Expandable Intravascular Capsule Endoscope with Magnetic Guide

Abstract

The inflatable in vivo capsule endoscope includes a sensing device for capturing in vivo images and one or more permanent magnets housed in a capsule-like body for magnetically guiding the endoscope. The inflatable in vivo capsule endoscope also includes an inflatable buoy attached to the exterior of the capsule-like body. The inflation device inflates the inflatable in vivo capsule endoscope by injecting gas into the inflatable buoy to inflate the inflatable capsule endoscope and reduce its specific gravity, and injecting a threshold amount of gas into the inflatable buoy causes the inflatable capsule endoscope to float in liquid. The inflatable in vivo capsule endoscope is magnetically guided via the permanent magnet when exposed to an externally generated magnetic field. The reduced magnetic field strength and the size of the external magnet allow the inflated capsule to float in liquid more easily than a conventional non-inflated capsule.

Description

Technical Field

[0001] [Cross - Reference to Related Applications] This application claims the benefit of U.S. Patent Application No. 17 / 062,124, filed Oct. 2, 2020, and U.S. Provisional Application No. 62 / 911,688, filed Oct. 7, 2019, both of which are hereby incorporated by reference in their entirety.

[0002] The present invention relates to an ingestible or in - vivo capsule endoscope configured to cross - section and image at least a portion of the gastrointestinal (GI) tract. More specifically, some embodiments relate to an ingestible capsule endoscope. Such an ingestible capsule endoscope has a permanent magnetic dipole moment configured to be magnetically induced while staying inside the human body by a magnetic field generated by a magnetic device disposed outside the human body.

Background Art

[0003] Conventional in - vivo capsule endoscopes are magnetically induced to move through the human body. These capsules contain magnets, batteries, cameras, and other electronic devices, which are relatively heavier than liquids and thus sink in liquids. Therefore, when the capsule enters a cavity filled with liquid such as the stomach, the capsule generally sinks to the bottom of the cavity.

[0004] Once it sinks, the capsule enters the bottom of the cavity and requires a relatively strong magnetic force, for example, 0.006 Newton (N) to 0.06 N, to overcome the frictional and resistive forces between the capsule and the bottom of the cavity and move. Generally, in conventional systems, a large bed of magnets is required to generate a magnetic field strong enough to magnetically rotate or move the sinking capsule. Such magnets usually occupy the entire space and are not intended to be moved, thus restricting access to and portability for the necessary personnel. Further, when the capsule sinks, its field of view is generally blocked by the walls and bottom of the cavity, blocking the objects of interest within the image captured by the capsule.

[0005] Therefore, in the art, there is a need for a more efficient system for magnetically guiding an intravascular capsule endoscope.

Summary of the Invention

[0006] To solve the aforementioned problems in the art, the present invention provides an inflatable intravascular capsule endoscope system that floats the capsule in a liquid. When floating, the capsule is suspended in the liquid above the bottom of the stomach or other cavity filled with liquid. This buoyancy significantly facilitates magnetically moving the capsule, for example, by reducing the frictional or resistive forces between the capsule and the cavity wall. The floating capsule requires a much weaker magnetic force, for example, 0.0006 Newton (N) to 0.006 N, to guide the capsule compared to a sunken capsule (e.g., a ten-fold or one-digit decrease). Such a magnetic field can be generated by a smaller magnet than in conventional systems. In some embodiments, the magnet is small enough to be handheld or portable, enabling magnetic induction capsule endoscopy to be accessible to a wider range of patients.

[0007] Furthermore, since the floating capsule is spaced from the bottom of the cavity, in some embodiments, it is possible to reduce or eliminate obstruction or shielding of the field of view of the capsule imaging device by the wall or bottom of the cavity. Thus, embodiments of the present invention can improve the visibility of objects of interest in the images generated by the floating capsule endoscope as compared to conventional submerged capsule endoscopes. In some embodiments, the inflation level of the capsule can be adjusted or regulated. Thereby, the capsule can float to a height below the liquid surface, preventing refraction or glare at the surface and further improving the image quality.

[0008] In an embodiment of the present invention, an inflatable in-vivo capsule endoscope is provided. The inflatable in-vivo capsule endoscope includes a capsule-shaped body, a sensing device housed inside the capsule-shaped body for capturing in-vivo images, an external inflatable buoy installed outside the capsule-shaped body, and one or more permanent magnets housed inside the capsule-shaped body. The inflation device is configured to inflate the in-vivo capsule endoscope by injecting gas into the inflatable buoy to reduce the specific gravity of the in-vivo capsule endoscope. The inflatable in-vivo capsule endoscope is configured to float in a liquid when an amount of gas equal to or greater than a threshold value is injected into the inflatable buoy. The one or more permanent magnets have a permanent magnetic moment for magnetically guiding the inflatable in-vivo capsule endoscope when exposed to an externally generated magnetic field.

[0009] In an embodiment of the present invention, a method for operating an inflatable in-vivo capsule endoscope is provided. The inflatable in-vivo capsule endoscope can be introduced into a cavity containing body fluid in a non-inflated state. The capsule endoscope may include a capsule-shaped main body, an inflatable buoy installed outside the capsule-shaped main body, and a sensing device housed inside the capsule-shaped main body for capturing in-vivo images. By injecting a gas in an amount equal to or greater than a threshold value into the inflatable buoy to reduce the specific gravity of the in-vivo capsule endoscope, the inflation device can be operated to float the inflatable in-vivo capsule endoscope in the liquid within the cavity. The floating in-vivo capsule endoscope can be magnetically navigated by exposing one or more permanent magnets housed inside the capsule-shaped main body having a permanent magnetic dipole moment to an externally generated magnetic field that magnetically induces the inflatable in-vivo capsule endoscope.

Brief Description of the Drawings

[0010] The subject matter regarded as the present invention is particularly described and distinctly claimed in the concluding portion of this specification. However, the present invention, together with its construction, features, and advantages, can be best understood by referring to the following detailed description when read in conjunction with the accompanying drawings, with respect to both the construction and the method of operation.

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[0045] To simplify and clarify the illustration, it will be understood that the components of the invention illustrated herein are not necessarily drawn to scale. For example, the dimensions of some components may be exaggerated relative to other elements for clarity. Further, reference numerals may be repeated between figures to indicate corresponding or similar elements where appropriate.

Best Mode for Carrying Out the Invention

[0046] FIG. 1 schematically shows an inflatable in-vivo capsule endoscope 100 in a non-inflated state (left image) and an inflated state (right image) according to an embodiment of the present invention. As shown in FIG. 1, the inflatable in-vivo capsule endoscope 100 has a capsule-shaped main body 104 and an inflatable buoy 102 externally attached to the capsule-shaped main body 104. The inflatable buoy 102 is a floating device that, when inflated by an inflating device (e.g., inflating device 112 in FIG. 6), injects a gas of volume or pressure exceeding a threshold into the bladder of the inflatable buoy 102, reducing the overall density (or specific gravity relative to water) of the capsule. Thereby, the inflated capsule 100 comes to float in the liquid.

[0047] Also, the capsule 100 may have one or more permanent magnets 124 (e.g., as shown in FIG. 4). The one or more permanent magnets are housed inside the capsule-shaped main body 104 having a permanent magnetic dipole moment. When exposed to a magnetic field generated by an external magnet control system 126 (e.g., as shown in FIG. 5), the capsule endoscope 100 can be magnetically induced by the permanent magnets 124.

[0048] Figures 2 and 3 schematically show an inflatable intravascular capsule endoscope 100 within a body cavity in a non-inflated state (Figure 2) and an inflated state (Figure 3) according to an embodiment of the present invention. Here, inflation is applied from a sunken state where the capsule endoscope 100 contacts the wall or bottom of the cavity (substantially zero distance or negligible distance) as shown in Figure 2 to a state having a non-zero distance or relatively large distance from the bottom of the cavity as shown in Figure 3. In some embodiments, the inflated capsule 100 can float solely by the buoyancy force generated by inflating the buoy 102 (e.g., by reducing its density to be less than or equal to the density of water, or by reducing its specific gravity relative to water to be less than or equal to 1). In other embodiments, the inflated capsule 100 can float by a combination of buoyancy force (e.g., still greater than the water density but caused by a decrease in capsule density) and magnetic lift force, both of which together cancel out the gravitational settling force. The buoy 102 can be inflated with a gas such as air, carbon dioxide, nitrogen, or other gaseous or liquid substances having a density lower than that of foam, oil, or water, or a mixture thereof.

