion of the small intestine (also called the "duodenum"). During a lower endoscopy or "colonoscopy," an endoscope may be inserted through the rectum, allowing the physician to inspect the large intestine.

[0004] Advances have been made in the quality, reliability, and safety of endoscopy. For example, improvements in camera resolution have enabled medical practitioners to provide more informative (and therefore more accurate) views. However, endoscopy is an invasive procedure and therefore has several potential complications. Patients may suffer from 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 tissue tearing due to the friction of advancing a flexible tube through a bend, especially in cancer patients where chemotherapy drugs have weakened the tissues of the gastrointestinal (GI) tract, or in pediatric patients whose anatomy is more fragile and / or physically smaller.

[0005] Furthermore, endoscopy can be a time-consuming procedure that requires expensive hospital resources. For example, a patient may be ordered to prepare for endoscopy while at home, travel to a medical site, and then remain at the medical site until sufficient recovery has occurred. This experience can take 8-12 hours, even though the endoscopy itself typically lasts only 15-30 minutes. Recovery time associated with sedation spent at a medical site, such as a hospital or clinic, can be a significant contributor to the overall cost of the procedure. Summary of the Invention [Means for solving the problem]

[0006] Various features of the present technology will become more apparent to those skilled in the art from examination of the detailed description in conjunction with the drawings, in which:

[0013] Embodiments of the present technology are illustrated in the drawings, by way of example, and not by way of limitation, in which like reference numerals may indicate similar elements. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 includes a cross-sectional view of an example of a propulsive ingestible device designed to monitor the in-vivo environment as it progresses under its own power through a living body, such as a human body or an animal body.

[0008] [Figure 2A] FIG. 2A includes a front perspective view of a loading section of an ingestible device.

[0009] [Figure 2B] FIG. 2B includes a rear perspective view of the loading section of the ingestible device of FIG. 2A.

[0010] [Diagram 3] FIG. 3 includes a perspective view of a power section of an ingestible device.

[0011] [Figure 4] FIG. 4 includes a perspective view of a drive section of an ingestible device.

[0012] [Figure 5A] FIG. 5A includes a perspective view of a propulsion section of an ingestible device.

[0013] [Figure 5B] FIG. 5B includes a transparent perspective view of a propulsion section of the ingestible device of FIG. 5A.

[0014] [Figure 5C] FIG. 5C illustrates how the pushers can be positioned adjacent to the stator blades within the distal element of the ingestible device.

[0015] [Figure 5D] FIG. 5D is an isolated rear view of the distal elements of FIG. 5C.

[0016] [Figure 6A] FIG. 6A includes a perspective view of an ingestible device having a rounded structural body with a central axis.

[0017] [Figure 6B] FIG. 6B includes a side view of the ingestible device of FIG. 6A.

[0018] [Figure 6C]FIG. 6C includes a rear view of the ingestible device of FIG. 6A.

[0019] [Figure 7A] FIG. 7A includes a cross-sectional view of an ingestible device illustrating how undersizing the seal formed by the punched or drilled sheet compared to the diameter of the motor shaft allows a single line of contact to be created between the seal and the motor shaft.

[0020] [Figure 7B] FIG. 7B illustrates how the orifice disk may be seated within a pocket formed when the seal is seated inside the primary seal body.

[0021] [Figure 8A] FIG. 8A depicts an example of a flexible printed circuit board assembly (PCBA) in an expanded configuration.

[0022] [Figure 8B] FIG. 8B depicts the flexible PCBA of FIG. 8A in a folded configuration.

[0023] [Figure 9] FIG. 9 includes a high-level illustration of the communication between a device designed for ingestion by a living body and a controller by which movement of the ingestible device is controlled.

[0024] [Figure 10] FIG. 10 depicts a process flow diagram for monitoring an in vivo environment using a device designed for uptake by a living organism.

[0025] [Figure 11] FIG. 11 depicts a flow diagram of a process for controlling a propulsive ingestible device with an optical sensor as it advances through a living organism.

[0026] [Figure 12]FIG. 12 depicts an example of a communication environment including a propulsive ingestible device communicatively coupled to a controller.

[0027] [Figure 13] 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.

[0028] [Figure 14] FIG. 14 is a perspective view of an ingestible device including motors with mutually perpendicular thrust axes that provide direct translation along the z-axis.

[0029] [Figure 15] 15 is a perspective view of certain internal components of the ingestible device of FIG. 14.

[0030] [Figure 16] 16 is another perspective view of certain internal components of the ingestible device of FIG. 14.

[0031] [Figure 17] FIG. 17 is a bottom view of the ingestible device of FIG.

[0032] [Figure 18] 18 is an orthogonal schematic top view of the ingestible device of FIG.

[0033] [Figure 19] 19 is an orthogonal schematic left side view of the ingestible device of FIG. 14. FIG.

[0034] [Figure 20] 20 is an orthogonal schematic rear view of the ingestible device of FIG.

[0035] [Figure 21] FIG. 21 is a cutaway perspective view of a motor assembly according to another embodiment of an ingestible device.

[0036] [Figure 22A] 22A is a side cross-sectional view of the motor assembly of FIG. 21. FIG.

[0037] [Figure 22B] 22B is a top cross-sectional view of the motor assembly of FIG. 21. FIG.

[0038] [Figure 23A] 23A shows a first perspective exterior view of the motor assembly of FIG. 21. FIG.

[0039] [Figure 23B] FIG. 23B shows a second perspective exterior view of the motor assembly of FIG.

[0040] [Figure 23C] FIG. 23C shows a third perspective exterior view of the motor assembly of FIG.

[0041] [Figure 23D] FIG. 23D shows a fourth perspective exterior view of the motor assembly of FIG.

[0042] [Figure 24A] FIG. 24A shows a first perspective view of a trimor assembly.

[0043] [Figure 24B] FIG. 24B shows a second perspective view of the trimor assembly.

[0044] [Figure 24C] FIG. 24C shows a third perspective view of the trimor assembly.

[0045] [Figure 24D] FIG. 24D shows a fourth perspective view of the trimor assembly.

[0046] [Figure 25A]FIG. 25A shows a first perspective exterior view of an ingestible device including the trimor assembly of FIGS. 24A-24D.

[0047] [Figure 25B] FIG. 25B shows a second perspective exterior view of the ingestible device of FIG. 25A.

[0048] [Figure 26A] FIG. 26A shows a first perspective cutaway view of the ingestible device of FIG. 25A.

[0049] [Figure 26B] FIG. 26B shows a second perspective cutaway view of the ingestible device of FIG. 25A. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0050] In this description, references to "an embodiment," "one embodiment," and the like mean that a particular feature, function, structure, or characteristic being described is included in at least one embodiment of the techniques introduced herein. Appearances of such phrases herein do not necessarily all refer to the same embodiment. On the other hand, referenced embodiments are not necessarily mutually exclusive.

[0051] Modern research has begun to explore ways to monitor the in vivo environment in a more effective manner. For example, several entities have developed cameras capable of capturing images of the digestive tract. Typically, these cameras are placed in a vitamin-sized capsule that can be swallowed by the patient. The camera can generate hundreds or thousands of images as the capsule progresses through the digestive tract, which can be wirelessly transmitted to an electronic device carried by the patient. This procedure is referred to as "capsule endoscopy."

[0052] Capsule endoscopy allows medical personnel to view in vivo environments, such as the small intestine, that cannot be easily reached using conventional endoscopes. However, capsule endoscopy remains a relatively rare procedure. One reason is the lack of control of the camera following ingestion of the capsule. Areas of interest may be missed by the camera due to the orientation of the capsule as it naturally progresses through the digestive tract. Another reason is that the devices used for capsule endoscopy may take several hours to reach the target anatomical structures and then several more hours to record images. The patient may then need to return to the medical site (e.g., a hospital or clinic) to deliver the recorded images.

[0053] Thus, introduced herein is a controllable propulsive ingestible device that includes a capsule (also referred to as a "housing" or "enclosure"), a camera, an antenna, and one or more propulsion components and propulsion control elements. Because the ingestible device is designed to propel itself through the living body, the ingestible device may be referred to as a "propulsive device."

[0054] The camera can generate images as the ingestible device traverses the digestive tract. The camera can be designed to capture images at various frame rates, for example, 2, 6, or 15 frames per second (fps). In some embodiments, the camera can capture more than 15 fps. The frame rate can vary based on how fast the ingestible device travels. For example, the ingestible device can be designed to increase the frame rate as the activation speed increases. The images generated by the camera are transferred to an antenna for transmission to an electronic device located outside the living body. More specifically, the processor can transmit the images to a transceiver, which is responsible for modulating the images to the antenna for transmission to the electronic device. In some embodiments, the images are transmitted to the electronic device in real time so that medical personnel can take appropriate action based on the content of the images. For example, medical personnel may review the images and find an area of ​​interest that requires further examination. In such a scenario, the propulsion component can direct the propelled ingestible device so that the camera can focus on the area of ​​interest. Such measures may enable the ingestible device to gather additional data (eg, in the form of images, biological measurements, etc.) regarding the area of ​​interest.

