Ingestible devices with manipulative capabilities

Abstract

Providing an ingestible device with manipulative capabilities. [Solution] Introduced herein is an ingestible device that may include a capsule, an interventional tool, and a processor configured to controllably employ the interventional tool to manipulate structures within a living organism. The ingestible device may further include a camera configured to generate images of various in-vivo environments as the ingestible device traverses the living organism. These images may be wirelessly transmitted to an electronic device located outside the living organism, allowing for further control of the interventional tool.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Patent Application No. 62 / 868,109, entitled "Ingestible Device with Propulsion and Imaging Capabilities," filed June 28, 2019, which is incorporated herein by reference in its entirety.

[0002] Various embodiments relate to devices designed to generate images of biological structures located inside a living body and then transmit the images to an electronic device located outside the living body. [Background technology]

[0003] Endoscopy is a medical procedure during which structures within the body are visually inspected using a camera affixed 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 body. The flexible tube is used to position the camera or optical fiber at a desired location. Medical personnel can diagnose conditions affecting the body by examining images generated by the camera. For example, during an upper endoscopy, a flexible tube is inserted through the mouth or nose so that the medical personnel can examine the esophagus, stomach, or upper portion of the small intestine (also called the "duodenum"). During a lower endoscopy (also called a "colonoscopy"), a flexible tube is inserted through the rectum so that the medical personnel can examine the large intestine (also called the "colon").

[0004] Advances have been made in the quality, reliability, and safety of endoscopy. For example, improvements in camera resolution have enabled medical professionals 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 infection, unexpected reactions to sedation (including death), bleeding (e.g., due to the 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 curve, particularly in cancer patients where chemotherapy drugs weaken the tissues of the gastrointestinal (GI) tract, or in pediatric patients whose anatomical structures are 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 prepared for an endoscopy while at home, travel to a medical facility, and then be instructed to remain at the medical facility until sufficient recovery has occurred. This experience can take as long as 8 to 12 hours, even though the endoscopy itself lasts only 15 to 30 minutes. The recovery time associated with sedation spent at a medical facility, 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] 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, and these images can be transmitted wirelessly to an electronic device carried by the patient. This procedure is called "capsule endoscopy."

[0007] Capsule endoscopy allows medical professionals to observe 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 for this is the lack of control of the camera following ingestion of the capsule. The area 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 device used for capsule endoscopy can take several hours to reach the target anatomical structure and then several more hours to record the images. The patient may then need to return to a medical facility (e.g., a hospital or clinic) and deliver the recorded images.

[0008] What is introduced herein, therefore, is a propelled ingestible device (also referred to as a "pill" or "pillbot") that includes a capsule (also referred to as an "enclosure"), a camera, an antenna, and one or more propulsion and control components. Because the ingestible device is designed to propel itself through the living body, the ingestible device may be referred to as a "propelled device."

[0009] 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 images at greater than 15 fps. The frame rate can vary based on the speed at which the ingestible device travels. For example, the ingestible device can be designed to increase the frame rate as speed increases. Images generated by the camera are transferred to an antenna for transmission to an electronic device located outside the body. More specifically, a processor can transmit the images to a transceiver, which is responsible for modulating the images onto the antenna for transmission to the electronic device. In some embodiments, the images are transmitted to the electronic device in real time so that medical personnel can take appropriate action based on the content of the images. For example, medical personnel may find an area of ​​interest requiring further examination in response to reviewing the images. In such a scenario, a propulsion component can orient the propulsive ingestible device so that the camera is focused on the area of ​​interest. Such measures may enable the ingestible device to collect additional data (eg, in the form of images, biological measurements, etc.) about the area of ​​interest.

[0010] 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 need not be located in close proximity to the patient (also referred to as the "subject") being examined. For example, the medical practitioner may review 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, or elsewhere. In this way, the capabilities of a traditional GI department may be expanded using the techniques described herein. (Item 1) A device, a capsule comprising a biocompatible material suitable for uptake by a living organism; an interventional tool configured to manipulate the in vivo structure when extended from the capsule; and a sensor configured to generate image data based on energy reflected by the structure; and The antenna and a processor configured to cause transmission of the data via the antenna to a receiver located outside the living body; a transceiver configured to modulate the data prior to transmission by the antenna; A device comprising: (Item 2) Item 10. The device of item 1, wherein the interventional tool is extended through an opening in the capsule toward the structure. (Item 3) Item 10. The device of item 1, wherein the interventional tool comprises at least one of a biopsy mechanism, a needle, a cutting mechanism, a pushing mechanism, a pulling mechanism, a grasping mechanism, a cauterizing mechanism, or a delivery mechanism. (Item 4) The interventional tool includes a biopsy mechanism, and the processor further comprises: receiving a first input, the first input indicating instructions to employ the biopsy mechanism and collect a sample from the structure; extending the biopsy mechanism toward the structure; retracting the biopsy mechanism from the structure through an opening in the capsule; Item 1. The device of item 1, configured to: (Item 5) 5. The device of claim 4, wherein the biopsy mechanism is retracted from the structure in response to the processor receiving a second input indicating confirmation that the biopsy mechanism successfully collected the sample. (Item 6) Item 6. The device of item 5, wherein the confirmation is generated by another sensor configured to monitor whether the biopsy mechanism contains the sample. (Item 7) Item 6. The device of item 5, wherein the confirmation is submitted by a human through an electronic device. (Item 8) a barrier configured to prevent exposure of the interventional tool to the living body while the barrier is in a first position; a barrier, the opening being fully blocked while the barrier is in the first position; and a deployment mechanism configured to move the barrier to a second position prior to the interventional tool being extended from the capsule through the opening; a deployment mechanism, the opening being at most partially blocked while the barrier is in the second position; Item 3. The device of item 2, further comprising: (Item 9) Item 9. The device of item 8, wherein the deployment mechanism is further configured to move the barrier to the first position in response to the processor determining that the interventional tool has been retracted through an opening in the capsule. (Item 10) Item 5. The device of item 4, wherein the biopsy mechanism comprises a needle having a hollow body with a sharp tip at its distal end. (Item 11) Item 11. The device of item 10, wherein the needle includes barbs along the inner surface of the hollow structure body, the barbs being oriented in a manner to prevent removal of the sample from the hollow structure body when the sharp tip is withdrawn from the structure. (Item 12) a barrier configured to prevent exposure of the interventional tool to the living body while the interventional tool is in a first position in which the interventional tool resides completely inside the capsule; and a deployment mechanism configured to move the interventional tool to a second position in which at least a portion of the interventional tool resides outside the capsule; a deployment mechanism, wherein moving the interventional tool from the first position to the second position punctures the barrier; Item 3. The device of item 2, further comprising: (Item 13) a storage bay located within said capsule; a collection mechanism configured to remove the sample from the biopsy mechanism for storage in the storage bay; and Item 5. The device of item 4, further comprising: (Item 14) The interventional tool includes a polypectomy tool including a loop of wire, and the processor further includes: receiving an input indicating instructions to employ the polypectomy tool and collect a sample from the structure; extending the loop of wire around a portion of the structure and then retracting it to shear the portion from the structure; retracting the polypectomy tool from the structure while holding a portion of the structure with the loop of wire; Item 1. The device of item 1, configured to: (Item 15) Item 10. The device of item 1, wherein the interventional tool includes an actuatable jaw having a sharp edge for cutting. (Item 16) The interventional tool includes a shaft with a plurality of barbs arranged along a distal tip, and the processor further comprises: receiving an input indicating instructions to employ the interventional tool and collect a sample from the structure; extending the interventional tool toward the structure such that the distal tip penetrates the structure; partially retracting the interventional tool such that at least a portion of the structure is dropped off as the sample; removing the interventional tool from the device to release the sample into the living body; and Item 1. The device of item 1, configured to: (Item 17) the interventional tool includes a gripping mechanism comprising a plurality of articulated elements independently operable between a first position and a second position; the plurality of joined elements are spaced apart when each joined element is in the first position; the plurality of joined elements are adjacent to one another when each joined element is in the second position; Item 1. The device according to item 1. (Item 18) The interventional tool includes a delivery mechanism having a material stored therein, and the processor further comprises: receiving an input indicating a command to release the material into the living organism; causing the delivery mechanism to release at least a portion of the material stored therein; Item 1. The device of item 1, configured to: (Item 19) 20. The device of claim 18, wherein the material is a radiation enhancing agent, a cauterizing agent, an ink, or a dosage agent. (Item 20) Item 19. The device of item 18, wherein the delivery mechanism includes a needle with a sharp tip at a distal end, through which the material is expelled, and the processor is configured to extend the needle into the in vivo structure such that at least a portion of the material is injected into the structure. (Item 21) Item 10. The device of item 1, wherein the interventional tool includes an ablation mechanism configured to apply heat to the structure through conduction, convection, or radiation. (Item 22) 1. A method comprising: generating, by a processor, an image of the in vivo structure on a camera of the ingestible device; transferring, by the processor, the image to a transmitter for modulation onto an antenna for wireless transmission to a receiver while the ingestible device is located within the living body; receiving, by the processor, an input indicating a request to manipulate the in vivo structure; extending, by the processor, an interventional tool toward the structure while the ingestible device is located within the living body; A method comprising: (Item 23) receiving, by the processor, a second input indicating confirmation that the intervention tool successfully manipulated the structure; retracting, by the processor, the interventional tool into a cavity in the ingestible device; 23. The method of claim 22, further comprising: (Item 24) receiving, by the processor, a third input indicating a request to alter a position and / or orientation of the ingestible device; examining, by the processor, data generated by a sensor configured to generate a value indicative of a measure of a characteristic of the living body; generating, by the processor, a signal to drive a propulsion component of the ingestible device based on data generated by the sensor; 24. The method of claim 23, further comprising: (Item 25) Item 25. The method of item 24, wherein the data generated by the sensor represents discrete measurements of viscosity, flow rate, pressure, or temperature of a fluid surrounding the ingestible device. (Item 26) 23. The method of claim 22, wherein the interventional tool comprises at least one of a biopsy mechanism, a needle, a cutting mechanism, a pushing mechanism, a pulling mechanism, a grasping mechanism, a cauterizing mechanism, or a delivery mechanism. (Item 27) A device, a capsule having an interior surface defining a cavity; an interventional tool capable of manipulating an in vivo structure when extended through the opening in the capsule; and A processor, the processor comprising: receiving a first input, the first input indicating an instruction to employ the intervention tool; extending the interventional tool through an opening in the capsule toward a structure and manipulating the structure while the ingestible device is located in the living body; and retracting the interventional tool from the structure through an opening in the capsule; a processor configured to: A device comprising: (Item 28) 28. The device of claim 27, wherein the interventional tool is one of a plurality of interventional tools independently controllable by the processor. (Item 29) Item 29. The device of item 28, wherein each interventional tool of the plurality of interventional tools is configured to manipulate the in vivo structure in a different manner. (Item 30) 28. The device of claim 27, further comprising a plurality of propellers configured to control movement of the device about three mutually perpendicular axes while the device is located in the living body. (Item 31) Item 31. The device of item 30, wherein the processor is further configured to drive at least one of the plurality of propellers while the interventional tool is deployed. [Brief explanation of the drawings]

[0011] Various features of the present technology will become more apparent to those skilled in the art from a review of the detailed description in conjunction with the drawings, in which: Embodiments of the present technology are illustrated, by way of example, and not by way of limitation, in the drawings, in which like reference numerals may indicate similar elements.