[0049] In some embodiments, the capsule endoscope 100 is connected to a contraction device (the same "dual-purpose" inflation and contraction device 112 or a different device) configured to contract the buoy 102 by discharging a certain volume or pressure of gas. Thus, the contraction device increases the density or specific gravity of the intravascular capsule endoscope so that the inflatable intravascular capsule endoscope 100 sinks in the liquid. In some embodiments, the capsule 100 can sink to the bottom of the cavity or float to a predetermined height below the liquid surface by releasing a certain amount of gas. In some embodiments, the capsule 100 can be sunk either only by contracting the device or in combination with magnetic force. In one example, the contraction device increases the density of the capsule 100 to be greater than the density of water, or increases its specific gravity relative to water to be greater than 1. In one embodiment, a (re-sealable or non-re-sealable) hole can be opened in the buoy to allow the gas to be discharged, so that no other device needs to be used.

[0050] In some embodiments, the degree of inflation can be adjusted or regulated so that the capsule floats at various depths relative to the liquid surface (see, for example, FIGS. 16 and 18). The inflation device 112 can inject or discharge gas to a desired volume or pressure to adjust (automatically or manually) the floating height level of the inflatable in-vivo capsule endoscope relative to the liquid height level. For example, to avoid image distortion caused by refraction at the liquid surface, the buoy 102 can be inflated with a certain volume or pressure of gas so that the capsule 100 can float on a liquid surface high enough to be completely submerged (e.g., the height of the capsule shown in FIGS. 16 and 18).

[0051] The buoy 102 is integrated, or is attached to or mounted on the outer surface of the capsule-shaped body 104. Also, the buoy 102 has various sizes and shapes, such as an annular shape (when inflated) having a cross-section like a concave shape, a cup shape, a U-shape, etc. and a cylindrical shape (when contracted), and shapes such as a spherical shape and an elliptical shape. Also, the buoy 102 can be arranged along various positions of the capsule-shaped body 104. For example, it surrounds the center of mass of the capsule and firmly attaches while enclosing the capsule with the minimum capsule surface area (for example, attaches at the maximum distance from the center of mass of the capsule, near the edge of the capsule). At the same time, while avoiding shielding the sensing device, it encloses the maximum capsule surface area in the capsule (for example, encloses the entire capsule body except the window of the sensing device), and encloses any proportion of the capsule surface area. The capsule-shaped body 104 can accommodate a sensing device for capturing in-vivo images behind a transparent window or a part of the outer capsule surface 108. In one embodiment, the buoy 102 can surround or encapsulate a part of the outer surface 106 of the capsule. Thereby, blocking or shielding the transparent portion of the capsule outer surface 108 (for example, outside the field of view of the sensing device) is avoided. In the case of a one-direction or one-side sensing device (for example, having a camera system only at one longitudinal end of the capsule, as shown in FIG. 4), the buoy 102 can have a concave or U-shaped cross-section. This surrounds the side walls and ends 106 of the capsule (for example, as shown in FIG. 1) and does not block the end 108 of the sensing device. As shown in FIGS. 33 to 43, in the case of a two-direction or two-side sensing device (for example, having two camera systems at both longitudinal ends of the capsule), the buoy 102 has a ring-shaped part or a cylindrical part for rocking or encapsulating the longitudinal center of the capsule, but is not configured to block the sensing device at any longitudinal end of the capsule. In another embodiment, the buoy 102 is substantially transparent, Perception and can partially or completely overlap the device. Here, the buoy 102 that is completely overlapped has an elliptical or capsule shape.

[0052] After imaging the stomach or other hollow organs filled with liquid during the expansion of buoy 102, buoy 102 can be contracted to return the capsule to a partially or fully deflated state. Thereby, the capsule can fit through smaller channels (e.g., retreat backward through the esophagus via a tether or continue to automatically advance through the GI tract).

[0053] Figure 4 is an exploded view schematically showing an inflatable in-vivo capsule endoscope 100 and its components according to an embodiment of the present invention (mounted inside the capsule-shaped main body 104). The capsule-shaped main body 104 has a longitudinal axis 111 along its maximum length and a radial axis 121 along the diameter of the circular cross-section. The capsule-shaped main body 104 has two concave shells or hemispheres at both ends of the longitudinal axis 111. At one end of its longitudinal axis 111, the capsule-shaped main body 104 Perception has a shell 108 which is a transparent window for housing the device 128. PerceptionThe device 128 has one or more image sensors, a light source (e.g., a light emitting diode (LED)), and a lens (ES) for capturing in-vivo images (and of course has a processing circuit board for processing, storing, and / or transmitting image data). Here, the capsule-shaped body 104 has a transparent (in the case of a dual-camera endoscope) or opaque (in the case of a single-camera endoscope) shell 106 at the end opposite to its longitudinal axis 111. Also, the capsule-shaped body 104 can accommodate one or more permanent magnets 124 having permanent magnetic dipoles (e.g., north-south). Due to the permanent magnets 124, the capsule endoscope 100 is magnetically induced when exposed to a magnetic field generated by one or more external magnets 126 (e.g., as shown in FIG. 5). Also, the capsule-shaped body 104 can accommodate a wireless communication system 122 comprising a wireless (e.g., radio frequency (RF)) processing board and an antenna for wirelessly transmitting and receiving information between the remote device or controller. The wireless communication system 122 can transmit in-vivo information. Such in-vivo information includes, for example, in-vivo image data captured by the sensing device 128, various values of the buoy 102, parameters such as gas pressure or gas volume, magnetic field information that interacts with and is controlled by the external magnet control system 126, and / or other sensor feedback, such as in-vivo conditions like temperature, pressure, pH, etc. The wireless communication system 122 can receive commands or control information from an external device. The commands or control information are, for example, commands for activating inflation or deflation and / or image capture commands or parameters for the autonomous in-vivo inflation device 112. And the capsule-shaped body 104 can accommodate one or more batteries or power sources 132 for supplying power to the components of the endoscope 100.

[0054] FIG. 5 schematically shows an external magnetic control system 126 in an embodiment of the present invention. As shown in FIG. 5, the external magnetic control system 126 can generate a magnetic field for guiding the capsule endoscope 100 via one or more permanent magnets 124 included in the capsule endoscope 100. The external magnetic control system 126 includes fixtures adapted for positioning one or more external permanent magnets 344 in the horizontal and vertical directions. Such vertical and horizontal positioning is achieved by using adjustable mechanisms and an adjustable base in the vertical and horizontal directions. The external magnetic control system 126 can move freely along two axes to move the capsule endoscope 100 in three dimensions. Details of the mechanism and operation of the external magnetic control system 126 are described, for example, in U.S. Patent Application Publication No. 2015 / 0380140, which is hereby incorporated by reference in its entirety.

[0055] When the capsule endoscope 100 is inflated and floating in a liquid, its buoyancy makes the capsule more easily magnetically movable. Thus, the external magnetic control system 126 can be made significantly smaller than those used in conventional external capsule induction magnet systems, and its magnetic field can also be made significantly smaller. For example, the external permanent magnet 134 has a magnetic moment M of about 75 A / cm 2 and a diameter of 5 cm. Such a magnetic moment M is much smaller than the 2500 A / cm 2 previously used for equivalent motion when the capsule was not inflated. Also, the 5 cm diameter is much smaller than the 16 cm previously used for equivalent motion when the capsule was not inflated. In some embodiments, the external magnetic control system 126 may be small enough to be handheld or portable.

[0056] The inflatable in-vivo capsule endoscope 100 is disposed in a tether (anchoring) system (e.g., shown in FIGS. 2-3, FIGS. 6-21, FIGS. 23-26, and FIG. 28), or an autonomous system (e.g., as shown in FIGS. 29-32, not anchored). The description of the capsule endoscope 100 described in the description of the tether system is also applicable to the autonomous (non-tether) system (and vice versa, except for components or functions for tethering or autonomous inflation).

[0057] FIG. 6 schematically shows a tether system for attaching an in-vivo buoy 102 to an ex-vivo inflation device 112 via an elongated tether 110 according to an embodiment of the present invention. The tether 110 can traverse a part of the gastrointestinal tract and can connect an ex-vivo inflation device 112 (disposed outside the body) to an in-vivo inflatable buoy 102 (disposed inside the organism) when inflating the buoy 102. The ex-vivo inflation device 112 (located at the end of the tether 110 on the opposite side of the capsule 100) includes a syringe, an air pump, an air compressor, a chemical gas reactor, and / or a liquid injection pump, a tank, or a rubber ball. The inflation device 112 adjusts the air pressure or air volume in the buoy 102, adjusts the floating height or level with respect to the water level, and / or adjusts the pressure or size of the corkscrew-shaped buoy to fit a variable-size channel such as the esophagus or small intestine.