[0055] The medical practitioner may be a general practitioner, a specialist (e.g., a surgeon or gastroenterologist), a nurse, or a technician involved in managing the ingestible device as it progresses through the body. However, unlike traditional endoscopy, the medical practitioner does not need to be located in close proximity to the patient (also referred to as the "subject") being examined. For example, the medical practitioner may examine images generated by a camera on an electronic device located in a remote hospital while the patient is in another environment, such as at home, on a battlefield, etc. In this manner, the capabilities of a traditional GI department may be expanded using the techniques described herein.

[0056] Embodiments may be described with reference to particular capsule shapes, propulsion components, sensors, networks, etc. However, those 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 certain features may be described in the context of an ingestible sensor having multiple propellers arranged in a cross-shaped configuration, the features may be embodied in ingestible sensors having another type of propeller, or propellers in a different arrangement, or variations of combinations thereof.

[0057] (Ingestible Device Overview) FIG. 1 includes a cross-sectional view of an example of an ingestible device 100 designed to monitor an in vivo environment as it progresses through a living body, such as a human or animal body. It should be noted that FIG. 1 and other illustrations herein are not drawn to scale and are shown significantly enlarged for added clarity. Because the ingestible device 100 can be designed to propel itself through a living body, the ingestible device 100 may be referred to as a "propelled device." The ingestible device 100 includes a capsule 102 with 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 injury when contacting living tissue, such as the approximately hemispherical end shown in FIG. 1. This geometric shape may be referred to as a "sphere-ended cylinder." The ingestible device 100 shown in FIG. 1 has an approximately hemispherical end, but other hydrodynamically shaped ends may be included in other embodiments. For example, at least one end of the capsule 102 may be dome-shaped with a flat portion through which light may be directed toward an 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 feature a fillet that leaves a flat surface or a minimally curved surface along those ends. The cylindrical body 104 and the hemispherical ends 106a-b may collectively be referred to as the "structural components" of the capsule 102. To avoid contamination of the interior cavity defined by the cylindrical body 104 and / or the hemispherical ends 106a-b, the structural components may be hermetically sealed to one another.

[0058] In some embodiments, the structural components comprise the same material. For example, the structural components may comprise 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. The term "biocompatible" as used herein means not harmful to living tissue. The biocompatible polymer may be three-dimensionally (3D) printed, machined, sintered, injection molded, or otherwise formed around the components of the ingestible device 100. In other embodiments, the structural components comprise different materials. For example, the hemispherical end 106a, in which the optical sensor 110 is mounted, may be made of a clear plastic, while the other hemispherical end 106b and the cylindrical body 104 may be made of a polymer or metal alloy. Additionally, the structural components may include a coating that limits exposure of the structural components themselves 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 aids in the safety, durability, or operational efficiency of ingestible device 100. Additionally or alternatively, these structural components may be coated with an antimicrobial material, such as antibiotic-loaded polymethylmethacrylate (PMMA).

[0059] As shown in FIG. 1, at least one hemispherical end 106a can 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 can be positioned such that its outermost lens is substantially aligned with the exterior surface of the hemispherical end 106a, or the optical sensor 110 can be positioned such that the focal length of the lens is approximately the same as the radius of the hemispherical end 106a, thereby ensuring a focal point for any anatomical structure that is in direct contact with the ingestible device 100. Although the hemispherical end 106a shown in FIG. 1 includes a single opening, other embodiments of the hemispherical end 106a can include multiple openings (e.g., for multiple optical sensors, biometric sensors, or a combination thereof). In some embodiments, the hemispherical end 106a is entirely made of a transparent material. In such embodiments, hemispherical end 106a may not include a dedicated opening for optical sensor 110, as optical sensor 110 can generate image data using electromagnetic radiation that penetrates a transparent material. Hemispherical end 106a may include surface features that diffuse (or direct) illumination exiting ingestible device 100. Additionally, a portion of hemispherical end 106a may be rendered substantially opaque to reduce or eliminate internal reflections of light that may interfere with optical sensor 110.

[0060] For manufacturing convenience, openings 108 will often be circular. However, openings 108 may have other configurations. For example, in some embodiments openings 108 are rectangular, while in other embodiments openings 108 have rectangular portions with circular ends. These circular ends may be oriented opposite hemispherical ends 106a such that optical sensors positioned below the circular ends may observe the in vivo environment along both sides of propulsive ingestible device 100.

[0061] In various embodiments, the capsule 102 can have any of a variety of different sizes, such as any of those listed in Table I. [Table 1]

[0062] As shown in FIG. 1, ingestible device 100 can include four sections with different roles: load section 200, power section 300, drive section 400, and propulsion section 500. Each of these sections is described in more detail below with respect to FIGs. 2, 3, 4, and 5, respectively. Although these sections are illustrated differently from one another, the components associated with each section are not necessarily located within the corresponding boxes illustrated in FIG. 1. For example, power section 300 may include a power distribution unit that extends into load section 200, drive section 400, and / or propulsion section 500 and delivers power to the components within those sections.

[0063] 2A includes a front perspective view of the loading section 200 of the ingestible device, while FIG. 2B includes a rear perspective view of the loading section 200 of the ingestible device. The loading section 200 can 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. An embodiment of the ingestible device can include some or all of these components as well as other components not shown here. For example, if the ingestible device is designed for imaging only, the loading section 200 may not include a manipulator controller 208 since no manipulation would be performed.

[0064] As the ingestible device traverses the GI tract, the optical sensor 202 can generate image data based on electromagnetic radiation reflected by structures located within the GI tract. For example, if the optical sensor 202 is a camera, images or videos can be captured as the ingestible device progresses 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 or in addition to the optical sensor 202. Thus, the ingestible device may include one or more sensors configured to generate image data based on energy reflected by structures within the body. An illumination source 212 (also referred to as a "light source") stored within the ingestible device will typically be responsible for generating the electromagnetic radiation. An example of the illumination source 212 is a light emitting diode (LED). Here, the illumination source 212 is positioned such that the electromagnetic radiation is emitted through the same opening in the capsule where the reflected electromagnetic radiation is received. In other embodiments, the illumination source 212 is positioned such that electromagnetic radiation is emitted through a first opening in the capsule while reflected electromagnetic radiation is received through a second opening in the capsule.

[0065] Some embodiments of the propulsive ingestible device include multiple 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. Collectively, these optical sensors can generate different sets of data that provide meaningful information that may be useful not only for diagnosing, but also for aiding in spatial positioning. Here, for example, the infrared sensor may be capable of measuring heat emitted by objects included in a color image captured by the camera.

[0066] 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 propulsive ingestible device. For example, the bus 204 may transfer image data generated by the optical sensor 202 to the control unit 206, which may transfer the image data to a transceiver configured to modulate the data to an antenna for transmission to a receiver located outside the body. As described further below, the receiver may be part of an electronic device where an individual may view an image 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 power using a second set of cables. In other embodiments, the bus 204 manages data and power on a single channel (e.g., with components capable of transferring data and power simultaneously).

[0067] 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 analyzing inputs received by the antenna and then providing appropriate instructions to other components in the propulsive ingestible device. As described further below, the individual may provide inputs using a controller device (or simply, "controller") located outside the body. The inputs may represent requests to start generating image data using the optical sensor 202, start transmitting image data using the antenna, stop generating image data using the optical sensor 202, stop transmitting image data using the antenna, or move the propulsive ingestible device to a desired location. 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 assembly, or other similar processing units.

[0068] In some embodiments, the propelled ingestible device is designed to manipulate the in vivo environment in some manner. In such embodiments, the payload section 200 may include interventional components such as a biopsy accessory, a needle, a cutting mechanism, a pushing mechanism, a cauterization mechanism (e.g., an ohmic cauterizer or a radio frequency (RF) cauterizer), or a drug delivery mechanism. The manipulator controller 208 may control these interventional components. For example, the manipulator controller 208 may control a biopsy accessory that extends through the capsule and collects tissue based on instructions received from the control unit 206.

[0069] To prevent fluid from entering the capsule, the load section 200 and the power section 300 may be hermetically sealed to one another. Thus, the hermetic seal 210 may be fixed along the interface between the load section 200 and the power section 300. The hermetic seal 210 may be made of epoxy resin, metal, glass, plastic, rubber, ceramic, glue, or another sealing material. One factor in determining whether the materials used to form the hermetic seal 210 are suitable is whether the surface energy of the materials is similar to the surface energy of the substrate to which the hermetic seal 210 is solidified. Thus, the composition of the hermetic seal 210 may depend on the composition of the structural components of the capsule. For example, if the structural components of the capsule are made of stainless steel, the hermetic seal 210 may be made of epoxy resin having metal (e.g., stainless steel) particles suspended therein. Alternatively, the hermetic seal 210 may be formed using flexible gaskets, adhesive films, welds, seals, and the like.