[0012] [Figure 1] FIG. 1 includes a cross-sectional view of an example of a propulsive ingestible device designed to monitor an in-vivo environment as it progresses under its own power through a living body, such as a human or animal body.

[0013] [Figure 2A] FIG. 2A includes a front perspective view of a loading section of an ingestible device.

[0014] [Figure 2B] FIG. 2B includes a rear perspective view of the loading section of the ingestible device of FIG. 2A.

[0015] [Figure 3] FIG. 3 includes a perspective view of the power section of the ingestible device.

[0016] [Figure 4] FIG. 4 includes a perspective view of a drive section of an ingestible device.

[0017] [Figure 5A] FIG. 5A includes a perspective view of a propulsion section of an ingestible device.

[0018] [Figure 5B] FIG. 5B includes a transparent perspective view of the propulsion section of the ingestible device of FIG. 5A.

[0019] [Figure 5C] FIG. 5C illustrates how the pushers can be arranged adjacent to the stator blades within the distal element of the ingestible device.

[0020] [Figure 5D] FIG. 5D is an isolated posterior view of the distal element of FIG. 5C.

[0021] [Figure 6A]FIG. 6A includes a perspective view of an ingestible device having a rounded structural body with a central shaft therethrough.

[0022] [Figure 6B] FIG. 6B includes a side view of the ingestible device of FIG. 6A.

[0023] [Figure 6C] FIG. 6C includes a rear view of the ingestible device of FIG. 6A.

[0024] [Figure 7A] FIG. 7A includes a cross-sectional view of an ingestible device illustrating how reducing the size of the seal formed by the die-cut or perforated 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.

[0025] [Figure 7B] FIG. 7B illustrates how the orifice disc may be secured within the pocket formed when the seal is potted inside the main seal body.

[0026] [Figure 8A] FIG. 8A depicts an embodiment of a flexible printed circuit board assembly (PCBA) in an expanded configuration.

[0027] [Figure 8B] FIG. 8B depicts the flexible PCBA of FIG. 8A in a folded configuration.

[0028] [Figure 9] FIG. 9 includes a high-level illustration of the communication between a device designed for ingestion by a living organism and a controller through which movement of the ingestible device is controlled.

[0029] [Figure 10]FIG. 10 depicts a flow diagram of a process for monitoring an in vivo environment using a device designed for uptake by a living organism.

[0030] [Figure 11] FIG. 11 depicts a flow diagram of a process for controlling a propulsive ingestible device with an optical sensor as it progresses through a living organism.

[0031] [Figure 12] FIG. 12 includes a high-level illustration of the communication between an ingestible device having an interventional component for manipulating the surrounding environment and a controller through which the interventional component can be controlled.

[0032] [Figure 13] FIG. 13 is a perspective view of an ingestible device with multiple intervening components located at the proximal end of the capsule.

[0033] [Figure 14] FIG. 14 illustrates how each intervening component within the ingestible device may be mounted on a separate disk contained inside the capsule.

[0034] [Figure 15] FIG. 15 includes perspective and end views of a radial array of bays containing the drive mechanisms required for the corresponding interventional components.

[0035] [Figure 16] FIG. 16 includes a perspective view of an ingestible device with a biopsy mechanism that can remove a sample from an in vivo structure and then store the sample for further analysis.

[0036] [Figure 17] FIG. 17 illustrates how an ingestible device can include one or more storage bays into which samples can be sealed.

[0037] [Figure 18A] FIG. 18A is a perspective view of an ingestible device with an interventional component capable of resecting a polyp protruding from tissue.

[0038] [Figure 18B] FIG. 18B is a perspective view of another ingestible device with an interventional component capable of removing polyps.

[0039] [Figure 19] FIG. 19 is a perspective view of an ingestible device with an intervening component having one or more sharp edges for cutting.

[0040] [Figure 20] FIG. 20 includes four examples of interventional components capable of grasping structures in vivo.

[0041] [Figure 21] FIG. 21 includes a side view of an ingestible device having one or more elastic bands secured around its proximal end.

[0042] [Figure 22] FIG. 22 is a perspective view of an ingestible device that includes an interventional component having a blunt configuration that can be used to compress tissue to temporarily displace circulating blood.

[0043] [Figure 23] FIG. 23 includes perspective, side, and end views of an ingestible device that includes multiple anchoring members that can be used for stabilization.

[0044] [Figure 24] Figure 24A includes side and end views of an ingestible device including a series of interventional components having materials stored therein, and Figure 24B illustrates how the interventional components having materials stored therein may be spring-activated.

[0045] [Figure 25] FIG. 25 includes a perspective view of an ingestible device that includes an interventional component that is capable of storing and then deploying surgical staples.

[0046] [Figure 26] FIG. 26 includes a perspective view of an ingestible device that includes an interventional component capable of ablating tissue inside a living body.

[0047] [Figure 27] FIG. 27 depicts an example of a communication environment including a propulsive ingestible device communicatively coupled to a controller.

[0048] [Figure 28] FIG. 28 is a block diagram illustrating an example of a processing system in which at least some of the operations described herein may be implemented. DETAILED DESCRIPTION OF THE INVENTION

[0049] Detailed Description In some embodiments, the ingestible device includes at least one interventional component (also referred to as an "interventional device," "interventional mechanism," "instrument," or "tool") that can be used to manipulate structures within the body. These interventional components can allow advanced diagnoses and treatments to be performed beyond the analysis of images generated by a camera. As discussed further below, the ingestible device may include interventional components that can be used to withdraw fluid and / or tissue samples, deliver medications, mark anatomical sites for subsequent re-acquisition, cauterize tissue, and other procedures. At a high level, the inclusion of interventional components enables the ingestible device to perform diagnoses and / or interventions that were previously available to medical professionals only through the use of conventional endoscopes.

[0050] 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 combinations thereof. Overview of Ingestible Devices

[0051] 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. Note that FIG. 1 and other illustrations herein are not drawn to scale and are shown significantly enlarged for added clarity. Because ingestible device 100 can be designed to propel itself through a living body, ingestible device 100 may be referred to as a "propulsive device." Ingestible device 100 includes a capsule 102 with a cylindrical body 104 and hydrodynamically atraumatically shaped ends 106a-b. One example of a hydrodynamically atraumatically shaped end is a rounded shape that does not cause injury upon contact with living tissue, such as the approximately hemispherical end shown in FIG. 1. This geometric shape may be referred to as a "spherical cylinder." While ingestible device 100 shown in FIG. 1 has an approximately hemispherical end, ends of other hydrodynamic shapes may also be included in other embodiments. For example, at least one end of capsule 102 may be dome-shaped with a flat portion through which light can be directed toward the optical sensor. As another example, at least one end of capsule 102 may be a truncated cone. At least one end of capsule 102 may also feature a fillet, leaving a flat or minimally curved surface along those ends. Cylindrical body 104 and hemispherical ends 106a-b may collectively be referred to as the "structural components" of capsule 102. To avoid contamination of the interior cavity defined by cylindrical body 104 and / or hemispherical ends 106a-b, the structural components may be hermetically sealed to one another.

[0052] In some embodiments, these 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, a 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 ingestible device 100. In other embodiments, these structural components comprise different materials. For example, hemispherical end 106a, within which optical sensor 110 is mounted, may be made of transparent plastic, while the other hemispherical end 106b and cylindrical body 104 may be made of a polymer or metal alloy. Additionally, these structural components may include a coating that prevents 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).

[0053] As shown in FIG. 1 , at least one hemispherical end 106 a can include an opening 108 through which the field of view of optical sensor 110 extends. In some embodiments, opening 108 is filled with a transparent material, such as glass or plastic. Alternatively, optical sensor 110 may be positioned so that its outermost lens is substantially aligned with the exterior surface of hemispherical end 106 a, or optical sensor 110 may be positioned such that the focal length of the lens is similar to the radius of hemispherical end 106 a, ensuring that the focal point is at any anatomical structure that directly contacts ingestible device 100. While hemispherical end 106 a shown in FIG. 1 includes a single opening, other embodiments of hemispherical end 106 a may include multiple openings (e.g., for multiple optical sensors, biometric sensors, or a combination thereof). In some embodiments, hemispherical end 106 a is composed entirely 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 transmitted through the 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 made substantially opaque to block or eliminate internal reflections of light that may interfere with optical sensor 110.

[0054] For manufacturing convenience, opening 108 will often be circular. However, opening 108 can have other shapes. For example, in some embodiments, opening 108 is rectangular, while in other embodiments, opening 108 has a rectangular portion with circular ends. These circular ends may be oriented on opposite sides of hemispherical end 106 a so that optical sensors positioned directly below the circular ends can observe the in vivo environment along both sides of propulsive ingestible device 100.

[0055] In various embodiments, the capsule 102 may have any of a variety of different sizes, such as any of those listed in Table I. [Table 1]

[0056] As shown in FIG. 1 , ingestible device 100 can include four segments with different roles: load segment 200, power segment 300, drive segment 400, and propulsion segment 500. Each of these segments is described in more detail below with respect to FIGS. 2, 3, 4, and 5, respectively. Although these segments are illustrated as distinct from one another, the components associated with each segment are not necessarily located within the corresponding boxes shown in FIG. 1 . For example, power segment 300 may include a power distribution unit that extends into load segment 200, drive segment 400, and / or propulsion segment 500 and delivers power to the components within those segments.

[0057] 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 may include an optical sensor 202, a power and data bus 204, a control unit 206, a manipulator controller 208, a hermetic seal 210, and an illumination source 212. Embodiments of the ingestible device may include some or all of these components and other components not shown here. For example, if the ingestible device is designed only for imaging, the loading section 200 may not include the manipulator controller 208 because no manipulation would be performed. Embodiments of ingestible devices having interventional components controlled by a manipulator controller are further discussed below with reference to FIGS. 13-26.