[0058] FIG. 7 schematically shows a tether 110 for attaching the in-vivo buoy 102 to the in-vitro inflation device 112 according to an embodiment of the present invention. As shown, the tether 110 has an extension tube 114. This extension tube 114 includes a first end 116 connected to the inflation device 112 and a second end 118 connected to the buoy 102. Here, the extension tube 114 is an elongated airtight channel that transports gas from the inflation device 112 to the buoy 102 (for inflation) and / or extracts or aspirates gas from the buoy 102 to a contraction device (the same as or different from the inflation device 112). The tether 110 has a fixed-length or retractable (variable-length) extension tube 114. When fully extended, the tether 110 can reach a distance long enough to extend from outside the body's mouth to inside a target channel or cavity (such as the stomach) inside the body. The second end 118 connecting the tether 110 and the buoy 102 is permanently attached (e.g., adhered or affixed so as not to break or damage the system or its components by separation). Alternatively, the above connection may be made releasable (e.g., by pneumatic pressure exceeding a threshold volume or force or by magnetic force without damaging or impairing the system or its components). FIG. 28 illustrates a magnetically releasable second end 118 connecting the tether 110 and the buoy 102.

[0059] Figures 8 - 14 schematically show various types of inflatable buoy 102 according to embodiments of the present invention. Here, the inflatable buoy 102 has an airtight bladder that includes one or more membranes sealed to hold gas. The inflatable buoy 102 has an inflation / deflation port through which gas flows. The inflation / deflation port is part of (or connected to) the elongated tube 114 of the tether system, or is the hole 120 of an autonomous (untethered) system. The inflatable buoy 102 can be connected to the capsule-shaped body 104 by a sealant (e.g., an adhesive) or elastic tension. In one embodiment of the sealant connection shown in Figures 8 - 11, the buoy 102 inflates by "balloon inflation" and two layers of the membrane of the buoy 102 form a sealed bladder. The two layers of the membrane are arranged at a relatively thin interval, include a tight elastic material, and form an elastic seal by the capsule-shaped body 104. The balloon-expanded buoy 102 can inflate relatively uniformly throughout the bladder. In one embodiment of the elastic connection shown in Figures 12 - 14, the buoy 102 can inflate by "cup inflation". At this time, the bladder is formed by sealing a single-layer membrane of the buoy 102 to the outer surface of the capsule-shaped body 104, for example, via an adhesive. The cup-expanded bladder further inflates toward the rear end 106 of the capsule, so that a cup-shaped bladder can be formed and the front end can be kept sealed. Although the dimensions of specific buoys are shown in the figures, those dimensions are shown by way of example only and other dimensions can be used. Here, the dimensions of the bladder can also be modified to fit a capsule device of any size or shape.

[0060] Figures 15 to 18 schematically show an inflatable buoy 102 that is arranged asymmetrically (or expands asymmetrically) with respect to the radial axis 121 according to an embodiment of the present invention. The asymmetric inflatable buoy 102 has an end that rises to a relatively high liquid level compared to the rest of the capsule and can be directed (e.g., upward) toward the capsule-shaped body 104 and thus the field of view of the image. Since the image is collected in the correct orientation, there is no need (or the process of changing the orientation can be reduced) to change the orientation of the image in image processing to speed up the image processing. As shown in FIGS. 15 to 16, the inflatable buoy 102 is asymmetric with respect to the radial axis 121 but is symmetric or centered with respect to its longitudinal axis 111. When inflated, the capsule 100 has a radial position at a predetermined maximum height and is at a predetermined height with respect to the longitudinal axis 111. As shown in FIGS. 17 to 18, the inflatable buoy 102 is asymmetric with respect to both its radial axis 121 and its longitudinal axis 111. Thus, when inflated, the capsule 100 has a radial position and a longitudinal position at a predetermined maximum height.

[0061] Figures 19 to 21, Figures 23 to 27, and Figures 30 to 31 schematically show an inflatable buoy 102 having a corkscrew-shaped outer surface according to an embodiment of the present invention. The corkscrew-shaped buoy 102 is a spiral screw portion that protrudes along the outer surface of the buoy. The spiral screw portion can be rotated clockwise or counterclockwise from the first longitudinal end of the capsule to the opposite end (or a part thereof). The corkscrew-shaped buoy 102 can function as a tether system, for example, as shown in FIGS. 19 to 21 and FIGS. 23 to 27, and can also function as a released autonomous tether system, as shown in FIGS. 30 to 31. The external magnet control system 126 can apply a magnetic force to the internal permanent magnet 124 of the capsule and guide the capsule endoscope 100 through the channel. Thereby, when the buoy 102 inflates, the spiral screw portion rotates in a helical motion, and the inflatable in-vivo capsule endoscope 100 can be propelled back and forth.

[0062] FIG. 27 schematically shows an exemplary relationship between the rotation direction of the helical corkscrew-shaped capsule endoscope 100 and the propulsion direction of the capsule endoscope 100 according to an embodiment of the present invention. According to the configuration example shown in FIG. 27, the upper left figure shows an external control magnet, and the lower left figure shows a magnet inside the capsule. The rotation of the fixed magnet in the capsule may be opposite to the direction of the external magnet. When using a clockwise thread portion, the clockwise rotation of the capsule (counterclockwise rotation of the external magnet) propels the capsule endoscope 100 forward (in the direction of the figure), and the counterclockwise rotation of the capsule (clockwise rotation of the external) moves the capsule endoscope 100 backward (in the direction out of the figure). The movement in the opposite direction can be achieved by a counterclockwise threading. Also, other directional relationships can be used. For example, by reversing the direction of the thread, the helical screw-shaped surface propels the capsule endoscope 100 forward (rotates in the clockwise direction and rotates in the clockwise and backward directions when rotating in the counterclockwise rotation direction).

[0063] As shown in FIG. 4, the external magnet 126 translates the capsule endoscope 100 along the direction of the longitudinal axis 111 by a permanent magnet 124 centered diametrically about the radial axis 121. Additionally or alternatively, as shown in FIG. 22, the helical corkscrew-shaped capsule endoscope 100 has a magnet 130 polarized in the diametrical direction. The magnet 130 polarized in the diametrical direction has a position and / or dipole that is diametrically asymmetric with respect to the radial axis 121 (along the circular cross-section of the capsule-shaped body). Thus, the external magnet 126 rotates the capsule endoscope 100 about its longitudinal axis 111, causing a helical force or a rotational force. Such a helical force or rotational force further drives the capsule in a corkscrew-like motion.

[0064] Since the size of the channel is variable throughout the digestive tract, a thread of a fixed size may not fit a particular channel. For example, if the diameter of the capsule is too small compared to the diameter of the channel, sufficient tension to grasp the capsule cannot be obtained (see, for example, the upper image in FIG. 26). On the other hand, if the diameter of the capsule is too large compared to the diameter of the channel, the capsule may become jammed in the channel. Therefore, the optimal propulsion force depends on the optimal fit between the capsule endoscope 100 and the surrounding channel. For this purpose, the buoy 102 can be inflated to an optimal diameter, tension, and / or pressure with respect to the channel. As a result, the channel can provide the maximum propulsion force to the capsule (see, for example, the lower image in FIG. 26). In one embodiment, the inflation device 112 allows the inflation buoy 102 to be inflated to a certain diameter. This diameter substantially matches (or is slightly, for example, 5-20% larger than) the channel diameter and / or achieves a target pressure between the capsule endoscope 100 and the channel regardless of the channel diameter, facilitating the propulsion of the endoscope. The target or optimal diameter, tension, and pressure can be detected automatically (e.g., via a pressure gauge connected to the inflation device 112) or manually.

[0065] Additionally or alternatively, inflating the buoy 102 in a narrow channel (e.g., having a diameter equal to or smaller than the capsule) can widen the channel and expand the effective field of view of the sensing device. FIGS. 23-24 schematically show an inflatable in-vivo capsule endoscope 100 in a non-inflated state (FIG. 23) and an inflated state (FIG. 24) according to an embodiment of the present invention. As shown in FIG. 23, when the capsule endoscope 100 is in a non-inflated state, the walls of the narrow channel obstruct the effective field of view of the living body (e.g., the visible space), making it significantly smaller than the viewing angle of the sensing device 128. As shown in FIG. 24, when the capsule endoscope 100 is in an inflated state, the channel walls are widened, and the effective field of view of the sensing device 128 is significantly expanded.