[0070] 3 includes a perspective view of a power section 300 of an ingestible device. The power section 300 can include power components 302, a power distribution unit 304, and sealing seals 306a-b secured along each end. The sealing seals 306a-b can be substantially similar to the sealing seal 210 secured to the load section 200 as described with respect to FIG. 2. Additionally, the sealing seal 210 secured to the lower end of the load section 200 can be the same seal as the sealing seal 306a secured to the upper end of the power section 300. Thus, a single sealing seal can join the load section 200 and the power section 300.

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

[0072] The power component 302 can be, for example, a silver oxide battery, a nickel-cadmium battery, a lithium battery (e.g., with a liquid cathode cell, a solid cathode cell, or a solid electrolyte cell), a capacitor, a fuel cell, a piezoelectric component, or another energy capture and / or storage device. In some embodiments, the power component 302 is exposed to a fluid, and the ingestible device includes one or more battery plates that run through the fluid. In such embodiments, the power component 302 can be designed to run on a fluid that is easily accessible in the in vivo environment for which the ingestible device is designed (e.g., bodily fluids such as stomach acid). Typically, a battery works by shuttling ions with a positive charge from one location to another through a solution called an electrolyte that has positively and negatively charged particles. However, in the case of exposed battery plates, a pair of metal electrodes can be fixed to the exterior surface of the ingestible device. One metal electrode (e.g., made of zinc) can release ions into the fluid, and the fluid acts as an electrolyte by carrying a small current to the other metal electrode (e.g., made of copper).

[0073] In some embodiments, the power component 302 is designed to receive power wirelessly from a source located outside the body. In such embodiments, 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 provide power to other components in the ingestible device as needed. The power can be received using the same 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 used to control the ingestible device, an electronic device used to review the image data, or some other electronic device (e.g., a mobile phone or wireless charger belonging to the patient). Alternatively, the wireless power source can be included in an article such as a belt or band that can be worn, whereby the wireless power source is located near the ingestible device as it progresses through the living body. Such a wearable article can include a battery pack, which is integrated into the article itself or attached to the patient. Additionally, such a wearable article can include one or more antennas for data transmission.

[0074] Power component 302 can be designed to fit into a particular segment of an ingestible device, where, for example, power component 302 has a button cell configuration that allows power component 302 to be secured within the cylindrical body of the capsule, however, other embodiments of power component 302 can be designed to fit within a hemispherical end of the capsule or another area in the capsule.

[0075] 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. Thus, the 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 / DC converters), metal oxide semiconductor field effect transistors (MOSFETs), capacitors, transformers, resistors, or inductors.

[0076] 4 includes a perspective view of a drive section 400 of an ingestible device. The drive section 400 can include an energy / movement converter 402, a heat transfer component 404, and sealing seals 406a-b secured along each end. The sealing seals 406a-b can be the same as or substantially similar to the sealing seal 210 secured to the load section 200 as described with respect to FIG. 2. Additionally, the sealing seal 306b secured to the lower end of the power section 300 can be the same seal as the sealing seal 406a secured to the upper end of the drive section 400. Thus, a single sealing seal can join the power section 300 and the drive section 400.

[0077] Upon receiving power from a power distribution unit (e.g., power distribution unit 304 in FIG. 3), mechanical power converter 402 can drive other components of the ingestible device. Here, for example, drive section 400 can include multiple motors, each motor responsible for driving a different propeller. Examples of motors 402 include DC or AC electric motors, drivers made of shape memory alloys, electromagnets, shafts, piezoelectric components, etc. The propellers can be connected to the motors by one or more shafts, gears, levers, bearings, etc.

[0078] Components in an ingestible device may generate heat, which should be dissipated to avoid causing damage within the body. For example, components such as the energy / movement converter and the motor housing may generate heat if the propeller is driven for an extended period of time. Thus, these components may include or be connected to a heat transfer component 404 that can assist in dissipating this heat. In some embodiments, the heat transfer component 404 directly dumps heat into the fluid surrounding the ingestible device (e.g., moisture, bile, stomach acid, and mixtures thereof). For example, the motor housing may be made of a material (e.g., stainless steel) with acceptable thermal conductivity to facilitate dissipation of heat. In other embodiments, the heat transfer component 404 dumps heat into the capsule. Once the heat is dumped into the capsule, it may naturally move into the fluid surrounding the ingestible device through conduction and convection.

[0079] 5A includes a perspective view of a propulsion section 500 of an ingestible device, while FIG. 5B includes a transparent perspective view of the propulsion section 500 of an ingestible device. The propulsion section 500 can include one or more pushers 502, one or more intakes 504, and a sealing seal 508 secured along an upper end thereof. The sealing seal 508 can be substantially similar to the sealing seal 210 secured to the loading section 200 as described with respect to FIG. 2. Additionally, the sealing seal 508 can be the same seal as the sealing seal 406b secured to the lower end of the drive section 400. Thus, a single sealing seal can join the drive section 400 and the propulsion section 500.

[0080] As discussed above, an 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 configured to generate propulsion to move the ingestible device, and an energy / motion converter configured to provide 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 involved in providing power to multiple propellers, but the speed of each propeller may be varied through a mechanical connection (e.g., a clutch system or a gear system).

[0081] As further described below, multiple thrusters 502 can be arranged to facilitate movement along different axes. In FIG. 5A-B, for example, four thrusters 502 are arranged radially around a central axis 516 defined in a cross-shaped configuration through the capsule. More specifically, the thrusters 502 are arranged at radially offset locations from the central axis and at different angular offsets around the central axis. By independently driving the thrusters 502, movement can be achieved in any direction or orientation in a manner similar to a quadrotor. Thus, the ingestible device can be commanded to move forward and backward at different speeds. Furthermore, the ingestible device can be commanded to change its orientation through rotation about three mutually perpendicular axes. These changes in orientation and forward / backward motion can be translated into variations in yaw (up-down axis), pitch (side-to-side axis), and roll (vertical axis), so that movement to any location can be represented in three-dimensional space.

[0082] In FIGS. 5A-B, the propeller 502 is a rotor capable of drawing in fluid through an intake 504 formed in the capsule. The term "rotator," as used herein, refers to a component capable of rotating and creating thrust. An example of a rotor is a propeller. However, other propellers may be used in place of or in addition to a rotor. Examples of propulsion components include helicoids, fins, whip-like appendages (also referred to as "flagellum"), wave-like mechanisms, and the like. Additionally, propulsion components may be positioned along the cylindrical body of the capsule in place of or in addition to the hemispherical end of the capsule. For example, the ingestible device may include vibrating fins positioned along both sides of the cylindrical body of the capsule. These vibrating fins may be used in conjunction with propellers, helicoids, or whip-like appendages located within the hemispherical end of the capsule to provide further control of the movement of the ingestible device.

[0083] As shown in Figures 5A-B, the capsule may include one or more channels through which fluid can be drawn by the propellers 502. Each channel includes an inlet 504 through which fluid can be drawn and an outlet 506 through which fluid can be exhausted. Examples of inlets 504 include ducts, lumens, vanes, tubes, etc. Although the embodiment shown in Figure 5 includes the same number of propellers 502 and inlets 504, that need not always be the case. For example, a propeller mounted in the hemispherical end of the capsule may be capable of drawing fluid through one or more inlets to prevent moving components such as the propellers 502 from contacting living tissue. The efficiency of rotating propellers may be optimized with fixed stator vanes to control vortices, increase speed, and increase controllability, as discussed further below with respect to Figures 5C-D. In some embodiments, coaxial counter-rotating propellers may be used to eliminate fixed stator vanes entirely. The number and geometry of the propellers and vane blades can be adjusted to optimize bubble and debris removal as a function of diameter, speed, and fluid properties.

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

[0085] Another issue is that propellers, unless properly designed, tend to impart a rotational motion (or "churning") to the fluid rather than creating thrust. This issue can be addressed by adding one or more stator vanes (also referred to as "stator blades") to each flow channel. The terms "stator vane" and "stator blade" refer to fixed blades positioned within the flow channel, where the fluid is drawn in and then out through the flow channel by a propeller. FIG. 5C illustrates how the propellers 502 can be positioned adjacent to stator vanes 514 within the distal element 512 of the ingestible device of FIGS. 5A-B. These stator vanes 514 can serve to straighten the fluid flow, reduce the churning effect, and increase thrust and thrust consistency. As shown in FIG. 5C, each propeller 402 can be connected to a separate motor housing 510, where the motor responsible for driving the propellers is located. The pushers 502 (and thus the motor housing 510) may be arranged in a cross-shaped configuration to better control the propulsive forces.

[0086] Figure 5D is an isolated rear view of the distal element 512 shown in Figure 5C. In embodiments in which the distal element 512 includes multiple stator vanes 514, the stator vanes 514 may be arranged radially around the geometric center of the distal element 512. Generally, the stator vanes 514 are approximately uniformly arranged around the geometric center, as shown in Figure 5D. However, in some embodiments, the stator vanes 514 are arranged around the geometric center in a non-uniform manner.

