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WO1998011816A1 - Appareil d'imagerie - Google Patents

Appareil d'imagerie Download PDF

Info

Publication number
WO1998011816A1
WO1998011816A1 PCT/GB1997/002523 GB9702523W WO9811816A1 WO 1998011816 A1 WO1998011816 A1 WO 1998011816A1 GB 9702523 W GB9702523 W GB 9702523W WO 9811816 A1 WO9811816 A1 WO 9811816A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
imaging device
exterior
human
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB1997/002523
Other languages
English (en)
Inventor
Paul Swain
Timothy Noel Mills
Feng Gong
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University College London
Original Assignee
University College London
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University College London filed Critical University College London
Priority to AU43092/97A priority Critical patent/AU4309297A/en
Publication of WO1998011816A1 publication Critical patent/WO1998011816A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00156—Holding or positioning arrangements using self propulsion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
    • A61B5/0031—Implanted circuitry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots

Definitions

  • This invention relates to an apparatus for use in providing an image of a location within a human or animal body.
  • the body can be subjected to external electromagnetic radiation, as happens, for example, in X-ray imaging and magnetic resonance imaging.
  • the apparatus required for this is expensive, whatever the particular technique which is used, and in the case of some techniques (for example magnetic resonance imaging) is very expensive.
  • some techniques for example X-ray imaging
  • images of some locations can be produced by inserting an endoscope which has an optical channel through which light is directed from the exterior of the body to the site, at the distal end of the endoscope, which is to be viewed, with a proportion of that light passing back up through the optical channel to be viewed at the proximal end.
  • an apparatus for use in providing an image of a location within a human or animal body which comprises an imaging device locatable within the body and operable to produce an image of the location in the form of an electrical signal, means for wireless transmission of the signal to the exterior of the body, and a receiver disposed externally of the body for recording the transmitted signal.
  • the transmission means is a microwave transmitter and the receiver is a microwave receiver.
  • the receiver provides a signal to a monitor to enable it to be viewed. If desired, the signal can be recorded, either simultaneously with its being viewed or for subsequent viewing.
  • the means for locating the imaging device within the body may resemble a conventional endoscope, and may thus comprise an elongate member which has the imaging device at its distal end and which, though flexible, has sufficient stiffness to enable its distal end to be pushed to the desired location, after introduction through the mouth or anus of the subject.
  • the locating device could be quite different in character.
  • endoscopes are usable for obtaining images from within the human or animal body, either by the optical method of the prior art, or by the aspect of the present invention described above, they have a number of significant disadvantages.
  • One of these is that they can cause considerable discomfort to the patient.
  • the flexible member of an endoscope is of substantial diameter (usually about 1 cm) and the tube is quite stiff, and the patient experiences a very disagreeable sensation while it is in place and, even more, while it is being inserted.
  • only about 30% of the length of the gastrointestinal tract can be reached by an endoscope.
  • the remaining 70% namely the small bowel and the right side of the colon, cannot be reached by a conventional endoscope.
  • an apparatus for use in providing an image of a location within a human or animal body which comprises an imaging device having its own means of propulsion and movable within the body without the assistance of pushing from the exterior of the body, transmission means for wireless transmission of an image from the imaging device to the exterior of the body, and means for receiving the image so transmitted.
  • transmission means is preferably a microwave transmitter, and the receiving means comprises a microwave receiver.
  • This aspect of the invention requires a suitable propulsion means, for example for enabling the imaging device to be propelled within the human gut.
  • a suitable propulsion means for example for enabling the imaging device to be propelled within the human gut.
  • GMA Giant Magnetostrictive Alloy
  • the tube is bent by changing the level of air pressure in the compartments through pipes 10a, 10b, 10c, the air pressure in the compartments of tube 4 being changed by corresponding tubes (not shown) and snaking forward moving action is created by slightly staggering the motion of each of the two rubber tubes. By reversing this motion, the robot can go backward. No electricity is used for motion control, which is a major advantage for medical applications.
  • FIG. 2 Another design is described in Guber AE. "Potential of microsystems in medicine.” Minimally Invasive Therapy. 1995;4:267-275. The design was described for use in a blood vessel, but in principle is applicable to propulsion along any other tubular cavity, for example the gut.
  • the design is shown in Figure 2 and consists of a catheter 20 that is divided into two parts 20a and 20b. The front and rear part are connected by a telescopic section 20c. To enable the catheter 20 to be supported in the body cavities, two mini-balloons 22a and 22b are applied, one to each of the catheter parts 20a and 20b.