[0066] Figure 28 schematically shows a magnetically releasable connection between a tether 110 and an intravascular capsule endoscope 100 according to an embodiment of the present invention. The tether 110 has a magnetically releasable end 118 attached and connected to the end 106 of the capsule endoscope 100. The magnetically releasable tether end 118 has one or more reversible magnets. These reversible magnets have reversible magnetic dipoles that are oriented in a first direction at rest (in the absence of a non-uniform external magnetic field) (see, for example, the upward arrow in the upper image of Figure 28). The capsule endoscope 100 has a permanent magnet 124 with a permanent magnetic dipole oriented in a second fixed direction (see, for example, the downward arrow in the upper image of Figure 28). The direction of the first magnetic dipole of the tether 110 is substantially opposite (and equal) to the direction of the second magnetic dipole of the capsule 100 (in the absence of an external magnetic field), causing a magnetic attraction and connection between the tether 110 and the capsule endoscope 100. The attachment end 118 of the tether can be attached or interlocked to the attachment end 106 of the capsule by, for example, a concave / convex joint (shown in Figure 28), a flat joint, a lock and key joint, or other joints.

[0067] The tether 110 can be magnetically released from the capsule endoscope 100 by exposure to an externally generated magnetic field (for example, a magnetic field generated by an external magnetic control system shown in Figure 5, or a handheld magnet sufficiently close to the capsule endoscope). This is done by gently tapping or reversing the reversible magnets of the tether to reverse the direction of its first magnetic dipole (see, for example, the upward arrow in the upper image corresponding to the downward arrow in the second image of Figure 28). The reversed direction of the first magnetic dipole of the tether coincides with the direction of the first magnetic dipole of the capsule. This generates a repulsive magnetic force between the magnet at the end 106 of the capsule and the magnet at the end 118 of the tether, causing the tether and the capsule to repel and separate from each other.

[0068] In some embodiments, before or after the capsule is removed, the tether 110 can inject or drain liquid into or from the living body. In an embodiment, the tether 110 can collect a sample of body fluid, for example, by aspirating the liquid by suction from the living body. In some cavities (e.g., the small intestine), if there is too much or too little material, the capsule endoscope 100 becomes difficult to move. Therefore, the inflation device can inject a liquid (e.g., water or saline) or air into the cavity through the tether 110 to inflate the cavity. When inflated, the capsule obtains more space for better visualization and / or reduced friction, and more easily obtained magnetic induction.

[0069] FIG. 29 schematically shows an autonomous (untethered) system including an in-vivo buoy 102 and an in-vivo inflation device 112 according to an embodiment of the present invention. In an autonomous system, the inflation device 112 is part of the in-vivo capsule endoscope 100, or is permanently attached to or integrated with the capsule endoscope. Also, the inflation device 112 can be disposed in the body using an inflatable buoy 102 that can be inflated during inflation. The in-vivo inflation device 112 can autonomously activate a chemical reaction in the body to generate and release a gas that inflates the buoy 102 (e.g., without direct physical or manual contact with the body, or without gas generated from outside the body). Also, in some embodiments, the in-vivo inflation device 112 can be remotely actuated to inflate / contract the buoy 102 via a wireless communication system 122. Additionally or alternatively, the in-vivo inflation device 112 can be locally activated in response to the capsule 100 detecting one or more of the conditions of time / environment / imager, so that the in-vivo capsule endoscope 100 can be autonomous and perform self-inflation and / or self-deflation (without a remote control). The in-vivo inflation device 112 can be a pneumatic compressor, a chemical gas reactor, or a gas powder device for mixing with water. In various embodiments, the in-vivo inflation device 112 can be housed inside the capsule-shaped body 104 (e.g., as shown in FIG. 29) or outside the capsule-shaped body 104 (e.g., physically attached to the outside of the buoy 102). In some embodiments, the inflation device 112 is housed inside the capsule-shaped body 104. The capsule-shaped body 104 can have a (re-sealable) hole or channel 120 for transporting gas from the internal inflation device 112 to the external inflation buoy 102 (see FIGS. 30 and 32). Also, in some embodiments, the inflation device 112 is installed outside the capsule-shaped body 104 and attached to the inflation buoy 102 itself.

[0070] FIGS. 33-43 schematically show an inflatable in-vivo capsule endoscope that is bidirectional using a dual camera or a two-sided imager to capture images in either the forward and / or reverse directions according to various embodiments of the present invention.

[0071] Figure 33 is an exploded view schematically showing a bidirectional in-vivo capsule endoscope 100 provided with a two-sided sensing device 128 housed inside a capsule-shaped body 104 according to an embodiment of the present invention. The capsule-shaped body 104 has a longitudinal axis 111 along its longest length and a radial axis 121 along the diameter of its circular cross-section. The capsule-shaped body 104 has two concave end shells or hemispherical portions 106 and 108 at both ends of its longitudinal axis 111, and a central (e.g., cylindrical) shell 109 that connects the end shells 106 and 108 at the center of its longitudinal axis 111. Since the capsule endoscope 100 is bidirectional, it has dual or two-sided imagers or sensing devices 128 at both ends of its longitudinal axis 111, and captures images either in the forward direction and / or the reverse direction along its longitudinal axis 111. Both of the end shells 106 and 108 are provided with transparent windows for housing the two sensing devices 128. The bidirectional capsule endoscope 100 may also include other components as shown in FIGS. 4 and / or 22.

[0072] Figures 34 - 38 and FIGS. 40 - 43 schematically show a bioballoon 102 adapted to encapsulate a bidirectional in-vivo capsule endoscope 100 according to various embodiments of the present invention. To encapsulate the bidirectional in-vivo capsule endoscope 100, the bioballoon 102 does not cover (or transparently covers) the two opposing longitudinal end shells or hemispherical portions 106 or 108 of the endoscope 100. Also, since the balloon 102 does not cover either end, the two sensing devices 128 of the bidirectional endoscope 100 have an unobstructed field of view (FOV), as shown, for example, in FIGS. 36 and 38. And the bidirectional endoscope balloon 102 can have various sizes and shapes, such as a toroidal shape (when inflated) and a cylindrical shape (when deflated), spherical, elliptical, etc.

[0073] As shown in FIGS. 34 - 38, the bidirectional endoscope balloon 102 is connected to an external inflation device 112 via an elongated tether 110.

[0074] As shown in FIG. 34, the bidirectional endoscope buoy 102 is connected to the tether 110. As shown in FIG. 35, the tether assemblies 102 and 110 encapsulate the center trunk (central shell 109) of the bidirectional in-vivo capsule endoscope 100.

[0075] The inflatable bidirectional in-vivo capsule endoscope 100 encapsulated by the tethered in-vivo buoy 102 is disposed in a cavity in the body in a non-inflated state (FIGS. 34-36) and an inflated state (FIGS. 37-38). The inflation device 112 can inject liquid (e.g., water or saline) or air into the cavity of the buoy 102 via the tether 110 to inflate the cavity. When inflated as shown in FIG. 38, the capsule 100 floats on top of the bottom of the cavity and can reduce or eliminate occlusion or blockage of the cavity wall or bottom at one or both of the two sensing devices of the bidirectional endoscope. Thus, a better field of view (FOV) can be obtained by the sensing device.

[0076] In FIGS. 39-43, the bidirectional endoscope is autonomous (untethered) and includes an internal inflation device 112 for inflating the buoy 102.

[0077] FIG. 39 is an exploded view schematically showing an autonomous (untethered) bidirectional in-vivo capsule endoscope 100 including an internal inflation device 112 according to an embodiment of the present invention. In an autonomous system, the inflation device 112 is part of the in-vivo capsule endoscope 100 and can be permanently attached to or integrated with the endoscope 100 and can be operated as shown in FIGS. 29-32. The inflation device 112 can be disposed in the body using an inflatable buoy 102 during inflation. Also, the in-vivo inflation device 112 can autonomously activate a chemical reaction in the body to generate and release a gas that inflates the buoy 102. In some embodiments, the gas generated by the internal inflation device 112 is transported through a (re-sealable) hole or channel 120 to inflate the inflatable buoy 102 as shown in FIGS. 41 and 43.

[0078] Figures 40 to 41 schematically show an autonomous bidirectional intravascular capsule endoscope that can be inflated by a "cup expansion" type buoy according to an embodiment of the present invention.

[0079] Figures 42 and 43 schematically show an autonomous inflatable bidirectional intravascular capsule endoscope 100 in a non-inflated state (Figure 42) and an inflated state (Figure 43) in a cavity of a living body. The internal inflation device 112 can autonomously activate a chemical reaction in the living body, generate and release gas into the cavity of the buoy 102 through the hole 120, and inflate the cavity. When inflated as shown in Figure 42, the capsule 100 floats on the bottom of the cavity, reduces or eliminates obstacles, and improves the visibility and effective field of view of one or both of the two sensing devices of the bidirectional endoscope 100.