[0087] 6A-C include perspective, side, and rear views of an ingestible device 600 having an atraumatic structural body 602 with a central axis 612 through the ingestible device 600. The structural body 602 shown in FIGs. 6A-C is a ball-ended cylinder that includes interconnected cylindrical segments between hemispherical segments. In other embodiments, the structural body 602 can be oval, rectangular, teardrop shaped, etc.

[0088] As discussed above, the ingestible device 600 can 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 disposed about the structural body 602 at right angles to the central axis 612. The four rotors 604a-d can include a first pair of rotors 604a-b disposed radially opposite one another relative to the central axis 612, and a second pair of rotors 604c-d disposed radially opposite one another relative to the central axis. Each pair of rotors can be configured to share the same handedness. For example, both rotors 604a-b can generate forward thrust when rotating clockwise relative to the central axis 612. At the same time, the rotor pairs can be configured with anti-handedness: for example, when all four rotors rotate clockwise about the central axis 612, the rotors 604a-b can generate a forward thrust, while the rotors 604c-d can generate a rearward thrust. As shown in FIG. 6C, the first and second pairs of rotors 604a-d can be arranged in a cross-shaped configuration, with adjacent rotors rotating in opposite directions to generate thrust in the same direction, while radially opposed rotors rotate in the same direction to generate thrust in the same direction. Such a configuration allows independent control of thrust, pitch, yaw, and roll through the combination of the effects of the individual rotors. Position and orientation control can thus be achieved in a manner similar to a quadrotor.

[0089] Each rotor may be located in a different channel defined through the structural body 602, and each channel may include an inlet 606 through which fluid is drawn by the corresponding rotor, and an outlet 608 through which fluid is exhausted by the corresponding rotor. Generally, the channels are defined 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 segment of the structural body 602, while the outlet 608 of each channel is located in a hemispherical segment of the structural body 602. In operation, the rotors 604a-d can draw fluid through the inlet 606 and create 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 may have a smaller diameter than the outlet 608, or the inlet 606 of each channel may have a larger diameter than the outlet 608.

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

[0091] As mentioned above, the term "rotor" as used herein refers to a component capable of rotating and creating propulsion. Propulsion imparts momentum to a surrounding fluid to generate movement. The structural body 602 can be equipped with one, two, three, four, or more rotors depending on the speed and maneuvering requirements of the ingestible device 600. In Figures 6A-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 triangular configuration within the first end 614 of the structural body 602.

[0092] Each rotor may be independently driven by a different motor. In Figures 6A-C, for example, ingestible device 600 includes four motors configured to provide power to four rotors 604a-d. In other embodiments, multiple rotors may be driven by a single mechanical power converter. For example, a single motor may be responsible for providing power to a first pair of rotors 604a-b, but the speed of these rotors may be varied through a mechanical connection (e.g., a clutch system or a gear system).

[0093] In some embodiments, each rotor has a fixed pitch. In Figures 6A-C, for example, the four rotors 604a-d are fixedly positioned along a radial plane perpendicular to the central axis 612. In other embodiments, at least one rotor has a variable pitch. In such embodiments, further control of the movement of the ingestible device 600 can be achieved by simultaneously controlling the pitch and rotation of the rotors 604a-d.

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

[0095] Generally, to produce a rotor, several blades are fixed to a hub through welding, gluing, or alternatively, by forging the entire rotor into one piece. The number of blades may depend on the desired efficiency, speed, acceleration, maneuverability, etc. For example, a three-blade rotor exhibits better acceleration compared to other types of rotors, while a four-blade rotor exhibits better maneuverability compared to other types of rotors. Rotors with a higher blade count (e.g., those with five or six rotor blades) exhibit better retention in turbulent in vivo environments, such as those with high flow velocities. Single-blade rotors may have advantages in manufacturability and durability. In the embodiment shown in Figures 6A-C, each rotor includes three helicoidal surfaces that act together to rotate through a fluid (e.g., moisture, bile, etc.) with a screw effect.

[0096] One of the difficulties in generating thrust on a small scale is persistent bubbles, which can become trapped near rotors such as propellers and prevent the rotors from properly engaging the fluid. This problem can be addressed by carefully designing the shape, number, and placement of the blades along each rotor to aid in bubble removal. Careful matching of the blade pitch, lumen shape, motor speed, rotor-to-wall clearance, rotor-to-stator vane clearance, and surface material properties affect bubble generation and removal.

[0097] The rotor may be formed based on a simple truncated Archimedean spiral geometry. Alternatively, as discussed above, the rotor may feature a number of individual blades that feature a curvature optimized for thrust in the forward or aft direction. Similarly, the stator blades may feature flat or curved blades if they are positioned within a channel through which the rotor draws in and then expels fluid.

[0098] It is also important to prevent fluids from entering the ingestible device, particularly into the propulsion section, including the moving motor interface. Thus, the ingestible device may implement tight tolerance, hydrophobic and / or hydrophilic materials, or mechanical seals. Seals can maintain tolerances on a microscale and are therefore useful for maintaining safety and consistency without requiring complex assembly processes. Figures 7A-B illustrate how low-profile and low-friction seals can be implemented to prevent fluids from entering the motor housing of ingestible device 700.

[0099] FIG. 7A includes a cross-sectional view of an ingestible device 700, illustrating how making the seal 704 formed by the stamped or drilled sheet smaller compared to the diameter of the motor shaft 702 allows a single contact line 706 to be created 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 embedded tension. The stamped or drilled sheet can be made of polytetrafluoroethylene (PTFE) or a similar material (e.g., ultra-high molecular weight (UHMW) polyethylene). This design can be easily produced using relatively few machining operations. Another advantage of this approach is that several seals can be produced at once using a simple drill jig. Hoop tension (also referred to as "hoop stress") is created by drilling a small hole one size smaller in the sheet (e.g., 0.5-0.6 mm diameter for a 0.7 mm diameter motor shaft) and then expanding it over the motor shaft 702. The hoop tension will cause the expanded hole to protrude slightly and create a minimum contact line 706 with the motor shaft 702, reducing friction while providing a seal.

[0100] The seal 704 can be produced 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 onto the motor shaft 702 and then fixing it in place using a curable adhesive (e.g., a UV-curable adhesive), radio frequency (RF) welding, heat welding, etc. The seal 704 can be expanded over the motor shaft 702 and then anchored inside the main seal body 708 using a curable adhesive or another sealing technique.

[0101] As shown in FIGS. 7A-B, the primary seal body 708 may be connected to the motor housing 710 with a curable adhesive or another sealing technique. One or more seals may be implemented on a single motor shaft to optimize shaft friction and seal reliability. A continuous peripheral seal with different clearances may help optimize energy efficiency, aging, and overall safety and performance. As shown in FIG. 7B, once the seal 704 is set inside the primary seal body 708, a pocket 712 may be formed. An orifice disk 714 having a defined hole 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 comprise plastic, metal, rubber, Viton, Teflon, UHMW polyethylene, high density polyethylene, or similar materials.

[0102] Thus, a manufacturer may obtain a flexible substrate having a substantially circular shape, form a hole in the geometric center of the flexible substrate (e.g., by punching or drilling a hole), and then expand the hole in the flexible substrate around a motor shaft having a larger diameter than the hole. Such an approach may cause an elastic interference fit to be created between the flexible substrate and the motor shaft, thereby forming a seal. The manufacturer may then secure the flexible substrate along its outer periphery to form a hermetic seal. For example, as described above, the flexible substrate may be secured using a curable adhesive, RF welding, heat welding, etc.

[0103] Some or all of the electronic components described herein to be included in the ingestible device may be mounted on a flexible printed circuit board assembly (PCBA). FIGS. 8A-B depict an example of a flexible PCBA 800 in its expanded and folded configurations, respectively. As shown in FIG. 8A, the flexible PCBA may include at least two rigid areas 802 that serve to provide support to the components 804 and associated solder joints mounted thereon, as well as help define the structure of the PCBA 800 as a whole. These rigid areas 802 may be connected by a flexible area 806 that may be folded to allow the PCBA 800 to fit within the ingestible device. The PCBA 800 may include conductive connections between the electronic components to allow for the transfer of power and / or data therebetween. More specifically, the PCBA 800 may include one or more conductive layers that serve as connections between the electronic components mounted on the rigid areas 802. Each pair of conductive layers may be separated by an insulating layer (also referred to as a "non-conductive layer") made of a non-conductive material such as polyimide.

[0104] 9 includes a high level illustration of communication between a device 900 designed for ingestion by a living organism and a controller 950 by which movement of the ingestible device 900 is controlled. Because images generated by the ingestible device 900 may be reviewed on 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 instructions for operating a camera stored 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 removal from the package.

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

[0106] The controller 950 may further transmit a second input indicating a request to alter the position and / or orientation of the ingestible device 900 (step 904). This second input may be referred to as a "steering command" or a "propelling command." The ingestible device 900 may cause at least one propeller to be actuated in response to the second input (step 905). In cases where multiple propellers are actuated in response to the second input, the ingestible device 900 may generate multiple signals to actuate the multiple propellers. These signals may be different from one another. For example, each propeller of the multiple propellers may be rotated at a different speed. As another example, some propellers of the ingestible device 900 may be rotated while other propellers of the ingestible device 900 are kept stationary.