[0058] As the ingestible device traverses the GI tract, optical sensor 202 can generate image data based on electromagnetic radiation reflected by structures located within the GI tract. For example, if optical sensor 202 is a camera, images or video may be captured as the ingestible device progresses through the body. Another example of 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 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") housed within the ingestible device will typically be responsible for generating the electromagnetic radiation. An example of illumination source 212 is a light-emitting diode (LED). Here, illumination source 212 is arranged such that electromagnetic radiation is emitted through the same opening in the capsule through which reflected electromagnetic radiation is received. In other embodiments, the illumination source 212 is arranged 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.

[0059] Some embodiments of a 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 distinct data sets that provide meaningful information that can be useful in providing diagnosis and assisting spatial positioning. Here, for example, the infrared sensor may be capable of measuring heat emitted by objects contained within a color image captured by the camera.

[0060] 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 within the propulsive ingestible device. For example, bus 204 may transfer image data generated by optical sensor 202 to control unit 206, which may transfer the image data to a transceiver configured to modulate the data onto an antenna for transmission to a receiver located outside the body. As described further below, the receiver may be part of an electronic device on which an individual may view images corresponding to the image data, control the ingestible device, etc. Bus 204 may include cables, connectors, a wireless chipset, a processor, etc. In some embodiments, bus 204 manages data and power on separate channels. For example, bus 204 may manage data using a first set of cables and power using a second set of cables. In other embodiments, bus 204 manages data and power on a single channel (e.g., with components capable of transferring data and power simultaneously).

[0061] The control unit 206 may be responsible for managing other components within the propulsive ingestible device. For example, the control unit 206 may be responsible for analyzing input received by the antenna and then providing appropriate instructions to other components within the propulsive ingestible device. As described further below, an individual may provide input using a controller device (or simply, "controller") located outside the body. The input may represent a request 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.

[0062] 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 (e.g., a CO laser, an argon laser, a neodymium-doped yttrium aluminum garnet (Nd:YAG) laser, a rotary cutting element, scissors, forceps, or a dissector), a pushing mechanism, a grasping mechanism (e.g., a polypectomy instrument), a cauterization mechanism (e.g., an ohmic cautery or a radiofrequency (RF) cautery), or a delivery mechanism (e.g., a syringe, a material impregnated with a drug, or a structure that encapsulates a drug in its occlusive state). The manipulator controller 208 can 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 commands received from the control unit 206. More specifically, the manipulator controller 208 may extend the biopsy accessory through an opening in the capsule, collect a sample of tissue, and then retract the biopsy accessory back into the capsule through the opening.

[0063] To prevent fluid from entering the capsule, the load section 200 and the power section 300 may be hermetically sealed to one another. Thus, a hermetic seal 210 may be bonded along the interface between the load section 200 and the power section 300. The hermetic seal 210 may be comprised of epoxy, 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 bound. 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 include stainless steel, the hermetic seal 210 may be comprised of an epoxy resin with metal (e.g., stainless steel) particles suspended therein. Alternatively, the hermetic seal 210 may be formed using a flexible gasket, adhesive film, weld, seal, or the like.

[0064] 3 includes a perspective view of a power section 300 of an ingestible device. Power section 300 can include power components 302, a power distribution unit 304, and sealing seals 306a-b secured along each end. Sealing seals 306a-b can be substantially similar to sealing seal 210 secured to load section 200 as described with respect to FIG. 2. Furthermore, sealing seal 210 secured to the lower end of load section 200 can be the same seal as sealing seal 306a secured to the upper end of power section 300. Thus, a single sealing seal can join load section 200 and power section 300.

[0065] 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, 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, power component 302 may be responsible for generating drive energy to be applied to an antenna to cause wireless transmission of image data to a receiver located outside the body.

[0066] 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, power component 302 includes one or more battery plates exposed to the fluid through which the ingestible device travels. In such embodiments, power component 302 can be designed to glide on a fluid (e.g., bodily fluids such as stomach acid) that is readily accessible within the in vivo environment for which the ingestible device is designed. Typically, batteries operate by shuttling positively charged ions from one location to another through a solution, called an electrolyte, which has positively and negatively charged particles. However, in the case of exposed battery plates, a pair of metal electrodes can be affixed to the exterior surface of the ingestible device. One metal electrode (e.g., made of zinc) can release ions into the fluid, which acts as an electrolyte by carrying a small electrical current to the other metal electrode (e.g., made of copper).

[0067] In some embodiments, 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 power component 302. Power component 302 can extract power from the electromagnetic field and then provide it to other components within the ingestible device as needed. Power may be received either using the same antenna as that used for data transmission, or using a different antenna, an inductively coupled coil, or a capacitively coupled structure. The source may be a controller used to control the ingestible device, an electronic device used to review image data, or some other electronic device (e.g., a cell phone or wireless charger belonging to the patient). Alternatively, the wireless power source may be included in an article, such as a belt or band, that can be worn to be located near the ingestible device as the wireless power source travels through the body. Such wearable articles may include a battery pack, integrated within the article itself or attached to the patient. Additionally, such wearable articles may include one or more antennas for data transmission.

[0068] Power component 302 may be designed to fit within a particular compartment of the ingestible device. Here, for example, power component 302 has a button cell configuration, which allows power component 302 to be secured within the cylindrical body of the capsule. However, other embodiments of power component 302 may be designed to fit within the hemispherical end of the capsule or another area within the capsule.

[0069] As mentioned above, power distribution unit 304 may be responsible for distributing the power stored in power component 302 to other components within the ingestible device. Thus, components of power distribution unit 304 may extend within payload section 200, drive section 400, and / or propulsion section 500. For example, power distribution unit 304 may include cables connected to optical sensors, bus connectors, control units, control sensors, and / or manipulator controllers, which may be located within payload section 200. 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.

[0070] 4 includes a perspective view of a drive section 400 of an ingestible device. The drive section 400 can include an energy / transfer 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. Furthermore, 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.

[0071] In response to receiving power from a power distribution unit (e.g., power distribution unit 304 in FIG. 3 ), mechanical power converter 402 can drive another component of the ingestible device. Here, for example, drive section 400 can include multiple motors, each responsible for driving a different propeller. Examples of motor 402 include DC or AC electric motors, drivers made of shape memory alloys, electromagnets, shafts, piezoelectric components, etc. The propellers may be connected to the motors by one or more shafts, gears, levers, bearings, etc.

[0072] Components within the ingestible device may generate heat that must be dissipated to avoid causing damage within the body. For example, components such as the energy / transfer converter and motor housing may generate heat if the propeller is driven for extended periods of time. Therefore, these components may include or be connected to heat transfer component 404, which can help dissipate this heat. In some embodiments, heat transfer component 404 directly bleeds heat into the fluid surrounding the ingestible device (e.g., water, 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 aid in heat dissipation. In other embodiments, heat transfer component 404 bleeds heat into the capsule. Once heat is bled into the capsule, it may inevitably transfer into the fluid surrounding the ingestible device through conduction and convection.

[0073] 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 the ingestible device. The propulsion section 500 can include one or more pushers 502, one or more suction sections 504, and a sealing seal 508 secured along its upper edge. 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. Furthermore, 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.

[0074] As mentioned 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 thrust for moving the ingestible device and an energy-to-motion converter configured to provide power to the propeller. Here, for example, propulsion section 500 includes four rotors 502 driven by four motors located within 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-to-motion converter. For example, a single motor may be responsible for providing power to multiple propellers, but the speed of each propeller may be varied through a mechanical connection (e.g., a clutch system or gear system).

[0075] As described further below, multiple propellers 502 can be arranged to facilitate movement along different axes. In Figures 5A-B, for example, four propellers 502 are arranged radially about a central axis 516 defined in a cross-shaped configuration through the capsule. More specifically, the propellers 502 are positioned at locations radially offset from the central axis and at different angular offsets about the central axis. By independently driving the propellers 502, movement can be achieved in any direction or orientation, in a manner similar to a quadrotor. Thus, the ingestible device may be commanded to move forward and backward at different speeds. Furthermore, the ingestible device may 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 (vertical axis), pitch (lateral axis), and roll (longitudinal axis), and thus movement to any location can be represented in three-dimensional space.

[0076] In Figures 5A-B, propeller 502 is a rotor capable of forcing fluid through suction 504 formed within the capsule. The term "rotator," as used herein, refers to a component capable of rotating and creating propulsion. An example of a rotor is a propeller. However, other propellers may be used instead of or in addition to a rotor. Examples of propulsion components include helices, fins, whip-like attachments (also referred to as "flagellum"), wave mechanisms, etc. Furthermore, propulsion components may be arranged along the cylindrical body of the capsule instead of, or in addition to, the hemispherical ends of the capsule. For example, the ingestible device may include oscillating fins arranged along opposite sides of the cylindrical body of the capsule. These oscillating fins may be used in conjunction with propellers, helices, or whip-like attachments located within the hemispherical ends of the capsule to provide further control of the movement of the ingestible device.

[0077] As shown in FIGS. 5A-B, the capsule may include one or more channels through which fluid can be introduced by a propeller 502. Each channel includes an inlet 504 through which fluid can be introduced and an outlet 506 through which fluid can be extracted. Examples of inlets 504 include ducts, lumens, vanes, tubes, etc. While the embodiment shown in FIG. 5 includes the same number of propellers 502 and inlets 504, this need not always be the case. For example, propellers mounted within the hemispherical end of the capsule may be able to introduce fluid through one or more inlets and 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 FIGS. 5C-D. In some embodiments, coaxial counter-rotating propellers may be used to eliminate fixed stator vanes entirely. Propeller and vane blade count and geometry may be adjusted to optimize foam and debris clearance as a function of diameter, speed, and fluid properties.

[0078] In some embodiments, a filter is placed within at least one of the channels defined through the capsule. For example, a filter may be secured within each channel defined through the capsule. A filter may be necessary to ensure that objects above a certain size suspended in the fluid entering through 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 propeller 502.

[0079] Another issue is that propellers, unless properly designed, tend to impart a rotational motion (or "kneading") on the fluid rather than creating thrust. This problem 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 through which fluid enters and is then expelled by the propeller. FIG. 5C illustrates how propellers 502 can be arranged 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, reducing the kneading effect and increasing thrust and thrust consistency. As shown in FIG. 5C, each propeller 402 can be connected to a separate motor housing 510, within which the motor responsible for driving the propeller is located. The propulsors 502 (and therefore the motor housings 510) may be arranged in a cross-shaped configuration to better control the propulsive forces.

[0080] 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 arranged approximately uniformly about the geometric center, as shown in Figure 5D. However, in some embodiments, the stator vanes 514 are arranged in a non-uniform manner about the geometric center.