  • the balloons are controlled by a central microvalve system, which inflates and deflates the balloons in a predetermined sequence, to cause them either to grip the adjacent body cavity wall or not to grip them, and also inflates or deflates the telescopic section 20c.
  • the sequence involved is shown in Figures 2a to 2d.
  • This design like the Toshiba design just described, and unlike the design of Fukuda et al, requires permanent connection, via an umbilical cord 24, to a point exterior of the body for the purpose of providing fluid pressure. It should be noted, nevertheless, that the connection is not for the purpose of pushing the device along, so the main disadvantages of a conventional endoscope are still avoided.
  • the endoscope consists of electric wiring 30 for control signals, tubing 32 to connect pneumatic actuators used for propulsion to high/low pressure sources, and a fibre-optical bundle 34 for illumination of the area in front of the robot and its imaging by a video camera 39.
  • the propulsion mechanism uses grippers 36 and extensors 38, which cooperate with one another to move the device along the gastrointestinal tract. This too is a device which is permanently connected to a location exterior of the patient's body.
  • a preferred method of transmitting the image from the imaging device to the exterior of the body is by means of a microwave signal. It has been found that, provided a suitable frequency is chosen, such a signal can carry the information required in transmitting a colour video signal without suffering unacceptable attenuation in passing through the body tissue which lies in the path of the signal from the transmitter to the receiver.
  • the minimum acceptable carrier frequency is of the order of 100 MHz. Accordingly, the carrier frequency used should not be significantly lower than this value.
  • a frequency of 100 MHz corresponds to a wavelength of 3 m, which means that if the transmitting antenna is a dipole it will need to have a length of 1.5 m. This is clearly impractical inside, for example, the human body.
  • a dipole antenna is preferable, though not essential, as it gives directional transmission of the signal.
  • Increasing the frequency has the disadvantage of increasing the propagation loss in the body tissue.
  • a frequency of 10 GHz corresponds to a dipole transmitter 15mm in length, which is entirely practical, but the trade off in terms of propagation loss is that whereas the coefficient of attenuation ⁇ . of a 100 MHz signal by body tissues appears to be typically about 3 cm, the value of ⁇ a at 10 GHz is of the order of one tenth of that value. If a large receiver is used, so that directional transmission is not important, a frequency of around 100 MHz may be best.
  • FIG. 4 An embodiment of the present invention is shown schematically in Figure 4.
  • the forward element 40 comprises a lens 44, a CCD chip 46 for generating an electrical signal from the optical image produced by the lens, a light source 48 (for example a halogen bulb) and a camera control system 50 for the CCD chip.
  • the rear element 42 comprises a battery 52 which provides power to the components in the forward element, a transmitter 54 and an aerial 56. Also, although not shown, the forward element would be provided with a propulsion means.
  • the device is controlled by a joystick control 58 located exteriorly of the body.
  • the signals sent by the aerial with which the rear element is provided are picked up by a receiver 60 located exteriorly of the body, and the resulting image viewed on a monitor 62.
  • an alternative is to supply power non-invasively through the patient's tissue, for example by ultrasound transmission or inducing electrical power using an external electromagnetic coil.
  • Other forms of power which can be used within the body, in place of a conventional electrical battery include biological batteries, nuclear batteries and electromechanical systems in which energy from movement of the body (e.g. walking, running, movements of the chest wall, movements of the heart) is converted in electrical energy, similarly to the way in which wrist movements can be used to power watches.
  • the camera and associated components are attached to a tissue wall within the patient, for example by sewing, rather than being mobile.
  • Devices are known in the art for endoscopic sewing, and such a device can be used in this instance.
  • the camera or one of the associated components will then need to be provided with an attachment means, for example a loop, to enable the sewing thread to hold the camera reliably to the tissue.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Robotics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention concerne un appareil permettant de transmettre l'image d'un emplacement à l'intérieur du corps humain ou du corps d'un animal. Ledit appareil comprend un imageur muni de ses propres moyens de propulsion qui lui permettent de se déplacer à l'intérieur du corps sans devoir être poussé depuis l'extérieur du corps, de moyens de transmission permettant la transmission sans fil d'une image de l'imageur jusqu'à l'extérieur du corps, et de moyens permettant de recevoir l'image ainsi transmise. Dans une variante, l'imageur ne comprend pas de moyens de propulsion et il est attaché, cousu par exemple, à l'intérieur du corps. Selon un autre mode de réalisation, l'imageur est transporté par un endoscope.
PCT/GB1997/002523 1996-09-18 1997-09-18 Appareil d'imagerie Ceased WO1998011816A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU43092/97A AU4309297A (en) 1996-09-18 1997-09-18 Imaging apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB9619470.9A GB9619470D0 (en) 1996-09-18 1996-09-18 Imaging apparatus
GB9619470.9 1996-09-18