[0107] FIG. 10 depicts a flow diagram of a process 1000 for monitoring an in vivo environment using a device designed for ingestion by a living organism. Initially, a subject ingests an ingestible device as part of a capsule endoscopy procedure to observe the digestive tract (step 1001). The ingestible device (and its control software) may support a number of different data collection modes. For example, the ingestible device may support a "general mode" suitable for open navigation and / or a "swallow mode" suitable for a unidirectional journey through the esophagus.

[0108] The optical sensor included in the ingestible device can then begin generating image data as the ingestible device progresses through the living body (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 communicatively coupled to the ingestible device. In other embodiments, the ingestible device automatically generates image data in response to determining that a predetermined criterion has been met. For example, the ingestible device may cause the optical sensor to begin generating image data in response to determining that the ingestible device has entered a particular in-vivo environment. The ingestible device may arrive at such a determination by examining biometric data generated by a biometric sensor. For example, the ingestible device may establish whether the ingestible device is currently in the stomach by examining biometric data representing a pH measurement. The 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, the images may be captured at higher or lower resolutions. The image data may be stored, at least temporarily, in a memory located within the ingestible device (step 1003).

[0109] The ingestible device can then cause wireless transmission of at least some of the image data via an antenna to a receiver located outside the living body (step 1004). In some embodiments, the receiver is stored within an electronic device associated with the subject. For example, the image data can be transmitted to a mobile phone associated with the subject, which can forward the image data to another electronic device for review by an operator responsible for controlling the ingestible device. In some embodiments, the image data is transmitted to the receiver on a periodic basis (e.g., every 3 seconds, 5 seconds, 30 seconds, 60 seconds, etc.). In other embodiments, the image data is transmitted to the receiver in real time. That is, the ingestible device can stream image data to the receiver as the image data is generated by the optical sensor.

[0110] To reduce the amount of raw data that must be transferred across the bus or wireless link, the image data (as well as the identification data, telemetry data, etc.) may be compressed to reduce quantities without significantly affecting the user's perception of quality. For example, algorithms that reduce color / hue as distinct from intensity, or reduce high frequency components as distinct from low frequency components, may be employed. Standardized image and / or video compression algorithms, such as JPEG, H.264 (MPEG), H.265, etc., may be employed to compress the data. To further reduce the amount of data, the image resolution may be reduced before being compressed and transmitted. For example, an optical sensor may generate images with a 640×480 pixel resolution, but the images may be downsampled to a 320×240 pixel resolution prior to JPEG compression. The resolution may be adjusted during operation to achieve a desired tradeoff between image quality and frame rate (e.g., image quality may be reduced to increase frame rate while the ingestible device is progressing through the esophagus). Other compression algorithms may be used after the data is transmitted over the wireless link, such as when the data is transmitted to a controller that has available computing and memory resources to execute a compression algorithm that is more demanding than is suitable to implement 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. Data may be encrypted on the ingestible device, controller, or some other electronic device to prevent unauthorized third party access to patient identifiable information (PII) or medically sensitive information.

[0111] 11 depicts a flow diagram of a process 1100 for controlling an ingestible device having an optical sensor as it progresses through a living organism. First, the ingestible device is inserted into the living organism (step 1101). For example, if the ingestible device is designed to monitor the digestive system, the ingestible device may be ingested by a subject. As the ingestible device progresses through the living organism, the ingestible device may receive a first input from a controller located outside the living organism indicating an instruction to begin recording image data (step 1102).

[0112] 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 is removed from its package or after a mechanical switch accessible along an exterior surface of the ingestible device is activated. In some embodiments, the ingestible device can 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 of the package 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 particular in-vivo environment.

[0113] The ingestible device can then wirelessly transmit at least some of the image data to a receiver using an antenna (step 1104). For example, the processor may transmit the image data to a transceiver, which is responsible for modulating the image data to the antenna for transmission to the 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., defining a location, time, or identifier associated with the living body), etc. As described above, the receiver may be part of a controller or some other electronic device. For example, a medical practitioner may view the image data and control the ingestible device using a mobile workstation wirelessly connected to the ingestible device. As another example, a medical practitioner 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.

[0114] In some cases, the medical practitioner may wish to view a particular in vivo structure. Thus, the ingestible device may receive a second input indicating a command to move so that the structure may be observed by the optical sensor (step 1105). In other words, the ingestible device may move so that the structure is located within the field of view (FoV) of the optical sensor. The ingestible device may move by altering its position and / or orientation. The ingestible device may determine appropriate drive signals 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 reaches the desired position, it may automatically maintain that position until a predetermined time interval has elapsed or until a command to move to a new position is received from the controller.

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

[0116] For embodiments of ingestible devices that are powered using an on-board battery, it is generally desirable to minimize battery discharge before the ingestible device is ready to be used in order to maximize the amount of power available while the ingestible device is in operation. To avoid battery discharge during shipping 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., with a mechanical switch, a transistor such as a MOSFET, or some other means). To leave this state, the ingestible device may be activated by a sensor.

[0117] Some embodiments of the ingestible device employ a light sensor that prompts activation when light is detected. The light sensor may be configured to generate a reading indicative of the level of visible, infrared, or ultraviolet light currently detectable. In these embodiments, the ingestible device may be shipped and stored in a substantially opaque package to prevent the light sensor from being inadvertently or prematurely activated. When the package is opened, the light sensor is exposed to light and the ingestible device can be activated. Other embodiments of the ingestible device employ a low-power magnetic sensor that 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 such that the ingestible device is constantly exposed to a magnetic field while being shipped and stored. This embodiment has several advantages. First, there is minimal risk of premature activation since the package is likely to accompany the ingestible device until deployment is imminent. Second, there is no need for an individual involved in deploying the ingestible device to introduce an activation signal such as a magnetic field. Other embodiments of the ingestible device may use a reed relay as a mechanical power switch to activate the ingestible device upon exposure to a magnetic field. In embodiments where the ingestible device is activated by exposure to a magnetic field, a single or multi-use magnetic fastener may be used to facilitate activation by keeping 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 located along the exterior surface of the enclosure so as to be accessible.

[0118] As discussed above, the ingestible device may have built-in features such as sensors, software, etc. to perform self-diagnostic tests. Using these built-in features, the health and performance functions of the ingestible device can be periodically tested. These built-in features may also be useful for debugging and exploring new operational regimes. Examples of self-diagnostic tests include checksum errors, software version control, battery voltage, power consumption per motor, testing of other major components, etc. Alternatively or in addition, the camera may be instructed to generate a test image (e.g., of the package) to be transmitted to a destination (e.g., a controller), and the test image may be compared to an expected reference image. Successful transmission of the test image would require the ingestible device to function properly. If the test image is not received or is incorrect, it may signify a defect (e.g., in the ingestible device, the communication channel, etc.) for which an alert may be generated indicating that the ingestible device should not be deployed.

[0119] (Communication environment) 12 depicts an example of a communication environment 1200 including an ingestible device 1202 communicatively coupled to a controller 1204. An operator can control the ingestible device 1202 using the controller 1204. Additionally, 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 electronic devices may be collectively referred to as "networked devices."

[0120] In some embodiments, the networked devices are connected to each other via a point-to-point wireless connection, as shown in FIG. 12. For example, the ingestible device 1202 may be communicatively coupled to the controller 1204 via Bluetooth®, Near Field Communication (NFC), Wi-Fi® Direct (also referred to 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 (PAN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a cellular network, or the Internet. For example, the ingestible device 1202 may be communicatively coupled to the monitor 1206 and the computer server 1208 via separate LoRa® communication channels.

[0121] The connections established between networked devices may be bidirectional or unidirectional. For example, the controller 1204 may be enabled to transmit data to the ingestible device 1202 even if the ingestible device 1202 may not be able to transmit data to the controller 1204. Similarly, the ingestible device 1202 may be enabled to transmit data to an electronic device even if the electronic device may not be able to transmit data to the ingestible device 1202.

[0122] An embodiment of the communication environment 1200 may include some or all of the networked devices. For example, some embodiments of the communication environment 1200 include an ingestible device 1202 and a single device (e.g., a mobile phone, tablet computer, or mobile workstation) that serves as a controller and an electronic device from which image data is reviewed. As another example, some embodiments of the communication environment 1200 include an ingestible device 1202 and a computer server 1208 where the image data is stored for subsequent review. In such embodiments, the communication environment 1200 need not include a controller 1204 because the image data will be reviewed at some later point in time. As another example, some embodiments of the communication environment 1200 include a dedicated input device without display capabilities that serves as an electronic device, such as a tablet computer or mobile phone, from which image data is reviewed. In such embodiments, the dedicated input device may be communicatively coupled to the ingestible device and / or the electronic device.