[0080] Figure 44 is a flowchart showing a method of operating an inflatable intravascular capsule endoscope according to an embodiment of the present invention. The operations shown in Figure 44 can be performed using the inflatable intravascular capsule endoscope shown in one or more of Figures 1 to 43.

[0081] In operation 1000, an inflatable intravascular capsule endoscope (e.g., the one denoted by number 100 in Figures 1 to 4, 6, 8, 10 to 18, 20 to 26, 28 to 33, and 35 to 43) can be introduced into a cavity containing a liquid in the living body in a non-inflated state (e.g., see Figure 2). The capsule endoscope may include a capsule-shaped body (e.g., 104), an inflatable buoy (e.g., 102) outside the capsule-shaped body, and a sensing device (e.g., 128) housed inside the capsule-shaped body for capturing an intravascular image.

[0082] In operation 1002, an inflation device (e.g., 112) can be actuated to inject an amount of gas exceeding a threshold into the inflatable buoy to reduce the specific gravity of the in vivo capsule endoscope, thereby inflating the inflatable buoy. As a result, the inflatable in vivo capsule endoscope will float in the fluid cavity. In one embodiment, the inflatable in vivo capsule endoscope can float solely by buoyancy, for example, by injecting an amount of gas such that the density of the in vivo capsule endoscope is equal to or less than the density of water. In another embodiment, the inflatable in vivo capsule endoscope can float based on a combination of injecting an amount of gas and magnetically lifting the capsule by exposing it to an externally generated magnetic field. The inflation / deflation device can inject or discharge gas to a desired volume or pressure to adjust the floating height level of the inflatable in vivo capsule endoscope relative to the liquid height level.

[0083] In some embodiments, a tether system can be used (see, e.g., FIGS. 2-3, FIGS. 6-21, FIGS. 23-26, FIG. 28, and FIGS. 34-38). In the tether system, the inflation device can be an extracorporeal inflation device disposed outside the body when inflating an inflatable buoy disposed inside the body. The extracorporeal inflation device can be attached to the buoy by an elongated tether (e.g., 110) that traverses at least a portion of the body (see, e.g., FIG. 6). Here, the tether can be magnetically attached to or released from the capsule-shaped body (see, e.g., FIG. 28). Also, the tether can be used to draw out liquid to collect body fluid from the body.

[0084] In some embodiments, an autonomous (untethered) system can be used (see, e.g., FIGS. 29-32 and FIGS. 39-43). In the autonomous (untethered) system, the inflation device can be an in vivo inflation device that is permanently attached to the capsule-shaped body and disposed inside the body with an inflatable buoy. The in vivo inflation device can autonomously generate gas by a chemical reaction in the in vivo inflation device.

[0085] In some embodiments, the inflatable buoy can be disposed asymmetrically with respect to the radial axis of the capsule-shaped body. As a result, the capsule-shaped body is oriented by inflating the asymmetrically disposed inflatable buoy (e.g., the buoy rises upward) (see, for example, FIGS. 15-18). In one embodiment, the capsule-shaped body is oriented at the same height as its longitudinal axis (see, for example, FIGS. 15-16). In other embodiments, the capsule-shaped body is oriented to direct the field of view of the sensing device towards the target area (see, for example, FIGS. 17-18). In some embodiments, the capsule endoscope is bidirectional and has two sensing devices directed in opposite directions (see, for example, FIGS. 33-43).

[0086] In operation 1004, the floating intravascular capsule endoscope can be magnetically navigated. That is, by exposing one or more permanent magnets (e.g., 124) housed inside the capsule-shaped body having a permanent magnetic dipole moment to an externally generated magnetic field (magnetically inducing the inflatable intravascular capsule endoscope), the floating intravascular capsule endoscope can be magnetically navigated. An external magnetic control system (e.g., indicated by number 126 in FIG. 5) can be operated to generate the magnetic field. The externally generated magnetic field can be operated at a very low intensity to magnetically induce the capsule floating in the liquid (e.g., about 75 A / cm 2 ). Thus, this magnetic field can be generated using a magnet that is much smaller than the external magnets used for the induction of conventional (non-inflated) capsules (e.g., about 2500 A / cm 2 ).

[0087] In some embodiments, the inflatable buoy has a corkscrew-shaped surface (see, e.g., FIGS. 19-27), such that the inflatable in-vivo capsule endoscope rotates in a helical motion when magnetically navigated through the channel. The inflatable in-vivo capsule endoscope can be propelled forward when the corkscrew-shaped surface rotates in a first direction and can be propelled backward when the corkscrew-shaped surface rotates in the opposite direction. The inflatable buoy can be inflated to a diameter that substantially matches the channel diameter to achieve a target pressure between the endoscope and the channel. At this time, the capsule endoscope can be magnetically rotated about its longitudinal axis to propel the corkscrew-shaped surface.

[0088] In operation 1006, the contraction device (e.g., the device denoted by number 112, or another device) can be actuated to contract the inflatable buoy by releasing gas such that the inflatable in-vivo capsule endoscope sinks into the fluid cavity. When the in-vivo capsule endoscope is partially or not fully inflated, it can be retracted backward through the esophagus via the tether or removed and guided forward, allowing it to autonomously proceed through the remainder of the digestive tract.

[0089] The components and parts of the inflatable in-vivo capsule endoscope 100 shown in FIGS. 1-4, FIGS. 6, FIG. 8, FIGS. 10-18, FIGS. 20-26, FIGS. 28-33, and / or FIGS. 35-43 are made by the manufacturing or assembly method of the present invention.

[0090] Embodiments of the present invention provide a capsule endoscope 100 with an inflatable buoy 102 for examining the gastrointestinal tract region such as the esophagus and stomach. The capsule endoscope is connected by an elongated tube, which can be adjusted in volume and expanded by controlling the injection / removal of gas. When the capsule endoscope is in the liquid in the cavity, the expandable tube with adjustable volume can provide additional buoyancy to the capsule endoscope. When combined with external magnetic control, the capsule endoscope is easy to move in water. In a channel like a small bowl, the buoy with adjustable volume can be expanded in a spiral structure to move further in the esophagus or small bowl by external magnetic control.

[0091] By inflating the buoy, the effective specific gravity of the capsule in water can be adjusted, and its buoyancy can also be changed. This method can reduce the magnetic induction intensity requirement of the external magnetic field during capsule inspection due to changes in the position and direction of the capsule. The external magnetic field strength used to control a capsule endoscope with a specific gravity greater than that of water is greater than that of a capsule with a specific gravity less than or equal to water. Here, the buoy membrane can be adhered to form a bladder. Also, depending on the position of the center of gravity and the position of the geometric center, the posture of the capsule can be changed when air is injected into the bladder. This can achieve various observation angles by injecting different amounts of air and performing magnetic induction. After completing the gastrointestinal examination, the air in the balloon can be withdrawn, as a result, the volume of the capsule body is minimized, and the entire capsule is pulled back from the mouth by the tether, or removed from the tether and the capsule body proceeds autonomously through the rest of the gastrointestinal tract.

[0092] Embodiments of the present invention describe inflating the buoy outside the capsule body, but the buoy may be disposed inside the capsule body or may be part of the capsule itself. In this case, the capsule body can be inflated and becomes elastic and deformable.

[0093] This specification describes inflating the buoy with gas, but the buoy can also be inflated with other substances such as foam, oil, or other gases, or mixtures having a density lower than that of a liquid substance or water. This can be achieved by the internal reservoir of the capsule body for the buoy itself through an internal channel. Alternatively, it may also be absorbed from the surrounding environment of the capsule in the body cavity through an external channel.

[0094] The principles of the invention described can be applied to the probes of mechanical processing systems or fluid processing systems. The term "capsule" can be used in the same sense as the term "probe" in this specification to refer to a probe device and a general remote object regardless of its shape. Also, the capsule may be spherical, elliptical, cylindrical with two half domes, or other suitable shapes or combinations. As shown in FIG. 1, the magnetic capsule has a length, which is the longest dimension of the capsule. The length direction is the longitudinal direction of the capsule or the direction of axis 111. The magnetic capsule does not necessarily have a cylindrical shape with one or two half-drum ends as shown in FIG. 1. The capsule may be of any shape and weight as long as the basic physical principles are applicable to the magnetic capsule.