[0081] 6A-C include perspective, side, and rear views of an ingestible device 600 having an atraumatic structural body 602 with a central axis 612 therethrough. The structural body 602 shown in Figures 6A-C is a spherocylinder including cylindrical sections interconnected between hemispherical sections. In other embodiments, the structural body 602 may be oval, rectangular, teardrop-shaped, etc.

[0082] As mentioned above, ingestible device 600 can include one or more propellers for controlling movement along three mutually perpendicular axes. Here, for example, ingestible device 600 includes four rotors 604a-d arranged radially about structural body 602, perpendicular to central axis 612. The four rotors 604a-d may include a first pair of rotors 604a-b arranged radially opposite each other relative to central axis 612, and a second pair of rotors 604c-d arranged radially opposite each other relative to the central axis. Each pair of rotors may be configured to share the same handedness. For example, both rotors 604a-b may generate forward thrust when rotating clockwise relative to central axis 612. At the same time, the rotor pairs may be configured to have opposite handedness. For example, when all four rotors rotate clockwise about the central axis 612, rotors 604a-b may generate forward thrust, while rotors 604c-d may generate rearward thrust. As shown in FIG. 6C , first and second pairs of rotors 604a-d may be arranged in a cross-shaped configuration such that adjacent rotors rotate in opposite directions and generate thrust in the same direction, while radially opposed rotors rotate in the same direction and generate thrust in the same direction. Such a configuration allows independent control of thrust, pitch, yaw, and roll through the combined effects of the individual rotors. Thus, position and orientation control can be achieved in a manner similar to a quadrotor.

[0083] Each rotor may be located within a different channel defined through structural body 602, and each channel may include an inlet 606 through which fluid enters the corresponding rotor and an outlet 608 through which fluid exits the corresponding rotor. Generally, the channels are defined through structural body 602 in a direction generally parallel to the central axis. Here, for example, each channel's inlet 606 is located within a cylindrical section of structural body 602, while each channel's outlet 608 is located within a hemispherical section of structural body 602. In operation, rotors 604a-d can cause fluid to enter through inlet 606, creating a flow 610 that propels the ingestible device in a particular direction. In some embodiments, the channels are tapered. For example, each channel's inlet 606 may have a smaller diameter than its outlet 608, or each channel's inlet 606 may have a larger diameter than its outlet 608.

[0084] 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 flow 610 is shown as flowing toward the first end 614 (also referred to as the "distal end") of the ingestible device 600, flow 610 may instead flow toward the second end 616 (also referred to as the "proximal end") of the ingestible device 600.

[0085] As mentioned above, the term "rotator," as used herein, refers to a component that is capable of rotating and creating a propulsive force. Propulsive force imparts momentum to a surrounding fluid, generating movement. Structural body 602 can be fitted with one, two, three, four, or more rotors, depending on the speed and maneuvering requirements of ingestible device 600. In FIGS. 6A-C , for example, four rotors are arranged in a cross configuration within first end 614 of structural body 602. In other embodiments, three rotors are arranged in a triangular configuration within first end 614 of structural body 602.

[0086] 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 mechanical connections (e.g., a clutch system or gear system).

[0087] In some embodiments, each rotor has a fixed pitch. In Figures 6A-C, for example, four rotors 604a-d are fixedly arranged along a radial plane perpendicular to central axis 612. In other embodiments, at least one rotor has a variable pitch. In such embodiments, further control of the movement of ingestible device 600 can be achieved by simultaneously controlling the pitch and rotation of rotors 604a-d.

[0088] 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, etc. Additionally, each rotor may have an antibacterial, hydrophobic, or hydrophilic coating applied thereto. 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.

[0089] Generally, to create a rotor, several blades are affixed 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 rates. Single-blade rotors may have advantages in manufacturability and durability. In the embodiment shown in Figures 6A-C, each rotor includes three helical surfaces that act together to rotate through a fluid (e.g., water, bile, etc.) with a screw effect.

[0090] One of the difficulties in generating thrust at small scales is persistent bubbles that 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 arrangement of blades along each rotor to aid in bubble elimination. Careful matching of blade pitch, lumen shape, motor speed, rotor-to-wall clearance, rotor-to-stator blade clearance, and surface material properties affect bubble generation and elimination.

[0091] The rotor may be formed based on a simple truncated Archimedean spiral geometry. Alternatively, as discussed above, the rotor may feature a plurality of individual blades featuring curvatures optimized for thrust in the forward or aft direction. Similarly, the stator blades may feature flat or curved blades if they are positioned within channels through which the rotor admits and then expels fluid.

[0092] It is also important to prevent fluids from entering the ingestible device, particularly within the propulsion section, including the moving motor interface. Thus, ingestible devices may implement tight tolerances, 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, low-friction seals can be implemented to prevent fluids from entering the motor housing of ingestible device 700.

[0093] FIG. 7A includes a cross-sectional view of an ingestible device 700 illustrating how undersizing the seal 704 formed by a stamped or perforated sheet relative 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. Sealing action, static friction, and dynamic friction can be optimized by adjusting the dimensional interference and the resulting embedding tension. The stamped or perforated sheet may 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 generated by drilling a small hole one size smaller into 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 holes to protrude slightly, creating a minimal contact line 706 with the motor shaft 702, reducing friction while providing a seal.

[0094] The seal 704 can be produced using a die cut of the hypotube. Multiple seals can be drilled simultaneously on a lathe while still inside the hypotube using a simple fixture and drill guide. The assembly process may be completed by placing the seal 704 onto the motor shaft 702 and then securing it in place using a curable adhesive (e.g., a UV-curable adhesive), RF welding, heat welding, etc. The seal 704 can be inflated over the motor shaft 702 and then potted inside the main seal body 708 using a curable adhesive or another sealing technique.

[0095] As shown in FIGS. 7A-B, the primary seal body 708 may be connected to the motor housing 710 using 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, a pocket 712 may be formed when the seal 704 is potted inside the primary seal body 708. An orifice disk 714 having a hole defined therethrough to receive the motor shaft 702 may be positioned within the pocket to further prevent leakage into the motor housing 710. The orifice disk 714 may be made of plastic, metal, rubber, Viton, Teflon, UHMW polyethylene, high-density polyethylene, or similar materials.

[0096] Thus, a manufacturer may obtain a flexible substrate having a generally circular shape, form a hole in the geometric center of the flexible substrate (e.g., by punching or drilling the hole), and then expand the hole in the flexible substrate around the motor shaft, which has a diameter larger than the hole. Such an approach may create a resilient interference fit between the flexible substrate and the motor shaft, thereby forming a seal. The manufacturer may then bond the flexible substrate along its periphery to form a hermetic seal. For example, as mentioned above, the flexible substrate may be bonded using a curable adhesive, RF welding, heat welding, etc.

[0097] Some or all of the electronic components described herein as contained within an 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 for components 804 and associated solder joints mounted thereon and help define the structure of the PCBA 800 as a whole. These rigid areas 802 may be connected by a flexible area 806 that can be folded to allow the PCBA 800 to fit within the ingestible device. The PCBA 800 may include conductive connections between the electronic components, enabling 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.

[0098] 9 includes a high-level illustration of communication between device 900, which is designed for ingestion by a living organism, and controller 950, through which movement of ingestible device 900 is controlled. Because images generated by ingestible device 900 can be reviewed on controller 950, controller 950 can also be referred to as a "data review station" or "data review unit." Initially, controller 950 transmits a first input indicating instructions for operating a camera stored within ingestible device 900 (step 901). Alternatively, ingestible device 900 may be designed to automatically operate the camera when the device is first powered on or activated by removal from its packaging.

[0099] Ingestible device 900 can cause the camera to generate an image of a structure within the living body in response to a first input (step 902). The structure can be a biological structure or a non-biological structure (also referred to as a "foreign body"). Ingestible device 900 can then transmit the image to controller 950 for review (step 903). More specifically, the processor responsible for processing the image generated by the camera can forward the image to a transmitter for modulation on 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.

[0100] Controller 950 may further transmit a second input indicating a request to alter the position and / or orientation of ingestible device 900 (step 904). This second input may be referred to as a "steering command" or a "propulsion command." In ingestible device 900 may activate at least one propeller in response to the second input (step 905). In cases where multiple propellers are activated in response to the second input, ingestible device 900 may generate multiple signals to activate the multiple propellers. These signals may be different from one another. For example, each propeller of the multiple propellers may rotate at a different speed. As another example, some propellers of ingestible device 900 may be rotated while other propellers of ingestible device 900 are held stationary.

[0101] 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 several 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.

[0102] An optical sensor included within 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 a command to do so. The command 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 criteria 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 reach such a determination by examining biometric data generated by a biometric sensor. For example, the ingestible device may establish whether it is currently in the stomach by examining biometric data representing pH measurements. Images may be captured using any of a variety of resolutions, such as 48x48 pixels, 320x240 pixels, or 640x480 pixels. In other embodiments, images may be captured using higher or lower resolutions. The image data may be stored, at least temporarily, in a memory located within the ingestible device (step 1003).

[0103] The ingestible device can then cause wireless transmission of at least some of the image data via the antenna to a receiver located outside the body (step 1004). In some embodiments, the receiver is stored in an electronic device associated with the subject. For example, the image data may be transmitted to a mobile phone associated with the subject, which may 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 may stream image data to the receiver as it is generated by the optical sensor.

[0104] To reduce the amount of raw data that must be transported across a bus or wireless link, image data (and identification data, telemetry data, etc.) may be compressed to reduce quantity without significantly affecting the user's perception of quality. For example, algorithms may be employed that reduce color / hue as distinct from intensity, or that reduce high-frequency components as distinct from low-frequency components. Standardized image and / or video compression algorithms, such as JPEG, H.264 (MPEG), H.265, and the like, may be employed to compress the data. To further reduce the amount of data, image resolution may be reduced before compression and transmission. For example, an optical sensor may generate images with a 640x480 pixel resolution, but the images may be downsampled to a 320x240 pixel resolution prior to JPEG compression. The resolution may be adjusted to achieve a desired tradeoff between image quality and frame rate during operation (e.g., image quality may be reduced to increase frame rate while the ingestible device is advanced through the esophagus). Other compression algorithms may also 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 more demanding compression algorithms than are feasible 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-identifying information (PII) or medically sensitive information.

[0105] 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 the 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 a command to begin recording image data (step 1102).

[0106] 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 packaging or after a mechanical switch accessible along the exterior surface of the ingestible device is activated. In some embodiments, the ingestible device can be remotely activated by a source located ex vivo 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 its 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.