[0123] Because the ingestible device 1202 may operate in vivo, proximity to fluids, tissues, etc. may affect the electromagnetic operating characteristics of the antenna. To address this, the antenna may be designed and / or selected to minimize the effect of nearby materials that have a relative dielectric constant significantly different than free space. By way of example, embodiments may use a small loop antenna with one or more windings, which interacts primarily with magnetic field components in the near field and thus is less strongly affected by the proximity of high dielectric materials. Alternatively, the antenna may be designed and / or selected to compensate for the effect of fluids inside the living body. By way of example, embodiments may use straight, bent, curved, or serpentine antennas (e.g., monopole antennas) with an effective electrical antenna length that is one-eighth to one-third of the transceiver operating wavelength when the ingestible device 1202 is surrounded by the fluids or anatomical structures of the living body. For example, embodiments may use a monopole or "whip" antenna that is significantly shorter than a free space quarter wavelength. Although this antenna would not be optimally tuned in air, its proximity to a high dielectric fluid may cause the antenna to behave electrically as if it were significantly longer and appropriately tuned to the frequency of interest. Such an approach also has the advantage of allowing the use of antennas that are significantly smaller than would be optimal for operation in dry air. The mechanical structure of the antenna may be designed to conform to the enclosure of the ingestible device 1202.

[0124] The antenna and transceiver circuitry may be designed such that a single antenna is used for both transmitting and receiving data. Alternatively, multiple antennas may be used. For example, different antennas may provide better performance in certain orientations or fluid conditions, and the performance of each antenna may be monitored during operation to select the antenna with the highest performance at any given time. In embodiments using wireless power transmission, the ingestible device 1202 may be configured to use a single antenna for both power and data transmission to eliminate the need for additional antennas. Alternatively, different antennas or electromagnetically coupled structures may be used for power and data transmission, allowing them to be optimized for their respective tasks.

[0125] To allow multiple ingestible devices to operate in close proximity (e.g., multiple patients receiving treatment in the same room or building), the communication channels discussed above may be established using a pairing feature. The pairing feature may be employed to ensure that each ingestible device communicates with a single controller. To accomplish this, each ingestible device may be assigned a unique identification number during manufacture. Once a communication channel is established with an ingestible device, the ingestible device may transmit its identifier to verify whether a communication channel has been established with the appropriate controller. Additionally or alternatively, the ingestible device may append the identifier (or a shortened / modified identifier) ​​to the data packet as an indicator to designate the appropriate controller. Thus, each controller may assume that data packets without the correct identifier are intended to be received by another controller and therefore can be ignored. As part of this process, the ingestible device and corresponding controller may choose to switch to different communication channels or frequencies to avoid having to share time and bandwidth with other pairs of ingestible devices and controllers. Ingestible devices and corresponding controllers may choose to change their communication frequencies as needed during operation to avoid conflicts with interfering devices, a strategy known as "frequency hopping."

[0126] (Processing System) 13 is a block diagram illustrating an example of a processing system 1300 in which at least some operations described herein may be implemented. Components of the processing system 1300 may be provided on an ingestible device (e.g., the ingestible device 100 of FIG. 1).

[0127] 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 coupled to a bus 1316. The bus 1316 is illustrated as an abstraction and represents one or more physical buses and / or point-to-point connections connected by appropriate bridges, adapters, or controllers. The bus 1316 may thus be any of a variety of buses, including 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 (IIC), a Serial Bus (SBC), a Serial Interface (SCI), a Serial Serial Bus (SSPI ... 2 C) a bus, or a bus conforming to the Institute of Electrical and Electronics Engineers (IEEE) standard 1394.

[0128] 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 endurance tracker), a network-connected ("smart") device (e.g., a television or home assistant device), 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) that specify actions to be taken by processing system 1300.

[0129] 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 that store one or more sets of instructions 1326. The terms "storage medium" and "machine-readable medium" should be taken to include any medium capable of storing, encoding, or carrying a set of instructions for execution by processing system 1300.

[0130] Generally, 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 comprises instructions (e.g., instructions 1304, 1308, 1326) that are configured at various times in various memories and storage devices in the electronic device. When read and executed by the processor 1302, the instructions cause the processing system 1300 to perform operations to carry out various aspects of the present disclosure.

[0131] Although the embodiments are described in the context of a fully functional electronic device, those skilled in the art will appreciate that various embodiments may also be distributed as a program product in various forms. The present disclosure applies regardless of the particular type of machine or computer readable medium used to actually cause the distribution. Further examples of machine and computer readable media include recordable type media, such as volatile and non-volatile memory devices 1310, removable disks, hard disk drives, optical disks (e.g., compact disk read only memories (CD-ROMS) and digital versatile disks (DVDs)), cloud-based storage, and transmission type media, such as digital and analog communication links.

[0132] The wireless transceiver 1312 enables the processing system 1300 to mediate data within a network 1314 with entities external to the processing system 1300 through any wireless communication protocol supported by the processing system 1300 and the external entities. The wireless transceiver 1312 may include, for example, an integrated circuit (e.g., enabling communication via Bluetooth or Wi-Fi), a network adapter card, or a wireless network interface card.

[0133] The techniques introduced herein can be implemented using software, firmware, hardware, or a combination of such forms. For example, aspects of the present disclosure may be implemented using special purpose hardwired (i.e., non-programmable) circuitry in the form of application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), etc.

[0134] (Vertical thrust shaft motor alignment) In some embodiments, an ingestible device can include two or more motors with their respective thrust axes arranged perpendicular to one another. One or more of the motors can have their thrust axis perpendicular to the capsule body of the ingestible device, i.e., parallel to its z-axis, and aligned perpendicular to the longitudinal axis of the ingestible device. The term "thrust axis" as used herein refers to an axis that lies along the direction of thrust of a particular motor. Such an embodiment can have certain advantages for purposes of controlling the ingestible device, as described below.

[0135] One such embodiment is illustrated in FIGS. 14-20, which show an embodiment having three motors (a "tri-motor" embodiment). As shown, ingestible device 1400 includes a pair of motors 1401A and 1401B mounted at the rear end of housing 1405 in this embodiment, with their thrust axes 1402A and 1402B aligned parallel to central longitudinal axis (i.e., primary thrust axis) 1403 of ingestible device 1400. In the illustrated embodiment, motors 1401A, 1401B, and 1401C each include a propeller having a single blade Archimedes screw type design. However, other embodiments may use different types of propellers, such as multiple individual angled blades or paddlewheel type blades (as discussed further below).

[0136] The two rear motors 1401A and 1401B are anteroposterior, as in the embodiment described above, allowing for precise yaw control and yaw adjustment. A 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 aligned vertically, i.e., parallel to the z-axis, which is 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 central axis of the ingestible device, through the center of gravity of the ingestible device. The illustrated embodiment is advantageous not only for allowing direct translation of the ingestible device 1400 along the z-axis, but also for allowing adjustment for active buoyancy control of the ingestible device 1400. Pitch control is not required for this embodiment since there is direct translation control along the z-axis. It should be noted that other embodiments of ingestible device 1400 can include two or more z-axis motors (i.e., two or more motors whose thrust axes are parallel to the z-axis), fewer or more motors (such as motors 1401A and 1401B) whose thrust axes are parallel to longitudinal axis 1403, and / or additional motors for yaw control, etc.

[0137] A stator 1404 is mounted at the top exit of the z-axis motor 1401C to reduce vortices in the fluid column generated from the motor, thereby making the motor 1401C more efficient. As shown in FIG. 17, the z-axis motor 1401C can be mounted to the inner surface of the housing 1405 by vanes 1701 that 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 vanes 1701 can also serve as a stator at the bottom inlet of the z-axis motor 1401C.

[0138] As shown in FIGS. 15, 16, and 18-20, the ingestible device 1400 also includes a compact cylindrical battery 1406 to provide power for all active components within the ingestible device 1400, including, in the illustrated embodiment, the motor, the camera 1412, the light source 1413, and the wireless transceiver (not shown). The illustrated ingestible device 1400 further includes four circuit boards 1407, 1408, 1409, and 1410. The circuit board 1407 has a camera 1412 and an LED light source 1413 mounted thereon. The circuit board 1408 may have one or more integrated circuits (e.g., FPGAs and / or ASICs) mounted thereon for receiving image data from the camera and converting the data into a clean image file. The circuit board 1409 may have circuitry (e.g., a microcontroller, not shown) mounted thereon for controlling and / or coordinating various functions of the ingestible device 1400 as well as the wireless transceiver (not shown). Circuit board 1410 may have higher power circuitry mounted thereon for powering motors 1401A, 1401B, and 1401C and / or their on-board controllers (not shown). All of the circuit boards 1407-1410 are electrically connected, directly or indirectly, to a battery 1406.