[0095] The capsule has a magnetic dipole direction. This magnetic dipole direction is either forward or backward and is parallel to the longitudinal axis 111 of the capsule. Thus, the capsule is magnetically induced to move linearly. Thereby, the moving direction of the capsule is the same as, coincides with, or is parallel to the longitudinal direction of the capsule. In some embodiments, the capsule has a magnetic dipole direction that is asymmetric with respect to its radial axis 121. This, together with a helical outer surface or buoy, or separately, magnetically induces the capsule to rotate about its longitudinal axis. Thereby, a spiral or corkscrew movement is obtained. This corkscrew movement promotes forward or backward propulsion, for example, through the channels of the digestive tract. Here, the capsule moving forward means that the capsule moves further away from the mouth or inlet and proceeds along the tube. The capsule moving backward means that the capsule moves along the digestive tract towards and near the mouth or inlet. In one example, the tip end includes a treatment device such as a diagnostic sensor or a camera. Also, the back end, which is linearly opposite to the tip end, may include a complementary diagnostic sensor or treatment device, or simply a shell.

[0096] As shown in FIGS. 2 and 3, the capsule endoscope is disposed in a specific cavity such as the stomach, but this is merely an example and it can also be used in any other cavity or inside the body.

[0097] For the sake of simplicity, the capsule endoscope 100 is described in the context of biomedical applications, i.e., the target position is an in-vivo position, for example, a position within the digestive tract. For the sake of simplicity, the medical devices disclosed herein are designed to be disposed within the body. One non-invasive delivery method is to swallow it into the digestive tract. Thus, the medical devices disclosed herein are referred to as capsules, but this should not be construed as a limitation on the shape, dimensions, or size of the devices. The capsule devices and methods of using them disclosed herein can also be implemented in many other applications beyond biomedical applications.

[0098] The various embodiments included in the present invention are as follows. 1. An inflatable in-vivo capsule endoscope, comprising: A capsule-shaped main body, A device housed within the capsule-shaped main body for capturing in-vivo images, Perception A device, An inflatable buoy installed outside the capsule-shaped main body, An inflation device, Comprising: The inflation device is configured to inflate the in-vivo capsule endoscope by injecting gas into the inflatable buoy to reduce the specific gravity of the in-vivo capsule endoscope. With this configuration, when an amount of gas exceeding the threshold value is injected into the inflatable buoy, the inflatable in-vivo capsule endoscope becomes buoyant in the liquid. The inflatable in-vivo capsule endoscope further includes one or more permanent magnets housed inside the capsule-shaped main body. The one or more permanent magnets have a permanent magnetic moment that magnetically induces the inflatable in-vivo capsule endoscope when exposed to an externally generated magnetic field. An inflatable in-vivo capsule endoscope characterized by this. 2. The inflatable in-vivo capsule endoscope according to item 1 above, characterized in that the inflation device injects an amount of gas such that the density of the in-vivo capsule endoscope is equal to or less than the density of water. 3. The inflatable in-vivo capsule endoscope according to item 1 above, characterized in that the inflation device injects an amount of gas such that the density of the in-vivo capsule endoscope is greater than the density of water by an amount that is offset by the magnetic lift force. 4. Having a contraction device, the contraction device increases the specific gravity of the in-vivo capsule endoscope by discharging gas. Due to this increase in specific gravity, when the inflatable buoy has an amount of gas below the threshold value, the inflatable in-vivo capsule endoscope sinks in the liquid. The inflatable in-vivo capsule endoscope according to item 1 above, characterized by this. 5. The inflation device is characterized in that it injects or discharges gas to a desired volume or pressure to adjust the floating height level of the inflatable in-vivo capsule endoscope that can be inflated with respect to the liquid height level, and the inflatable in-vivo capsule endoscope according to claim 1. 6. The inflatable buoy has a corkscrew-shaped surface and is characterized in that it rotates in a helical motion when inflated to propel the inflatable in-vivo capsule endoscope according to claim 1 forward. 7. The corkscrew-shaped surface is characterized in that it propels the inflatable in-vivo capsule endoscope forward when rotating in the first direction and backward when rotating in the opposite direction, and the inflatable in-vivo capsule endoscope according to claim 6. 8. The inflation device is characterized in that it inflates the inflatable buoy to a diameter substantially matching the channel diameter, achieves the target pressure between the endoscope and the channel regardless of the channel diameter, and propels the endoscope, and the inflatable in-vivo capsule endoscope according to claim 6. 9. The permanent magnet is arranged radially spaced from the center of mass with respect to the radial axis of the capsule-shaped body, and is characterized in that when exposed to an externally generated magnetic field, it causes an asymmetric helical force for propelling the corkscrew-shaped surface, and the inflatable in-vivo capsule endoscope according to claim 6. 10. The inflation device is an extracorporeal device, and this inflation device is characterized in that it is arranged outside the body when inflating the in-vivo inflatable buoy arranged in the body, and the inflatable in-vivo capsule endoscope according to claim 1. 11. The extracorporeal inflation device is characterized in that it is attached to the buoy by an elongated tether that traverses at least a part of the digestive tract of the body, and the inflatable in-vivo capsule endoscope according to claim 10. 12. The tether is magnetically attached to the capsule-shaped body, and the inflatable in-vivo capsule endoscope according to claim 11. 13. The tether is magnetically separable from the capsule-shaped body by being exposed to an externally generated magnetic field, and generates a repulsive magnetic force between the magnet in the tether and the capsule-shaped body. The expandable in-vivo capsule endoscope according to claim 12, characterized in that. 14. The expandable in-vivo capsule endoscope according to claim 10, characterized in that the external expansion device is a syringe. 15. The expandable in-vivo capsule endoscope according to claim 10, characterized in that the external expansion device is a pump. 16. The expandable in-vivo capsule endoscope according to claim 10, characterized in that the tether is configured to suck liquid to collect body fluid from the living body. 17. The expandable in-vivo capsule endoscope according to claim 1, characterized in that the expansion device is an in-vivo device permanently attached to the capsule-shaped body disposed inside the living body by an expandable buoy. 18. The expandable in-vivo capsule endoscope according to claim 17, characterized in that the expansion device autonomously generates gas by a chemical reaction. 19. The expandable in-vivo capsule endoscope according to claim 17, characterized in that the in-vivo expansion device is housed inside the capsule-shaped body, and the capsule-shaped body has a hole for transporting gas from the internal expansion device to the external expansion buoy. 20. The expandable in-vivo capsule endoscope according to claim 17, characterized in that the expansion device is attached to the expansion buoy outside the capsule-shaped body. 21. The expandable in-vivo capsule endoscope according to claim 17, characterized in that the expansion buoy is arranged asymmetrically with respect to the radial axis of the capsule body, so that the expansion buoy rises to a relatively high liquid level and directs the capsule-shaped body in the rotational direction. 22. The expandable in-vivo capsule endoscope according to claim 1, characterized in that it has an external magnetic control system for generating an externally generated magnetic field. 23. The expandable in-vivo capsule endoscope according to claim 1, characterized in that the expandable buoy encapsulates a portion of the capsule-shaped body outside the visual field of the sensing device. 24. The inflatable in-vivo capsule endoscope according to claim 1, characterized in that it includes a one-sided sensing device encapsulated by the concave inner surface of the inflatable buoy. 25. The inflatable in-vivo capsule endoscope according to claim 1, characterized in that it includes a two-sided sensing device encapsulated by the cylindrical inner surface of the inflatable buoy. 26. A method of operating an inflatable in-vivo capsule endoscope, introducing the non-inflated inflatable in-vivo capsule endoscope into a cavity containing a liquid in the body, the capsule endoscope including a capsule-shaped body, an inflatable buoy installed outside the capsule-shaped body, and a sensing device installed inside the capsule-shaped body for capturing in-vivo images, to reduce the specific gravity of the in-vivo capsule endoscope, operating an inflation device to inject a gas in excess of a threshold amount into the inflatable buoy to inflate the inflatable buoy, and by operating the inflation device, the inflatable in-vivo capsule endoscope comes to float in the liquid-containing cavity, A method of operating an in-vivo capsule endoscope, characterized by magnetically navigating the floating in-vivo capsule endoscope by exposing one or more permanent magnets housed inside the capsule-shaped body having a permanent magnetic dipole moment to an externally generated magnetic field that magnetically induces the inflatable in-vivo capsule endoscope. 27. The method according to claim 26, characterized by floating the inflatable in-vivo capsule endoscope by injecting a certain amount of gas so that the density of the in-vivo capsule endoscope is less than or equal to the density of water. 28. The method according to claim 26, characterized by floating the inflatable in-vivo capsule endoscope by a combination of injecting a certain amount of gas and exposing it to an externally generated magnetic field to magnetically lift the capsule. 29. The method according to claim 26, characterized by contracting the inflatable buoy by releasing gas so that the inflatable in-vivo capsule endoscope sinks in the liquid. 30. The method according to item 26, characterized in that gas is injected or discharged to a desired volume or pressure in order to adjust the floating height level of an in-vivo capsule endoscope that is expandable with respect to the liquid height level. 31. The method according to item 26, characterized in that when the inflatable buoy has a corkscrew-shaped surface and the inflatable buoy is magnetically navigated through the channel, the inflatable in-vivo capsule endoscope rotates in a helical motion. 32. The method according to item 31, characterized in that when the corkscrew-shaped surface rotates in a first direction, the inflatable in-vivo capsule endoscope is propelled forward, and when the corkscrew-shaped surface rotates in the opposite direction, the inflatable in-vivo capsule endoscope is propelled backward. 33. The method according to item 31, characterized in that the buoy is inflated to a diameter that substantially matches the channel diameter in order to achieve a target pressure between the endoscope and the channel. 34. The method according to item 31, characterized in that the in-vivo capsule endoscope is magnetically rotated around its longitudinal axis to propel the corkscrew-shaped surface. 35. The method according to item 26, characterized in that when inflating an in-vivo expandable buoy disposed in a living body, an in-vitro expansion device disposed outside the living body is activated, and the in-vitro expansion device is attached to the buoy by an elongated tether that traverses at least a part of the living body. 36. The method according to item 35, characterized in that the tether is magnetically attached to or released from the capsule-shaped body. 37. The method according to item 35, characterized in that liquid is suctioned through the tether in order to collect body fluid from the living body. 38. The method according to item 26, characterized in that an in-vivo expansion device disposed in a living body and having an expandable buoy that expands during inflation is activated by a capsule-shaped body that is permanently attached. 39. The method according to item 38, characterized in that gas is autonomously generated by a chemical reaction within the in-vivo expansion device. 40. The method according to item 26, characterized in that the inflatable buoy is arranged asymmetrically with respect to the radial axis of the capsule body, and the capsule-shaped body is oriented by inflating the asymmetrically arranged inflatable buoy. 41. The method according to item 26, characterized in that an externally generated magnetic field is formed by operating an external magnetic control system. 42. A method for manufacturing an inflatable in-vivo capsule endoscope according to any one of items 1 to 25.