[0107] 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 on 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 location, time, or identifiers associated with the living body), etc. As mentioned above, the receiver may be part of a controller or some other electronic device. For example, a medical professional may view the image data and control the ingestible device using a mobile workstation that is wirelessly connected to the ingestible device. As another example, a medical professional may view the image data on a tablet computer and control the ingestible device using a dedicated input device similar to a controller for a video game console.

[0108] In some cases, the medical professional may desire to visualize a particular in vivo structure. Thus, the ingestible device may receive a second input indicating a command to move so that the structure can 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 location and / or characteristics of the in vivo environment, such as viscosity, flow rate, pressure, temperature, etc. Once the ingestible device reaches the desired location, it may automatically maintain that position until a predetermined time interval has elapsed or until a command to move to a new location is received from the controller.

[0109] The ingestible device may then actuate at least one propeller 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 may be actuated to achieve the forward movement.

[0110] 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 to maximize the amount of power available during operation. To avoid battery discharge during shipping and storage prior to deployment, the ingestible device may enter a low-power inactive state, in which current drawn from the battery is minimized, or the battery is disconnected from other components (e.g., 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.

[0111] 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 indicating the level of visible, infrared, or ultraviolet light that is currently detectable. In these embodiments, the ingestible device may be shipped and stored in substantially opaque packaging to prevent inadvertent or premature activation of the light sensor. 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 so that the ingestible device is constantly exposed to a magnetic field during shipping and storage. This embodiment has several advantages. First, there is a minimal risk of premature activation because the package is likely to accompany the ingestible device until deployment is imminent. Second, the individual responsible for deploying the ingestible device does not need to introduce an activation signal, such as a magnetic field. Other embodiments of the ingestible device may use a reed relay as a mechanical power switch to activate the ingestible device in response to exposure to a magnetic field. In embodiments in which 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 holding the magnet in the correct orientation relative to the ingestible device. Other embodiments of the ingestible device may be activated by a mechanical element (e.g., a switch or button) located along the exterior surface of the enclosure so as to be sealed to prevent fluid ingress but accessible.

[0112] As discussed above, the ingestible device may have built-in features such as sensors, software, and the like for performing self-diagnostic tests. Using these built-in features, the health and performance capabilities of the ingestible device can be periodically tested. These built-in features can 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 commanded to generate a test image (e.g., of the package) to be transmitted to a destination (e.g., a controller), which 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 indicate a defect (e.g., in the ingestible device, the communication channel, etc.), regarding which an alert may be generated indicating that the ingestible device should not be deployed. Manipulation of in vivo structures

[0113] The ability to manipulate the surrounding environment while an ingestible device is located within a living organism can be useful. For example, while progressing through the living organism, the ingestible device may generate images of structures worthy of further examination. The structures may be tissue, or the structures may be foreign bodies of unknown origin. In this situation, the operator of the ingestible device may desire to perform advanced diagnostics beyond simply analyzing images of the structures. Such diagnostics can be performed if the ingestible device includes one or more interventional tools (also referred to as "interventional components" or "interventional mechanisms"), as discussed further below.

[0114] For simplicity's sake, an ingestible device may be described as having a single interventional component. However, ingestible devices such as those described herein may include multiple interventional components capable of manipulating structures in vivo in different ways. For example, an ingestible device may include a biopsy accessory capable of collecting a sample and an ablation mechanism capable of closing a wound resulting from the biopsy. Thus, unless otherwise specified, embodiments of an ingestible device may include any combination of interventional components described herein.

[0115] Figure 12 includes a high-level illustration of communication between an ingestible device 1200 having an intervention component for manipulating the surrounding environment and a controller 1250, through which the intervention component may be controlled. Steps 1201-1203 may be identical to or substantially similar to steps 901-903 of Figure 9. However, in this scenario, controller 1250 transmits a second input to ingestible device 1200 indicating a request to manipulate a structure (step 1204).

[0116] In response to receiving the second input, ingestible device 1200 causes the interventional component to manipulate the structure (step 1205). In some embodiments, the interventional component is arranged along the exterior surface of ingestible device 1200 (e.g., within a recess in a capsule) and thus can simply be extended toward the structure. In other embodiments, the interventional component is arranged within an interior cavity of ingestible device 1200. In such embodiments, the interventional component can be extended through an opening in the capsule toward the structure. The operator may be able to control the interventional component through controller 1250. Thus, ingestible device 1200 may control the interventional component based on input provided by the operator through controller 1250. For example, the operator may be enabled to control the interventional component through a control mechanism, such as a joystick, connected to controller 1250.

[0117] In some embodiments, the ingestible device 1200 may cause the camera to generate a second image of the structure while the interventional component manipulates the structure (step 1206), and then transmit the second image to the controller 1250 for review by the operator (step 1207). The operator may be a medical professional, such as a general practitioner, nurse, or specialist (e.g., a surgeon or gastroenterologist), involved in administering the ingestible device 1200. By comparing the first and second images, the operator can determine whether the structure is being manipulated successfully. In some embodiments, the second image is part of a series of images that are being streamed to the controller 1250 in real time while the interventional component is in use. For example, the ingestible device 1200 may stream a series of images to the controller 1250 throughout the procedure, allowing the operator to determine how to control the interventional component, whether the procedure was successful, whether the ingestible device 1200 should be repositioned, etc.

[0118] The controller 1250 may then transmit a third input indicating confirmation that the intervention component is successfully operating the structure (step 1208). The confirmation may be submitted by the operator through the controller or some other electronic device. In some embodiments, the confirmation is explicit. For example, the operator may define that the structure is successfully operating by interacting with a digital element shown on a display to which the controller 1250 is communicatively coupled. In other embodiments, the confirmation is implicit. For example, the operator may request that the intervention component be moved to a new position, indicating that the structure is successfully operating.

[0119] Alternatively, confirmation may be generated by a sensor that monitors whether the interventional component is operating normally. For example, ingestible device 1200 may include a biopsy accessory that can be used to collect a sample, as discussed further below. In such an embodiment, ingestible device 1200 may include a sensor (e.g., an acoustic sensor or an optical sensor) that determines whether the biopsy accessory contains a sample based on reflected energy. As another example, biopsy accessory may include a pressure sensor that is arranged such that obtaining a sample will cause pressure to be applied to the pressure sensor.

[0120] 13 is a perspective view of an ingestible device 1300 with multiple intervening components 1304a-d located at the proximal end of capsule 1302. In FIG. 13, ingestible device 1300 includes four intervening components spaced circumferentially about capsule 1302. However, other embodiments may include more or less than four intervening components. For example, ingestible device may include a pair of intervening components located on opposite sides of capsule 1302.

[0121] Multiple interventional components 1304a-d may represent tools that are complementary to one another. Thus, each interventional component of multiple interventional components 1304a-d may be capable of manipulating the environment surrounding ingestible device 1300 in a different way. However, this need not necessarily be the case. For example, ingestible device may include a pair of interventional components (e.g., on opposite sides of capsule 1302) configured for grasping and another interventional component configured to sample, cut, cauterize, etc.

[0122] In FIG. 13 , ingestible device 1300 includes biopsy mechanism 1304a, delivery mechanism 1304d capable of delivering a material stored therein, and a pair of gripping mechanisms 1304b-c. The biopsy mechanism (also referred to as a “biopsy accessory” or “biopsy instrument”) can be used to obtain a sample from a living organism to discover the presence, cause, or extent of disease. The delivery mechanism (also referred to as a “delivery instrument”) can have a material stored therein, such as a medication, a cauterizing agent, a radiation-enhancing agent, and ink. The term “medication,” as used herein, can refer to any substance that can be used for treatment, regardless of its form. Examples of medication include therapeutic drugs, drugs, and natural and bioidentical hormones. Meanwhile, the gripping mechanism (also referred to as a “gripping instrument”) can be used to grasp a structure within a living organism. In FIG. 13, the twin gripping mechanism includes a manipulator arm 1304b and a polypectomy instrument 1304c.

[0123] The ingestible device 1300 may include a camera 1306 capable of capturing images of the surrounding environment before, during, or after manipulation by the interventional components 1304a-d. As shown in FIG. 13 , multiple interventional components 1304a-d may be radially spaced around the camera 1306 in a uniform manner. Alternatively, multiple interventional components 1304a-d may be radially spaced around the camera 1306 in a non-uniform manner. For example, a pair of interventional components may be located adjacent to each other along one side of the capsule 1302, while another interventional component may be located along the other side of the capsule 1302. As another example, a first pair of interventional components may be located adjacent to each other along one side of the capsule 1302, while a second pair of interventional components may be located adjacent to each other along the other side of the capsule 1302.

[0124] As discussed above, ingestible device 1300 can include illumination sources that emit electromagnetic radiation into the surrounding environment. These illumination sources may be arranged around camera 1306 to provide consistent illumination of the surrounding environment. In FIG. 13 , illumination sources 1308a-d are spaced radially around the camera in a uniform manner, but illumination sources 1308a-d are offset from interventional components 1304a-d.

[0125] The interventional component can be disposed within the ingestible device in several different ways. Figures 14-15 illustrate two different approaches for disposing the interventional component inside the capsule.

[0126] FIG. 14 illustrates how each interventional component in ingestible device 1400 may be mounted on a separate disk contained inside capsule 1402. Each disk may include the mechanisms needed to drive or actuate the corresponding interventional component. For example, each disk may include a dedicated controller communicatively coupled to the processor of ingestible device 1400, from which instructions to operate are received. Additionally or alternatively, each disk may include a driver, electric motor, and the like. In other embodiments, the disks include microelectromechanical systems (MEMS) devices for operating the corresponding interventional component, and thus may be referred to as "MEMS disks."

[0127] As discussed above, while in the retracted state, the interventional components may reside completely within the capsule 1402. However, while in the extended state, the interventional components may reside at least partially outside the capsule 1402. Figure 14 includes end, side, and perspective views of the ingestible device 1400, with the interventional components 1404a-c all in the extended state.

[0128] Generally, the disks 1406a-c are affixed to the inside of the capsule 1402 in a vertically stacked arrangement. Each disk may have a longitudinally oriented tube 1408a-c extending toward either the proximal or distal end of the ingestible device 1400, through which an interventional component can be delivered. To accommodate these tubes 1408a-c, at least some of the disks 1406a-c may include clearance features through which the tubes of the underlying disks can be routed. In FIG. 14 , for example, the bottom MEMS disk 1406a has a zero-clearance feature, the top MEMS disk 1406c has two clearance features, and the central MEMS disk 1406b has one clearance feature. One example of a clearance feature is a notch along the periphery of the disk, while another example of a clearance feature is an opening in the disk. The clearance features allow the disks 1406a-c to be stacked in a volumetrically efficient and modular arrangement. Such an approach allows new interventional components to be easily developed and integrated without completely redesigning the architecture of the ingestible device 1400.