[0139] (T-Motor embodiment) 21A-26B relate to another embodiment of an ingestible device for imaging the inside of a living organism, which also may (but need not) have a motor whose thrust axis is oriented perpendicular to the longitudinal axis of the ingestible device for z-axis control. Referring first to FIGS. 21, 22A, and 22B, which show an example of the inside of a motor assembly 2300 that may be used in such an ingestible device. In particular, FIG. 21 is a cutaway perspective view of motor assembly 2300, FIG. 22A is a side cross-sectional view of motor assembly 2300 through the center of fluid channel 2402, and FIG. 22B is a top cross-sectional view of motor assembly 2300 through the center of fluid channel 2402.

[0140] As can be seen, the motor assembly 2300 has a generally T-shaped configuration that includes two segments: a hollow motor enclosure 2401 and a hollow fluid channel 2402 coupled to the motor enclosure 2401. A battery-powered electric motor is disposed within the motor enclosure 2401. Fluid flows in either direction through the fluid channel 2402 by operation of the motor driving a propeller 2501 during operation of the motor. 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 therefore can rotate the propeller 2501 clockwise or counterclockwise (from the perspective in FIGS. 21 and 22).

[0141] When the motor assembly 2300 is installed within an ingestible device, each open end 2506A or 2506B of the fluid channel 2402 is a fluid inlet / outlet (i.e., an inlet or an 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 a housing (not shown) of the ingestible device, as described further below. In some embodiments, the two inlets / outlets 2506A and 2506B of the motor assembly 2300 face in diametrically opposed directions, as shown in FIGS. 21 and 22. However, in other embodiments, that may not be the case, as discussed further below.

[0142] The motor assembly 2300 includes a propeller 2502 rotatably coupled to a body 2601 for a battery-powered electric motor. In the illustrated embodiment, the axis of rotation 2504 of the propeller 2502 is perpendicular to the thrust axis 2505 of the motor, in contrast to the embodiments discussed above. Furthermore, the propeller 2501 is a paddle wheel propeller, also in contrast to the embodiments discussed above. More specifically, the propeller 2501 has a plurality of paddle blades 2605, each of which has two or more flat driving surfaces (e.g., front and back) that remain parallel to the axis of rotation of the motor during rotation of the propeller (ignoring the finite thickness of the blades for purposes of explanation). This is in contrast to propellers with a plurality of angled or helical blades, as described above. A paddle wheel propeller configuration such as that shown in FIGS. 21 and 22 may be advantageous in applications where it is desirable to provide non-rotating thrust. That is, angled or helical blades impart a propeller-driven rotational component to the fluid, whereas paddlewheel-type propellers do not. In other embodiments, it may be desirable to impart a rotational component to thrust, such as when it is desired to use the handedness of one or more motors to steer an ingestible device.

[0143] From FIG. 22A, it can be seen that in the illustrated embodiment, the fluid channel 2402 has a generally curved path in a cross-sectional plane perpendicular to the motor's axis of rotation 2504. To generate thrust, the propeller 2501 is vertically offset in the fluid channel 2402 (from the perspective in FIG. 22). More specifically, in a cross-sectional plane perpendicular to the thrust axis 2504, the minimum clearance between the blades 2605 of the propeller 2501 and the lower inner surface 2602 of the fluid channel 2402 exceeds the minimum clearance A between the blades and the upper inner surface 2603 of the fluid channel 2402. This additional space B (visible in FIG. 22) below the propeller 2501 is referred to as the "bypass region." The presence of the bypass region, in conjunction with the viscosity of the fluid in the fluid channel 2402, induces shear forces in the fluid that move through the bypass region and are forced out through the inlet / outlet 2506A or 2506B of the fluid channel 2402, resulting in thrust.

[0144] In at least one embodiment, dimension A is 0.25 mm and dimension B is 0.5 mm, so the total minimum 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 clearance (0.25 mm) between the propeller blades and the upper inner surface 2603 of the fluid channel. In such an embodiment, the diameter C of the propeller 2501 may be, for example, 3.0 mm, while the diameter D of the fluid channel 2402 is 2.0 mm.

[0145] 23A-23D show different perspective views of the overall exterior of motor assembly 2300. Note that motor assembly 2300 may have the shape of its outer housing slightly modified to allow it to fit more compactly adjacent other similar motor assemblies within an ingestible device and / or to accommodate its position within an ingestible device, as shown in FIGS. 24A-24D (discussed below). Thus, motor assembly 2300 is a nominal motor assembly, based on which such slight modifications in form factor (not necessarily function) may be readily generated.

[0146] 24A-24D show different perspective views of a tri-motor assembly 2400 that 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 tri-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 as or substantially similar to the nominal motor assembly 2300, discussed above. Each of these motors is so named based on a coordinate axis along which each generates thrust. A portion of the housing adjacent each inlet / outlet is also shown to provide context as to how the motor assemblies are mounted within the ingestible device.

[0147] 25A and 25B show two different perspective exterior views of an ingestible device 2500 that may include a trimor assembly 2400. FIGs. 26A and 26B show two perspective views of an ingestible device 2500 corresponding to FIGs. 25A and 25B, respectively, but with half of the housing removed to make the trimor assembly 2400 visible, and with certain components not relevant to this description removed (e.g., circuit board, battery, and electrical connectors). The z-motor inlet / outlet 2102, the first x-motor inlet / outlet 2103, the second x-motor inlet / outlet 2105, and the y-motor inlet / outlet 2104 are depicted in these figures. The same z-motor inlet / outlet 2102 and thrust motor inlet / outlet 2103 are visible in FIG. 21B. That is, the inlet / outlet 2103 and the inlet / outlet 2105 form opposite ends of the thrust motor assembly (not shown). Although not all inlets / outlets are visible in these views, each inlet / outlet has a counterpart on the opposite side of its corresponding motor assembly, as described above and illustrated in Figures 21 and 22. The battery holder 2204 is also shown in Figures 26A and 26B.

[0148] As mentioned above, in some embodiments, the two inlets / outlets of any particular motor assembly may face in diametrically opposed directions, as shown in FIGS. 21 and 22. That is true for the y-motor assembly 2202 and z-motor assembly 2203 discussed above. However, in some embodiments, that is not true for all motor assemblies in the ingestible device (such as the x-motor assembly 2201). More specifically, as can be seen in FIGS. 24A-24D, one inlet / outlet 2105 of the x-motor assembly 2201 faces directly toward the rear 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, such a difference in inlet / outlet angles can be used to provide additional control capabilities (e.g., pitch control) of the ingestible device.

[0149] (Example of an embodiment) One or more embodiments of what is disclosed above can be summarized as follows: [The following paragraphs merely reflect the claims and are included strictly for legal reasons only. Please skip to the "Claims" section below.]

[0150] 1. An ingestible imaging device comprising: a housing; an imaging device disposed within the housing; and a plurality of motors for providing propulsive force to the ingestible imaging device when the ingestible imaging device is placed in a fluid environment within a living body, at least two of the plurality of motors having thrust axes that are perpendicular to each other.

[0151] 2. The ingestible imaging device of Example 1, wherein the plurality of motors comprises three motors.

[0152] 3. An ingestible imaging device as described in Example 1 or Example 2, wherein the housing has an elongated capsule shape having a central longitudinal axis, and the multiple motors include a first motor having a thrust axis parallel to the central longitudinal axis of the housing, and a second motor having a thrust axis perpendicular to the central longitudinal axis of the housing.

[0153] 4. The ingestible imaging device of any of Examples 1-3, wherein the second motor is mounted to the center of mass of the ingestible imaging device.

[0154]

[0155] 5. An ingestible imaging device as described in any of Examples 1-4, wherein the housing of the ingestible imaging device has a second central axis that is perpendicular to the longitudinal central axis of the housing, and the thrust axis of the second motor is aligned along the second central axis.

[0156] 6. An ingestible imaging device as described in any of Examples 1-5, wherein the second motor is operable to provide active buoyancy control for the ingestible imaging device when the ingestible imaging device is placed in a fluid environment within a living body.

[0157] 7. The ingestible imaging device of any of Examples 1-6, wherein the plurality of motors further includes a third motor having a third thrust axis parallel to the central longitudinal axis of the housing.

[0158] 8. The ingestible imaging device of any of Examples 1-7, wherein at least two of the plurality of motors are reversible such that each provides bidirectional thrust capability.

[0159] 9. The ingestible imaging device of any of Examples 1-8, further comprising a stator located at a fluid outlet associated with the second motor.

[0160] 10. The ingestible imaging device of any of Examples 1-9, wherein at least one of the multiple motors includes a propeller having an axis of rotation that is perpendicular to the thrust axis of the motor.

[0161] 11. The ingestible imaging device of any of Examples 1-10, wherein each of the multiple motors includes a propeller having an axis of rotation perpendicular to the thrust axis of the motor.

[0162] 12. An ingestible imaging device as described in any of Examples 1-11, wherein each of the multiple motors includes a propeller configured to rotate about an axis of rotation, the propeller having a plurality of blades, each of the multiple blades having a drive surface that remains parallel to the axis of rotation of the motor during rotation of the propeller.

[0163] 13. The ingestible imaging device of any of Examples 1-12, wherein each of the plurality of motors provides a bidirectional thrust.