[0099] In the foregoing, various aspects of the present invention have been described. For the purpose of explanation, specific configurations and details are also shown. On the other hand, it will be apparent to those skilled in the art that the present invention can be implemented without the specific details presented herein. Furthermore, well-known features may be omitted or simplified in order to simplify the present invention.

[0100] Unless otherwise specified herein, as will be apparent from the following discussion, terms such as "processing", "calculating", "determining", etc. refer to actions and / or processes of a computer or computing system, or similar electronic computing devices. Here, a computer or computing system, or similar electronic computing device, can manipulate and / or transform data as physical quantities in the registers and / or memories of the computing system, and can also transform other data similarly represented as physical quantities in the memories, registers or other information storage, display devices of the computing system.

[0101] The foregoing flowcharts and block diagrams illustrate the possible configurations, functions, and operations of systems and methods according to various embodiments of the present invention. Accordingly, each block of the flowchart or block diagram may represent a module, segment, or portion of code, and can include one or more executable instructions for implementing the specified logic. In some examples, the functions shown in the blocks may occur out of the order shown in the figures, or may be generated by different modules. Unless explicitly stated herein, embodiments of the methods described herein are not limited to a particular order. Further, some of the described method embodiments or elements thereof may occur or be executed at the same time. Each block of the block diagram and / or flowchart diagram, and combinations of blocks in the block diagram and / or flowchart diagram, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or by a combination of dedicated hardware and computer instructions.

[0102] Embodiments of the present invention may include articles such as non-transitory computer or processor-readable media, non-transitory storage media for a computer or processor (e.g., the memory unit of the processing substrate shown in FIG. 4), disk drives, or USB flash memories. These encode and store commands, e.g., computer-executable instructions. These operations, when executed by a processor or controller (e.g., the processing substrate of FIG. 4), perform the methods disclosed herein.

[0103] In the above description, the embodiments are examples or instances of the present invention. The various appearances of "one embodiment", "an embodiment", or "some embodiments" do not necessarily all refer to the same embodiment. Although various features of the present invention may be described in the context of a single embodiment, the features of an embodiment may be provided separately or in any suitable combination. Conversely, although the present invention may be described herein in the context of separate embodiments for clarity, the present invention may also be implemented in a single embodiment. References herein to "some embodiments", "an embodiment", "one embodiment", or "other embodiments" indicate that the particular features, structures, or characteristics described in connection with the embodiments are included in at least some embodiments, but not all embodiments of the present invention. Further, it should be recognized that in the present invention, the above aspects of the present invention may be combined, or else coexist, if not.

[0104] The claims and the description, examples, methods, and materials presented in the specification should not be construed as limiting, but rather should be construed only as illustrative. Although the features of the present invention are illustrated and described herein, many modifications, substitutions, changes, and equivalents may occur to those skilled in the art. Accordingly, the appended claims cover all modifications and changes that fall within the true spirit of the present invention.

[0105] The present invention has been described with respect to a limited number of embodiments, but these should not be construed as limitations on the scope of the present invention, but rather should be construed as examples of some preferred embodiments. Other possible variations, modifications, and uses are also within the scope of the present invention, and different embodiments are disclosed herein. Also, the features of a particular embodiment can be combined with the features of other embodiments. Thus, a particular embodiment can be a combination of the features of multiple embodiments. Accordingly, the scope of the present invention should not be limited by what has been described heretofore, but rather should be limited by the appended claims and their legal equivalents.

Claims

1. An inflatable capsule endoscope, comprising: a capsule-shaped main body; a sensing device housed inside the capsule-shaped main body for capturing an image of the inside of a living body; an inflatable buoy installed outside the capsule-shaped main body; an inflation device; wherein the inflation device is configured to inject gas into the buoy to inflate the capsule endoscope in order to reduce the specific gravity of the capsule endoscope, and with this configuration, when an amount of gas exceeding a threshold value is injected into the buoy, the capsule endoscope becomes buoyant in a liquid; when the inflation device inflates the buoy disposed inside the living body, the inflation device is disposed outside the living body and is attached to the buoy by an elongated tether that traverses at least a part of the digestive tract inside the living body; the capsule endoscope further includes one or more permanent magnets housed inside the capsule-shaped main body, and one or more of the permanent magnets have a permanent magnetic moment that magnetically induces the capsule endoscope when exposed to a magnetic field generated outside the living body. A capsule endoscope characterized by this.

2. An inflatable capsule endoscope, comprising: a capsule-shaped main body; a sensing device housed inside the capsule-shaped main body for capturing an image of the inside of a living body; an inflatable buoy installed outside the capsule-shaped main body; an inflation device; wherein the inflation device is configured to inject gas into the buoy to inflate the capsule endoscope in order to reduce the specific gravity of the capsule endoscope, and with this configuration, when an amount of gas exceeding a threshold value is injected into the buoy, the capsule endoscope becomes buoyant in a liquid; the inflation device is permanently attached to the capsule-shaped main body and is disposed inside the living body; the buoy is disposed asymmetrically with respect to the radial axis of the capsule-shaped main body, so that the buoy rises to a relatively high liquid level and orients the capsule-shaped main body in a rotational direction; the capsule endoscope further includes one or more permanent magnets housed inside the capsule-shaped main body, and one or more of the permanent magnets have a permanent magnetic moment that magnetically induces the capsule endoscope when exposed to a magnetic field generated outside the living body. A capsule endoscope characterized by this.

3. An inflatable capsule endoscope, comprising: a capsule-shaped main body; A sensing device housed inside the capsule-shaped body for capturing an image inside a living body, and An inflatable buoy installed outside the capsule-shaped body, An inflation device, Comprising, The inflation device is configured to inject gas into the buoy to inflate the capsule endoscope in order to reduce the specific gravity of the capsule endoscope. With this configuration, when an amount of gas exceeding a threshold value is injected into the buoy, the capsule endoscope becomes buoyant in the liquid. The capsule endoscope further includes one or more permanent magnets housed inside the capsule-shaped body. When one or more of the permanent magnets are exposed to a magnetic field generated outside the living body, they have a permanent magnetic moment that magnetically induces the capsule endoscope. The capsule-shaped body includes a first magnetic dipole, and the buoy includes a second magnetic dipole. The first magnetic dipole and the second magnetic dipole are oriented in opposite directions in the absence of the magnetic field, forming a magnetic attraction and connection between the buoy and the capsule-shaped body. The first magnetic dipole or the second magnetic dipole is configured to reverse when exposed to the magnetic field, and the first magnetic dipole and the second magnetic dipole are oriented in substantially the same direction, realizing magnetic repulsion and release of magnetic attraction between the buoy and the capsule-shaped body. A capsule endoscope characterized by this.