[0129] FIG. 15 includes perspective and end views of a radial array 1500 of bays 1502 a-c containing the drive mechanisms required for corresponding interventional components 1504 a-c. As shown in FIG. 15, each interventional component may be linearly advanced between a retracted state and an extended state. The radial array 1500 of bays 1502 a-c may occupy the entire 360-degree circumference of the interior of the capsule. Alternatively, there may be interruptions between these bays for other components. For example, the bays 1502 a-c may be designed such that, when joined together, a channel for cables (e.g., for a camera and illumination source) is formed at the geometric center of the radial array 1500. As another example, the bays 1502 a-c may be designed such that, when joined together, a channel for cables is formed between each pair of bays.

[0130] In some embodiments, the available radial space is divided into approximately equal areas to ensure modularity in the design. In such embodiments, interventional components may be designed with standard radial widths to ensure that these bays are occupyable. Similar to the approach shown in FIG. 14, the approach shown in FIG. 15 allows new interventional components to be easily developed and integrated without completely redesigning the architecture of the ingestible device.

[0131] FIG. 16 includes a perspective view of an ingestible device 1600 with a biopsy mechanism 1602 capable of removing a sample from a structure in vivo and then storing the sample for further analysis. For example, the biopsy mechanism 1602 may retain the sample so that it can be removed for further analysis after the ingestible device 1600 is no longer inside the living body. The sample may be taken from an anatomical structure, or the sample may be taken from a foreign body. After approaching the structure, the ingestible device 1600 may extend the biopsy mechanism 1602 from the capsule 1606 toward the structure. For example, the ingestible device 1600 may extend the biopsy mechanism 1602 through an opening 1604 in the capsule 1606, as shown in FIG. 16 .

[0132] In some embodiments, biopsy mechanism 1602 comprises a hollow structural body with a tapered tip at its distal end, as shown. The hollow structural body may comprise stainless steel, titanium alloy, or another rigid biocompatible material. When the tapered tip of the hollow structural body is inserted into the structure, a portion of the structure may enter the hollow structural body through side opening 1608. This type of biopsy mechanism may be referred to as a “push-type element.” Ingestible device 1600 may then receive an input indicating confirmation that biopsy accessory 1602 successfully collected a sample. In some embodiments, the confirmation is generated by a sensor configured to monitor whether the biopsy accessory contains a sample, while in other embodiments, the confirmation is submitted by an operator via a controller through which ingestible device 1600 is controlled. For example, the operator may provide confirmation in response to determining that biopsy mechanism 1602 has entered the structure to a sufficient depth based on an analysis generated by image ingestible device 1600. In response to receiving the input, ingestible device 1600 can retract biopsy mechanism 1602 from the structure through opening 1604 in capsule 1606 with the sample being thrust into side opening 1608 .

[0133] In other embodiments, the biopsy mechanism 1602 includes a needle comprising a hollow structural body with a sharp tip at its distal end. In such embodiments, the ingestible device 1600 extends the needle toward the structure so that the sharp tip enters the structure, and then retracts it so that the sharp tip is withdrawn from the structure. The hollow structural body may include one or more barbs along its inner surface to promote sample retention. For example, an annular array of barbs may be spaced circumferentially about the inner surface of the hollow structural body. These barbs may be passive structural elements, but each barb can be oriented in a manner that prevents or restricts sample movement in one direction. For example, the barbs may be oriented in a manner that allows the sample to easily enter the hollow structural body but prevents removal of the sample from the hollow structural body (e.g., when the sharp tip of the needle is withdrawn from the structure from which the sample was taken).

[0134] Ingestible device 1600 may include a barrier configured to prevent exposure of biopsy mechanism 1602 to the surrounding environment by restricting access through opening 1604 in capsule 1606. In other words, the barrier may block the ingress of fluid into capsule 1606 by blocking opening 1604.

[0135] In some embodiments, the barrier comprises a rigid material, such as a polymer or metal. In its original position, the barrier may completely block the opening 1604, preventing fluid from entering (and exiting) the biopsy mechanism 1602. The deployment mechanism can be configured to move the barrier before the biopsy accessory 1602 is extended through the opening 1604. The deployment mechanism may achieve the movement via solenoid action, rack and pinion action (e.g., an electric motor with corresponding gears), spring loading, pneumatic loading, hydraulic loading, etc. Generally, the deployment mechanism moves the barrier so that the opening 1604 is fully open and accessible. However, the deployment mechanism may also move the barrier so that a portion of the opening 1604 remains blocked.

[0136] In other embodiments, the barrier comprises an elastomer, such as an unsaturated rubber (e.g., isoprene rubber) or a saturated rubber (e.g., silicone rubber). In such embodiments, the deployment mechanism may move the biopsy mechanism 1602 to the extended position without moving the barrier, thereby allowing the barrier to be pierced by the biopsy mechanism 1602. Alternatively, the barrier may include an opening (e.g., a slit) through which the deployment mechanism can move the biopsy mechanism 1602 without damaging the barrier. An elastomer-based barrier may be desirable in some situations because it allows longitudinal movement of the biopsy mechanism 1602 while still maintaining some degree of sealing against fluids.

[0137] As discussed further below, other intervening components may be present to facilitate sample collection. For example, embodiments of ingestible device 1600 may include a drill bit with a high rake angle (e.g., for sample scraping), a gripping mechanism, or a cutting mechanism with a sharp edge to aid in removing the sample from the structure. As another example, the ingestible device may include a brush with bristles (e.g., having fine barbs) that can be scraped across the surface of the structure to obtain the sample. For example, the brush may undergo a rotational or linear motion to scrape cells from the tissue of interest.

[0138] FIG. 17 illustrates how an ingestible device can include one or more storage bays 1702 in which a sample can be sealed. As discussed above, the ingestible device can include an interventional component 1704 capable of obtaining a sample from an in vivo structure. For example, the ingestible device may include a needle with a sharp tip that can be inserted into the structure from which the sample is to be taken, or the ingestible device may include a pushable element (e.g., on a screw jack) that can be pushed into the structure from which the sample is to be taken. In FIG. 17, the interventional component 1704 is a pushable element, similar to the biopsy mechanism of FIG. 16. However, one skilled in the art will recognize that various types of interventional components can be employed to collect a sample by an ingestible device. Regardless of its form, the interventional component can be retracted into a capsule along with the sample.

[0139] The collection mechanism may be configured to remove the sample from the intervention component 1704 for storage in one of the storage bays. For example, a vacuum element may draw the sample into one of the storage bays, or a mechanical element may push or place the sample into one of the storage bays. Such an approach allows multiple samples to be obtained and then isolated from both each other and the surrounding environment while the ingestible device progresses through the living body.

[0140] 17, the ingestible device may include a radial array of storage bays 1702 that can be rotated as samples are collected by the interventional component. For example, after a sample is removed from the interventional component 1704 and stored in one of the storage bays 1702, the radial array may be rotated so that the sample collected by the interventional component 1704 can be stored in another storage bay. The ingestible device may be designed so that after the ingestible device exits the living body, the capsule can be opened (e.g., with a specialized tool) and the sample in the storage bay 1702 can be removed.

[0141] Other embodiments of the ingestible device include a radial array of storage bays, each associated with a corresponding interventional component. In such embodiments, samples collected by each interventional component can be stored in its own storage bay, minimizing the likelihood of cross-contamination. As discussed above, these interventional components may be controlled separately by dedicated drive mechanisms, or they may be rotated through a single drive mechanism as samples are collected and the ingestible device is cycled to prepare for collection of the next sample.

[0142] 18A is a perspective view of an ingestible device 1800 with an interventional component 1802 capable of resecting a polyp 1804 protruding from tissue. Such an interventional component may be referred to as a "polypectomy mechanism," "polypectomy instrument," or "polypectomy tool." As shown in FIG. 18A , the interventional component 1802 may include a loop of wire 1806 that, similar to a noose, may be placed around the polyp 1804 and then pulled closed, thereby shearing the polyp 1804 from the tissue at its base. The polyp 1804 may be provided within a capsule 1808 for delivery outside the living body.

[0143] Wire-based ablation of the sample may be facilitated by other interventional components. For example, the polyp 1804 may be targeted with energy by another interventional component (e.g., an ablation element that targets the polyp 1804 with RF waves, microwaves, etc.). As another example, the polyp 1804 may be severed by a cutting mechanism (also referred to as a "cutting tool"). As another example, the ingestible device 1800 may include a grasping mechanism (e.g., a manipulator arm) capable of manipulating and / or exploring the polyp 1804.

[0144] Other embodiments may include rotary cutting features intended to shear material that does not substantially protrude from the surrounding tissue. One example of a rotary cutting feature is a rotatable cutting element comprising a shaft with cutting flutes. The rotary cutting feature may feature a cutting surface with a high rake angle to facilitate the release of the detached material. A clearance angle behind the cutting surface may serve to reduce friction and improve cutting efficiency. The detached material may be captured or retracted into a capsule for further study outside the living body, or the detached material may simply be allowed to exit the living body via natural peristalsis.

[0145] FIG. 18B is a perspective view of another ingestible device 1850 with an interventional component 1852 capable of resecting a polyp 1854. Like the interventional component 1802 of FIG. 18A , the interventional component 1852 may include a loop of wire 1856 that can be deployed from and then pulled into a hollow structural body 1858. In some embodiments, the hollow structural body 1858 is extended through a capsule 1860 into the surrounding environment and then held while the polyp 1854 is resected. In other embodiments, the hollow structural body 1858 is extended through a capsule 1860 into the surrounding environment and then retracted into the capsule 1860 in a single motion. Both of these approaches may allow multiple samples (e.g., of the sample structure or different structures) to be obtained as the ingestible pill 1850 traverses the living body. Actuation of the interventional component 1852 can be accomplished using MEMS devices, mechanical springs, electric motors, solenoids, and the like.

[0146] 18B, the loop of wire 1856 can be deployed to resect at least a portion of polyp 1854 through a shearing action as the loop of wire 1856 is pulled to close and form a channel. The loop of wire 1856 may comprise braided stainless steel, a MEMS device chain with cutting and / or shearing elements, a monofilament polymer, a braided polymer, or another flexible material with high tensile strength. For example, a MEMS device chain may be desirable when a high linear force would be useful for retraction.