[0164] 14. An ingestible imaging device as described in any of Examples 1-13, wherein each of the multiple motors includes a propeller mounted within a channel for transporting 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.

[0165] 15. The ingestible imaging device of any of Examples 1-14, wherein the propeller has an axis of rotation and the channel has a curved U-shaped path in a cross-sectional plane perpendicular to the axis of rotation.

[0166] 16. An ingestible imaging device as described in any of Examples 1-15, wherein each of the multiple motors includes a propeller mounted within a channel for transporting a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor, and in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance between the at least one blade and a lower inner surface of the channel is greater than a minimum clearance between the at least one blade and an upper inner surface of the channel.

[0167] 17. An ingestible imaging device as described in any of Examples 1-16, wherein in a cross-sectional plane perpendicular to the thrust axis, the minimum gap between at least one blade and the lower inner surface of the channel is approximately three times the minimum gap between at least one blade and the upper inner surface of the channel.

[0168] 18. An ingestible imaging device as described in any of Examples 1-17, wherein the channel is shaped such that during operation of the motor, fluid moving through the channel takes a curved path in a cross-sectional plane perpendicular to the axis of rotation and past the motor.

[0169] 19. The ingestible imaging device of any of Examples 1-18, wherein the plurality of motors includes three motors having thrust axes perpendicular to one another.

[0170] 20. An ingestible imaging device comprising: a housing having an elongated capsule shape, the housing having a central longitudinal axis defining a longest dimension of the housing; a light source disposed within the housing; an imaging device disposed within the housing; and a first motor, a second motor, and a third motor disposed within the housing and providing propulsion to the ingestible imaging device when the ingestible imaging device is placed in a fluid environment within a living body, each of the first motor, the second motor, and the third motor having a propeller with a rotation axis and a thrust axis perpendicular to the rotation axis, the thrust axis of the first motor being parallel to the central longitudinal axis of the housing and the thrust axis of the second motor being perpendicular to the central longitudinal axis of the housing.

[0171] 21. The ingestible imaging device of Example 20, wherein the thrust axis of the third motor is perpendicular to the central longitudinal axis of the housing and the thrust axis of the second motor.

[0172] 22. An ingestible imaging device as described in 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 a drive surface of the at least one blade remains parallel to the rotation axis of the motor during rotation of the propeller.

[0173] 23. An ingestible imaging device as described in any of Examples 20-22, wherein each of the first motor, the second motor, and the third motor includes a propeller mounted within a channel for transporting a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor, and in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance between the at least one blade and a lower inner surface of the channel is greater than a minimum clearance between the at least one blade and an upper inner surface of the channel.

[0174] 24. An ingestible imaging device comprising: a housing having an elongated capsule shape, the housing having a central longitudinal axis defining the longest dimension of the housing; a light source disposed within the housing; an imaging device disposed within the housing; and a first motor, a second motor, and a third motor disposed within the housing and providing propulsive force to the ingestible imaging device when the ingestible imaging device is placed in a fluid environment within a living body, wherein the thrust axis of the first motor is parallel to the central longitudinal axis of the housing and the thrust axis of the second motor is perpendicular to the central longitudinal axis of the housing.

[0175] 25. The ingestible imaging device of Example 24, wherein each of the first motor, the second motor, and the third motor has a propeller with a rotation axis and a thrust axis perpendicular to the rotation axis.

[0176] 26. The ingestible imaging device of Example 24 or Example 25, wherein the thrust axis of the third motor is perpendicular to the longitudinal central axis of the housing and the thrust axis of the second motor.

[0177] 27. An ingestible imaging device as described in any of Examples 24-26, wherein the propeller of each of the first motor, the second motor, and the third motor has at least one blade, and a drive surface of the at least one blade remains parallel to the rotation axis of the motor during rotation of the propeller.

[0178] 28. An ingestible imaging device as described in any of Examples 24-27, wherein each of the first motor, the second motor, and the third motor includes a propeller mounted within a channel for transporting a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor, and in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance between the at least one blade and a lower inner surface of the channel is greater than a minimum clearance between the at least one blade and an upper inner surface of the channel.

[0179] Any features and functions described above can be combined with each other, as would be apparent to one of ordinary skill in the art, except as may be otherwise stated above or where any such embodiments may be incompatible in terms of their function or structure. Unless physically impossible, it is contemplated that (i) the methods / steps described herein may be performed in any sequence and / or in any combination, and (ii) the components of each embodiment may be combined in any manner.

[0180] Although the present subject matter has been described in language specific to structural features and / or acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example implementations of the claims, and other equivalent features and acts are also intended to be within the scope of the claims.

Claims

1. 1. An ingestible imaging device, comprising: A housing and an imaging device disposed within the housing; a plurality of motors for providing propulsive force to the ingestible imaging device when the ingestible imaging device is placed in an in vivo fluid environment; Equipped with An ingestible imaging device, wherein at least two of the plurality of motors have thrust axes that are perpendicular to one another.

2. The ingestible imaging device of claim 1 , wherein the plurality of motors comprises three motors.

3. 2. The ingestible imaging device of claim 1, wherein the housing has an elongated capsule shape having a central longitudinal axis, and the plurality of motors includes a first motor having a thrust axis parallel to the central longitudinal axis of the housing, and a second motor having a thrust axis perpendicular to the central longitudinal axis of the housing.

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

5. 4. The ingestible imaging device of claim 3, wherein the housing of the ingestible imaging device has a second central axis that is perpendicular to the longitudinal central axis of the housing, and a 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 control for the ingestible imaging device when the ingestible imaging device is placed in an in vivo fluid environment.

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

8. The ingestible imaging device of claim 3 , wherein at least two of the plurality of motors are reversible so that each provides 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 motor 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. 2. 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 a bi-directional thrust.

14. 2. The ingestible imaging device of claim 1, wherein each of the plurality of motors includes a propeller mounted within a channel for conveying a fluid, the propeller having an axis of rotation perpendicular to a thrust axis of the motor, and the propeller is 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 the channel has a curved path in a cross-sectional plane perpendicular to the axis of rotation.

16. Each of the plurality of motors includes a propeller mounted in a channel for conveying a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor; 2. The ingestible imaging device of claim 1, wherein in a cross-sectional plane perpendicular to the thrust axis, a minimum gap amount between the at least one blade and a lower inner surface of the channel is greater than a minimum gap amount between the at least one blade and an upper inner surface of the channel.

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

18. 17. The ingestible imaging device of claim 16, wherein the channel is shaped such that during operation of the motor, fluid moving through the channel takes a curved path in a cross-sectional plane perpendicular to the axis of rotation and past the motor.

19. The ingestible imaging device of claim 16 , wherein the plurality of motors includes three motors having thrust axes perpendicular to one another.

20. 1. An ingestible imaging device, comprising: a housing having an elongated capsule shape, the housing having a central longitudinal axis defining a longest dimension of the housing; A light source disposed within the housing; an imaging device disposed within the housing; a first motor, a second motor, and a third motor disposed within the housing and configured to provide a propulsive force to the ingestible imaging device when the ingestible imaging device is placed in an in vivo fluid environment; Equipped with an ingestible imaging device, wherein each of the first motor, the second motor, and the third motor has a propeller with a rotation axis and a thrust axis perpendicular to the rotation axis, the thrust axis of the first motor being parallel to the central longitudinal axis of the housing, and the thrust axis of the second motor being perpendicular to the central longitudinal axis of the housing.

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

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

23. each of the first motor, the second motor, and the third motor includes a propeller mounted in a channel for conveying a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor; 21. The ingestible imaging device of claim 20, wherein in a cross-sectional plane perpendicular to the thrust axis, a minimum clearance between the at least one blade and a lower inner surface of the channel is greater than a minimum clearance between the at least one blade and an upper inner surface of the channel.

24. 1. An ingestible imaging device, comprising: a housing having an elongated capsule shape, the housing having a central longitudinal axis defining a longest dimension of the housing; A light source disposed within the housing; an imaging device disposed within the housing; a first motor, a second motor, and a third motor disposed within the housing and configured to provide a propulsive force to the ingestible imaging device when the ingestible imaging device is placed in an in vivo fluid environment; Equipped with An ingestible imaging device, wherein a thrust axis of the first motor is parallel to the central longitudinal axis of the housing and a thrust axis of the second motor is perpendicular to the central longitudinal axis of the housing.

25. 25. The ingestible imaging device of claim 24, wherein the first motor, the second motor, and the third motor each have a propeller with an axis of rotation and a thrust axis perpendicular to the axis of rotation.

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

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

28. each of the first motor, the second motor, and the third motor includes a propeller mounted in a channel for conveying a fluid, the propeller having at least one blade and an axis of rotation perpendicular to a thrust axis of the motor; 28. The ingestible imaging device of claim 27, wherein in a cross-sectional plane perpendicular to the thrust axis, a minimum gap amount between the at least one blade and a lower inner surface of the channel is greater than a minimum gap amount between the at least one blade and an upper inner surface of the channel.

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