4. The inflation device injects an amount of gas into the buoy such that the density of the capsule endoscope is less than or equal to the density of water. The capsule endoscope according to any one of claims 1 to 3, characterized by this.

5. Having a contraction device, which increases the specific gravity of the capsule endoscope by discharging gas from inside the buoy. Due to this increase in specific gravity, when the buoy has a gas amount below the threshold value, the capsule endoscope sinks in the liquid. The capsule endoscope according to any one of claims 1 to 3, characterized by this.

6. The inflation device injects gas into or discharges gas from the buoy up to a predetermined volume or pressure to adjust the floating height level of the capsule endoscope with respect to the height level of the liquid. The capsule endoscope according to any one of claims 1 to 3, characterized by this.

7. The capsule-shaped body includes a first magnetic dipole, and the buoy includes a second magnetic dipole. The first magnetic dipole and the second magnetic dipole are oriented in opposite directions in the absence of the magnetic field, forming a magnetic attraction force and a connection between the buoy and the capsule-shaped body. The first magnetic dipole or the second magnetic dipole is configured to reverse when exposed to the magnetic field, and the first magnetic dipole and the second magnetic dipole are oriented in substantially the same direction, realizing magnetic repulsion and release of magnetic attraction between the buoy and the capsule-shaped body. The capsule endoscope according to claim 1 or 2, characterized in that.

8. The buoy has a corkscrew-shaped surface and rotates in a helical motion when inflated to advance the capsule endoscope forward. The capsule endoscope according to any one of claims 1 to 3, characterized in that.

9. The corkscrew-shaped surface advances the capsule endoscope forward when rotating in a first direction and backward when rotating in a second direction opposite to the first direction. The capsule endoscope according to claim 8, characterized in that.

10. The inflation device inflates the buoy until the diameter of the buoy substantially matches the diameter of the channel inside the living body, and achieves a target pressure between the capsule endoscope and the channel regardless of the diameter of the channel to advance the capsule endoscope. The capsule endoscope according to claim 8, characterized in that.

11. The permanent magnet is arranged radially spaced from the mass center with respect to the radial axis of the capsule-shaped body, and when exposed to the magnetic field, causes an asymmetric helical force for advancing the corkscrew-shaped surface. The capsule endoscope according to claim 8, characterized in that.

12. The tether is magnetically attached to the capsule-shaped body. The capsule endoscope according to claim 1, characterized in that.

13. The tether is magnetically separable from the capsule-shaped body when exposed to the magnetic field, and generates a repulsive magnetic force between the magnet in the tether and the capsule-shaped body. The capsule endoscope according to claim 12, characterized in that.

14. The inflation device is a syringe. The capsule endoscope according to claim 1, characterized in that.

15. The inflation device is a pump. The capsule endoscope according to claim 1, characterized in that.

16. The capsule endoscope according to claim 1, wherein the tether is configured to suck liquid so as to collect body fluid from the living body.

17. The capsule endoscope according to claim 2, wherein the inflation device autonomously generates gas by a chemical reaction.

18. The capsule endoscope according to claim 2, wherein the inflation device is housed inside the capsule-shaped main body, and the capsule-shaped main body has a hole for transporting the gas from the inflation device to the buoy.

19. The capsule endoscope according to claim 2, wherein the inflation device is attached to the buoy outside the capsule-shaped main body.

20. The capsule endoscope according to any one of claims 1 to 3, having an external magnetic control system for generating the magnetic field.

21. The capsule endoscope according to any one of claims 1 to 3, wherein the buoy encapsulates a portion of the capsule-shaped main body outside the visual field of the sensing device.

22. The capsule endoscope according to any one of claims 1 to 3, wherein the sensing device includes a one-sided sensing device encapsulated by a concave inner surface of the buoy.

23. The capsule endoscope according to any one of claims 1 to 3, wherein the sensing device includes a two-sided sensing device encapsulated by a cylindrical inner surface of the buoy.

24. A system comprising the capsule endoscope according to any one of claims 1 to 3 and an external magnetic control system for forming the magnetic field to magnetically induce the capsule endoscope.

25. An operating method of an inflatable capsule endoscope, wherein the capsule endoscope includes a capsule-shaped main body, an inflatable buoy installed outside the capsule-shaped main body, and a sensing device installed inside the capsule-shaped main body for capturing an image of the inside of a living body, in a cavity containing liquid inside the living body, in order to reduce the specific gravity of the capsule endoscope and make it float, an inflation device operates to inject an amount of gas exceeding a threshold value into the buoy to inflate the buoy. One or more permanent magnets housed inside the capsule-shaped body having a permanent magnetic dipole moment are exposed to a magnetic field generated outside the living body, whereby external magnetic field generating means for generating the magnetic field magnetically navigates the capsule endoscope floating in the cavity. The method of operating a capsule endoscope, wherein the inflation device is arranged outside the living body when inflating the buoy arranged inside the living body, and is attached to the buoy by an elongated tether that crosses at least a part of the living body, and operates to inflate the buoy.

26. A method of operating an inflatable capsule endoscope, The capsule endoscope includes a capsule-shaped body, an inflatable buoy installed outside the capsule-shaped body, and a sensing device installed inside the capsule-shaped body for capturing an image inside the living body. In a cavity containing liquid inside the living body, an inflation device operates to inject an amount of gas exceeding a threshold value into the buoy to reduce the specific gravity of the capsule endoscope and make it float, thereby inflating the buoy. One or more permanent magnets housed inside the capsule-shaped body having a permanent magnetic dipole moment are exposed to a magnetic field generated outside the living body, whereby external magnetic field generating means for generating the magnetic field magnetically navigates the capsule endoscope floating in the cavity. The method of operating a capsule endoscope, wherein the inflation device is permanently attached to the capsule-shaped body, is arranged inside the living body by the buoy during inflation, the buoy is arranged asymmetrically with respect to the radial axis of the capsule-shaped body, and operates to orient the capsule-shaped body by inflating the asymmetrically arranged buoy.

27. The method of operating a capsule endoscope according to claim 25 or 26, wherein the inflation device injects a predetermined amount of gas into the buoy so that the density of the capsule endoscope becomes equal to or less than the density of water, thereby floating the capsule endoscope.

28. The method of operating a capsule endoscope according to claim 25 or 26, characterized in that the capsule endoscope is floated by a combination of injecting a predetermined amount of gas into the buoy by the inflation device and magnetically lifting the capsule-shaped body exposed to the magnetic field by the external magnetic field generating means.

29. The method of operating a capsule endoscope according to claim 25 or 26, characterized in that the inflation device contracts the buoy by discharging gas so that the capsule endoscope sinks into the liquid.

30. The method of operating a capsule endoscope according to claim 25 or 26, characterized in that the inflation device injects or discharges gas to a desired volume or pressure in order to adjust the floating height level of the capsule endoscope with respect to the liquid height level.

31. The method of operating a capsule endoscope according to claim 25 or 26, characterized in that when the external magnetic field generating means magnetically navigates the buoy passing through the channel inside the living body, the capsule endoscope rotates in a helical motion because the buoy has a corkscrew-shaped surface.

32. The method of operating a capsule endoscope according to claim 31, characterized in that when the corkscrew-shaped surface rotates in a first direction, the capsule endoscope advances forward, and when the corkscrew-shaped surface rotates in a second direction opposite to the first direction, the capsule endoscope advances backward.

33. The method of operating a capsule endoscope according to claim 31, characterized in that the inflation device inflates the buoy until the diameter of the buoy substantially matches the diameter of the channel in order to achieve a target pressure between the capsule endoscope and the channel.

34. The method of operating a capsule endoscope according to claim 31, characterized in that the external magnetic field generating means magnetically rotates the capsule endoscope around its longitudinal axis to advance the corkscrew-shaped surface.

35. The method of operating a capsule endoscope according to claim 25, characterized in that the tether can be magnetically attached to or detached from the capsule-shaped body.

36. The method of operating a capsule endoscope according to claim 25, characterized in that the tether can suck liquid through the tether to collect body fluid from the living body.

37. The method for operating a capsule endoscope according to claim 26, wherein the inflation device autonomously generates the gas by a chemical reaction within the inflation device.

38. The method for operating a capsule endoscope according to claim 25 or 26, wherein an external magnetic control system forms the magnetic field.

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