[0147] FIG. 19 is a perspective view of an ingestible device 1900 with an interventional component 1902 having one or more sharp edges for cutting. Such an interventional component may be referred to as a "cutting mechanism" or "cutting instrument." In FIG. 19, the interventional component 1902 is a rotary cutting feature comprising a shaft 1904 with cutting flutes 1906 for obtaining a sample. The cutting flutes 1906 may have a high radial rake angle in addition to a high radial clearance angle to facilitate slicing and / or peeling of the sample from its original location. The drive mechanism responsible for rotating the shaft 1904 may be located inside a capsule 1908.

[0148] The sample may be transported into capsule 1908 by Archimedes' spiral. Alternatively, ingestible device 1900 may include another intervening component configured to capture the sample once separated by cutting flutes 1906. For example, ingestible device 1900 may include a gripping mechanism capable of grasping the sample or mechanical jaws capable of encapsulating the sample. The sample being transported into capsule 1908 may further be macerated in some embodiments. For example, material (e.g., tissue) captured within cutting flutes 1906 may be provided to a shearing element located inside capsule 1908.

[0149] As discussed above, the interventional component 1902 may be exposed to the ambient environment by advancing it through an opening in the capsule 1908, which is initially blocked by a rigid barrier, or the interventional component 1902 may be exposed to the ambient environment by advancing it through a flexible barrier having an opening defined therein. Alternatively, the interventional component 1902 may be exposed to the ambient environment by advancing it through a hemispherical housing that includes a shape memory alloy and serves to encapsulate the sample after the cutting action is complete.

[0150] 20 includes four examples of interventional components 2000, 2010, 2020, and 2030 that are capable of grasping an in vivo structure. Such interventional components may be referred to as "gripping mechanisms" or "gripping instruments" or "gripping tools."

[0151] The first interventional component 2000 includes a pair of mechanical jaws 2002 connected to a structural body 2004 that can be piston-moved within a hollow structural body 2006. When the pair of mechanical jaws 2002 are extended away from an opening in the hollow structural body 2006, the pair of mechanical jaws 2002 may necessarily open. However, when the pair of mechanical jaws 2002 are pulled into the opening in the hollow structural body 2006, the pair of mechanical jaws 2002 may close (e.g., due to pressure applied by the edge of the hollow structural body 2006).

[0152] The second interventional component 2010 includes a pair of mechanical jaws 2012 that can be actuated by moving a throat piece 2014 that is connected to a support arm 2016 along a structural body 2018. When the throat piece 2014 is moved along the structural body 2018 away from the pair of mechanical jaws 2012, tension is applied to the support arm 2016, which causes the support arm 2016 to pull the pair of mechanical jaws 2012 to an open state. When the throat piece 2014 is moved upward along the structural body 2018, the support arm 2016 will flex, causing the tension to be removed. Removing the tension can cause the pair of mechanical jaws 2012 to return to a closed state.

[0153] In some embodiments, both mechanical jaws are actuatable. Thus, each mechanical jaw may be capable of moving between a first position (also referred to as an "open position") and a second position (also referred to as a "closed position"). However, in other embodiments, only one of the mechanical jaws is actuatable. In such embodiments, one mechanical jaw will remain in a closed position while the other mechanical jaw moves between the open and closed positions. The third interventional component 2020 includes a pair of mechanical jaws 2022, but only one of the mechanical jaws is actuatable between the open and closed states.

[0154] Some gripping mechanisms are designed simply to grasp a structure in vivo. The fourth interventional component 2030 is an example of such a gripping mechanism. In particular, the fourth interventional component 2030 includes a pair of mechanical jaws 2032, which may be referred to as “rat tooth jaws” or “alligator jaws.” Other gripping mechanisms are designed to cut a structure in vivo. For example, at least one of the pair of mechanical jaws may have a sharp edge for cutting. These mechanical jaws (also referred to as “cutting jaws” or “shearing jaws”) may close around the structure to shear, or they may make successive “bites” until sufficient material is removed from the structure. A single “bite” of material may be returned to the ingestible device (e.g., stored in a storage bay, as discussed with reference to FIG. 17 ) for further analysis outside the living body. The sharp edge may be useful to ensure that samples can be obtained without applying significant torque to the structure from which the samples are taken.

[0155] The pair of mechanical jaws may be designed to be structurally complementary to one another to enable efficient capture and retention of a sample. For example, as shown in FIG. 20 , some mechanical jaws may have a generally linear profile, while other mechanical jaws may have a profile resembling a sawtooth wave, a sine wave, a square wave, etc. When the pair of mechanical jaws are in a closed position, a cavity may be formed in which a sample can be held. The cavity may be partially or completely enclosed by the pair of mechanical jaws. For example, the pair of mechanical jaws may be designed to isolate the sample from the surrounding fluid to minimize the likelihood of contamination.

[0156] FIG. 21 includes a side view of an ingestible device 2100 having one or more elastic bands 2102 secured around its proximal end. These elastic bands 2102 may be deployed around a structure (e.g., a polyp) to reduce or eliminate circulation for eventual sloughing. The elastic bands 2102 may first be secured around a tapered section 2106 of the capsule 2104. The tapered section 2106 may have a hollow core 2108 through which light can be collected for imaging by a camera 2110. As shown in FIG. 21 , a pair of feed arms 2112 can be configured to rotate and release an elastic band from around the structure of interest and then position the next elastic band for release. As an elastic band is released from the tapered section 2106 of the capsule 2104, the remaining elastic bands may roll forward due to the taper.

[0157] FIG. 22 is a perspective view of an ingestible device 2200 including an interventional component 2202 having a blunt configuration that can be used to compress tissue to temporarily displace circulating blood. In FIG. 22, the interventional component 2202 represents an extended nose section that protrudes from the proximal end of a capsule 2204. The interventional component 2202 may extend either partially or completely around the camera. Thus, the interventional component 2202 may have an annular configuration that completely surrounds the camera. The thickness of the interventional component 2202 may be less than 0.5 millimeters (mm), less than 1 mm, or less than 2 mm. The interventional component 2202 may comprise polycarbonate or another rigid biocompatible material.

[0158] First, the ingestible device 2200 can be aligned with the structure to be pressed. The structure may be, for example, a stomach wall or an intestinal wall (also referred to as an "epithelial cell"). The ingestible device 2200 can then employ a pusher 2206 located at its distal end, which pushes the interventional component 2202 into the structure. Thus, blunt pressing can be achieved through use of the propulsion system of the ingestible device 2200. Alternatively, blunt pressing can be achieved through mechanical deployment of the interventional component 2202 relative to the capsule 2204. For example, the interventional component 2202 may be mechanically actuated between a retracted state and an extended state to apply pressure to the structure. Mechanical deployment may be accomplished via solenoid action, rack and pinion action (e.g., an electric motor with corresponding gears), spring loading, pneumatic loading, hydraulic loading, etc.

[0159] Vascularity and / or health may be inferred based on the rate at which blood is replaced in response to removal of the interventional component 2202 from the structure. As an example, cancerous lesions tend to have high vascularity and blood refill rates. Thus, the ingestible device 2200 may have a camera capture a series of images immediately after the interventional component 2202 is removed from the structure, and then transmit the series of images to a receiver (e.g., in a controller) for further analysis.

[0160] 23 includes perspective, side, and end views of an ingestible device 2300 including multiple anchoring members 2302 that can be used for stabilization. In FIG. 23, the ingestible device 2300 includes four anchoring members 2302 spaced circumferentially around the capsule 2304 at uniform intervals. Other embodiments of the ingestible device 2300 can include more or fewer than four anchoring members 2302. Although the anchoring members 2302 are shown extending from the proximal end of the capsule 2304 toward the distal end of the capsule 2304, the anchoring members 2302 can be anchored along any portion of the capsule.

[0161] The anchoring member 2302 may be in the form of a hoop or wire. In embodiments in which the anchoring member 2302 is a wire, the end of each wire may be blunted. For example, heat may be applied continuously to the end of each wire by a laser welder to form a spherical element whose cross-sectional area is significantly larger than that of the wire. Such an approach ensures that the anchoring member 2302 can engage tissue in an atraumatic manner.

[0162] The anchoring member 2302 can engage tissue to mechanically lock the ingestible device 2300 in place. Such an approach may be useful for performing detailed diagnostics, providing adhesion for interventional components that must be pushed against the target anatomical structure with more force than the propulsion system can provide, or eliminating electrical dissipation associated with a fixed-position float command. Thus, the anchoring member 2302 may be used to provide leverage instead of or in addition to the propulsion system of the ingestible device 2300 (e.g., when obtaining a sample using a biopsy mechanism). The anchoring member 2302 may be actuated via a shape memory alloy, a rack-and-pinion extension (e.g., driven by an electric motor and corresponding gears), or an elastically loaded element that assumes a different shape when extended from a retaining cavity, rail, etc.

[0163] 24A includes side and end views of an ingestible device 2400 that includes a series of interventional components 2402 having materials stored therein. These interventional components 2402 can be used to deliver the corresponding materials to a target anatomical structure in vivo and therefore may be referred to as a "delivery mechanism" or "delivery instrument." One example of a delivery mechanism is a spring-loaded syringe that is loaded with a material that can be injected into the structure. Another example of a delivery mechanism is a compartment that is loaded with a material that can be released into the environment surrounding the ingestible device 2400.

[0164] Examples of materials include medications, cauterizing agents, radiation-enhancing agents, and inks. For example, the delivery mechanism may include a therapeutic agent, a drug, a natural hormone, or a bioidentical hormone that can be released for therapeutic purposes. As another example, the delivery mechanism may include a cauterizing agent, such as silver nitrate, to reduce bleeding from a wound inside the living body. As another example, the delivery mechanism may include a radiation-enhancing agent that is released to improve the contrast and / or quality of images captured during a radiation-based imaging procedure. As another example, the delivery mechanism may include ink that can be used to permanently or temporarily mark a location within the living body (e.g., that can be targeted in a subsequent procedure).

[0165] The delivery mechanism may be advanced into the structure and capable of injecting a material stored therein. FIG. 24B illustrates how an interventional component 2402 having a material 2406 stored therein may be actuated by a spring 2408. Other embodiments of the interventional component 2402 may be actuated by a MEMS device, hydraulic means, pneumatic means, or chemical means. In some embodiments, the interventional component 2402 is configured to piston within a hollow structural body having a cavity therein exposed to the surrounding environment through the capsule 2404. In such embodiments, fluid flow into the capsule 2404 can be prevented by sealing each tube according to the process discussed above with reference to FIGS. 7A-B. In other embodiments, the interventional component 2402 is configured to extend through an opening in the capsule 2404. For example, each interventional component 2402 may be capable of extending through an opening having a flexible barrier that prevents fluid flow into the capsule 2404.

[0166] 25 includes a perspective view of an ingestible device 2500 including an interventional component 2502 capable of storing and then deploying surgical staples 2504 (or simply, "staples"). The staples may be employed to close wounds resulting from open bleeding, polypectomy, biopsy, etc. The staples may be closed by a high-torque, slow-acting mechanism 2508, such as a MEMS device, contained within the interventional component 2502.

[0167] In some embodiments, the staples comprise a metal alloy, while in other embodiments, the staples comprise a bioabsorbable material (also referred to as a "bioresorbable material"). The terms "bioresorbable material" and "bioresorbable material," as used herein, refer to a material that, upon placement in a living body, begins to dissolve and will be slowly replaced by tissue. Examples of bioabsorbable materials include tricalcium phosphate and polylactic-polyglycolic acid copolymer. Bioabsorbable materials may be desirable when wounds are encouraged to heal over time, thereby making staples unnecessary.

[0168] 25, interventional component 2502 includes a magazine of staples 2506 that can be fed to a high-torque, slow-acting mechanism 2508 via a feeding mechanism 2510, such as a feed rod. However, wounds can be closed in other ways. For example, embodiments of ingestible device 2500 can be capable of applying a bioabsorbable adhesive (e.g., a polyethylene glycol-based (PEG-based) hydrogel) or a biocompatible adhesive (e.g., polymethylmethacrylate (PMMA)). As another example, embodiments of ingestible device 2500 can be capable of applying bioabsorbable sutures or bioabsorbable stents.

[0169] FIG. 26 includes a perspective view of an ingestible device 2600 including an interventional component 2602 capable of cauterizing tissue inside a living body. Such an interventional component 2602 may be referred to as an "ablation mechanism" or "ablation instrument." Cauterization may be employed to close wounds resulting from open bleeding, polypectomy, biopsy, etc. Accordingly, ablation mechanisms are often accompanied by biopsy mechanisms, grasping mechanisms, etc. In FIG. 26, for example, the ingestible device 2600 includes a first interventional component 2602 capable of cauterizing tissue and a second interventional component 2604 capable of grasping tissue (and optionally surrounding the structure).

[0170] In some embodiments, the interventional component 2602 includes a resistive heating element that applies heat to tissue through conduction. In other embodiments, the interventional component 2602 includes an ablation element that applies heat by directly targeting tissue using RF waves, microwaves, etc. Thus, heat may be transferred to tissue via conduction, convection, or radiation.

[0171] The ingestible device may include other interventional components in addition to or instead of those discussed with reference to Figures 13-26. For example, the ingestible device may include a gripping element comprising a shaft with barbs along its distal end (e.g., along the surface of a spherical or tapered element). In such embodiments, the ingestible device may extend the gripping element to penetrate the structure of interest. The ingestible device may then partially retract the interventional component such that at least a portion of the structure is dropped off as a sample. In some embodiments, the interventional component is retracted into the ingestible device to allow subsequent analysis of the sample, while in other embodiments, the interventional component is removed from the ingestible device to release the sample into the living body. Communication environment

[0172] 27 depicts an example of a communication environment 2700 including an ingestible device 2702 communicatively coupled to a controller 2704. An operator can control the ingestible device 2702 using the controller 2704. Additionally, the ingestible device 2702 can be configured to transmit data (e.g., image data or biometric data) to one or more electronic devices. Examples of electronic devices include a monitor 2706, a computer server 2708, and a mobile phone 2710. The ingestible device 2702, the controller 2704, and the electronic devices may collectively be referred to as "networked devices."

[0173] In some embodiments, the networked devices are connected to each other via a point-to-point wireless connection, as shown in Figure 27. For example, the ingestible device 2702 may be communicatively coupled to the controller 2704 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 2702 may be communicatively coupled to the monitor 2706 and the computer server 2708 via separate LoRa® communication channels.

[0174] The connections established between networked devices may be bidirectional or unidirectional. For example, controller 2704 may be enabled to transmit data to ingestible device 2702 even though ingestible device 2702 may not be able to transmit data to controller 2704. Similarly, ingestible device 2702 may be enabled to transmit data to an electronic device even though the electronic device may not be able to transmit data to ingestible device 2702.

[0175] Embodiments of communication environment 2700 may include some or all of the networked devices. For example, some embodiments of communication environment 2700 include ingestible device 2702 and a single device (e.g., a mobile phone, tablet computer, or mobile workstation) that serves as a controller and an electronic device on which the image data is reviewed. As another example, some embodiments of communication environment 2700 include ingestible device 2702 and a computer server 2708 on which the image data is stored for subsequent review. In such embodiments, communication environment 2700 need not include controller 2704 because the image data will be reviewed at some later point in time. As another example, some embodiments of communication environment 2700 include a dedicated input device, without display capabilities, that serves as controller 2704 and an electronic device, such as a tablet computer or mobile phone, on which the image data is reviewed. In such embodiments, the dedicated input device may be communicatively coupled to the ingestible device and / or the electronic device.

[0176] Because the ingestible device 2702 can operate in vivo, proximity to fluids, tissues, and the like can affect the electromagnetic operating characteristics of the antenna. To address this, the antenna may be designed and / or selected to minimize the effects of nearby materials with relative dielectric constants significantly different from free space. As an example, embodiments may use a small loop antenna with one or more windings, which interacts primarily with magnetic field components at close range and is therefore less significantly affected by the proximity of high-dielectric materials. Alternatively, the antenna may be designed and / or selected to compensate for the effects of fluids inside the living body. As an example, embodiments may use a straight, bent, curved, or serpentine antenna (e.g., a monopole antenna) with an effective electrical antenna length of one-eighth and one-third of the transceiver operating wavelength when the ingestible device 2702 is surrounded by the fluid or anatomical structure of the living body. For example, embodiments may use a monopole or “whip” antenna that is significantly shorter than a quarter wavelength in free space. Although this antenna would not be optimally tuned in air, proximity to a high-dielectric fluid may cause the antenna to behave electrically as if it were significantly longer and properly tuned to the frequency of interest. Such an approach also has the advantage of allowing the use of an antenna that is 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 2702.

[0177] The antenna and transceiver circuitry may be designed so 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 best performance at any given time. In embodiments using wireless power transfer, the ingestible device 2702 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 each to be optimized for its respective task.

[0178] To allow multiple ingestible devices to operate within 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. When a communication channel is established with an ingestible device, the ingestible device may transmit its identifier to establish whether the communication channel has been established with the appropriate controller. Additionally or alternatively, the ingestible device may add an identifier (or a shortened / modified identifier) ​​to data packets 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 can therefore be ignored. As part of this process, the ingestible device and corresponding controller may choose to switch to a different communication channel or frequency to avoid having to share time and bandwidth with other pairs of ingestible devices and controllers. An ingestible device and corresponding controller may choose to change communication frequencies as needed during operation to avoid conflicts with interfering devices; this strategy is known as "frequency hopping." Processing System

[0179] 28 is a block diagram illustrating an example of a processing system 2800 in which at least some operations described herein may be implemented. Components of processing system 2800 may be hosted on an ingestible device (e.g., ingestible device 100 of FIG. 1).

[0180] Processing system 2800 may include a central processing unit ("processor") 2802, a main memory 2806, a non-volatile memory 2810, a wireless transceiver 2812, an input / output device 2818, a control device 2820, a drive unit 2822 including a storage medium 2824, and a signal generating device 2828 communicatively coupled to a bus 2816. Bus 2816 is illustrated as an abstraction representing one or more physical buses and / or point-to-point connections connected by appropriate bridges, adapters, or controllers. Bus 2816 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 (I-IC), a Serial Bus (SPI), a Serial Interface (SI), a Serial Communication Interface (SPI), a Serial Data Interface (SCI), a Serial Communication Protocol (SCI), a Serial Datagram Protocol (SCI), a Serial Communication Protocol (SCI), a Serial Network (SNI), a Serial Communication Protocol (SNC ... 2 C) bus, or a bus conforming to Institute of Electrical and Electronics Engineers (IEEE) Standard 1394.

[0181] Processing system 2800 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 2800.

[0182] While main memory 2806, non-volatile memory 2810, and storage medium 2824 are shown as a single medium, the terms "storage medium" and "machine-readable medium" should be taken to include a single medium or multiple media that store one or more sets of instructions 2826. The terms "storage medium" and "machine-readable medium" should also be taken to include any medium capable of storing, encoding, or carrying a set of instructions for execution by processing system 2800.

[0183] Generally, the routines executed to implement 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 2804, 2808, 2826) that are stored at various times in various memory and storage devices within an electronic device. When read and executed by processor 2802, the instructions cause processing system 2800 to perform operations for carrying out various aspects of the present disclosure.

[0184] While embodiments are described in the context of a fully functional electronic device, those skilled in the art will understand that various embodiments can also be distributed as program products in various forms. The present disclosure applies regardless of the particular type of machine- or computer-readable medium used to actually effect the distribution. Further examples of machine- and computer-readable media include recordable-type media, such as volatile and non-volatile memory devices 2810, 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.

[0185] Wireless transceiver 2812 enables processing system 2800 to mediate data within network 2814 with entities external to processing system 2800 through any wireless communication protocol supported by processing system 2800 and the external entities. Wireless transceiver 2812 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.

[0186] 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), and the like. remarks

[0187] The foregoing description of various embodiments has been provided for illustrative purposes. It is not intended to be exhaustive or to limit the claimed subject matter to the precise form disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to best explain the principles of the invention and its practical application, thereby enabling those skilled in the art to understand the claimed subject matter, various embodiments, and various modifications that are suitable for the particular use contemplated.

[0188] Although the detailed description describes various embodiments, the technology can be practiced in many ways, regardless of how the detailed description appears. Embodiments may vary significantly in their implementation details while still being encompassed by this specification. Specific terminology used when describing certain features or aspects of various embodiments should not be taken to imply that the terminology, as redefined herein, is limited to any specific characteristic, feature, or aspect of the technology with which it is associated. In general, the terms used in the following claims should not be construed to limit the technology to the specific embodiments disclosed herein unless those terms are expressly defined herein. Thus, the actual scope of the technology encompasses not only the disclosed embodiments, but also all equivalent ways of practicing or implementing the embodiments.

[0189] The terms used herein are primarily chosen for readability and instructional purposes, and are not chosen to bound or limit the subject matter. Therefore, it is intended that the scope of the technology be limited not by the detailed description of the invention, but rather by any claims issuing from an application based on this specification. Thus, the present disclosure of various embodiments is intended to be illustrative, but not limiting, of the scope of the technology as set forth in the following claims.

Claims

[Claim 1] The invention described in this specification.

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