Publications (1)

Publication Number Publication Date
WO1998011816A1 true WO1998011816A1 (fr) 1998-03-26

Family

ID=10800111

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1997/002523 Ceased WO1998011816A1 (fr) 1996-09-18 1997-09-18 Appareil d'imagerie

Country Status (3)

Country Link
AU (1) AU4309297A (fr)
GB (1) GB9619470D0 (fr)
WO (1) WO1998011816A1 (fr)

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GB2352636A (en) * 1999-08-03 2001-02-07 Univ College Self-propelled device for passing along human or animal gut
GB2358753A (en) * 1999-10-09 2001-08-01 Taylor Lann Technology Ltd Video camera on elongate support for viewing inaccessible locations.
EP1039830A4 (fr) * 1997-12-15 2001-09-19 Given Imaging Ltd Systeme permettant de gerer l'energie d'une capsule video
US6402687B1 (en) * 1999-06-07 2002-06-11 Asahi Kogaku Kogyo Kabushiki Kaisha Fully-swallowable endoscopic system
WO2003015619A1 (fr) * 1997-10-06 2003-02-27 Adair Edwin Lloyd Dispositif d'imagerie de faible diametre utilise dans des dispositifs endoscopiques sans fil
US6527705B1 (en) * 1999-06-07 2003-03-04 Pentax Corporation Fully-swallowable endoscopic system
US6547723B1 (en) * 1999-06-07 2003-04-15 Pentax Corporation Fully-swallowable endoscopic system
US6612982B1 (en) * 1999-06-07 2003-09-02 Pentax Corporation Fully-swallowable endoscopic system
WO2004000107A3 (fr) * 2002-06-21 2004-04-08 Scimed Life Systems Inc Endoscope robotise a interface sans fil
US6719684B2 (en) * 2001-11-12 2004-04-13 Korea Institute Of Science And Technology Micro capsule type robot
US6866626B2 (en) 2001-11-09 2005-03-15 Ethicon-Endo Surgery, Inc. Self-propelled, intraluminal device with working channel and method of use
US6904308B2 (en) 2001-05-20 2005-06-07 Given Imaging Ltd. Array system and method for locating an in vivo signal source
AU782616B2 (en) * 1999-05-07 2005-08-11 Encysive Pharmaceuticals Inc. Carboxylic acid derivatives that inhibit the binding of integrins to their receptors
US6934093B2 (en) 1999-06-15 2005-08-23 Given Imaging Ltd Optical system
US6936003B2 (en) 2002-10-29 2005-08-30 Given Imaging Ltd In-vivo extendable element device and system, and method of use
US6939290B2 (en) 2002-02-11 2005-09-06 Given Imaging Ltd Self propelled device having a magnetohydrodynamic propulsion system
US6958034B2 (en) 2002-02-11 2005-10-25 Given Imaging Ltd. Self propelled device
US7009634B2 (en) 2000-03-08 2006-03-07 Given Imaging Ltd. Device for in-vivo imaging
US7062308B1 (en) * 2001-07-05 2006-06-13 Jackson William J Remote physiological monitoring with the reticulum of livestock
US7097615B2 (en) 2001-10-05 2006-08-29 Boston Scientific Scimed, Inc. Robotic endoscope with wireless interface
US7119814B2 (en) 2001-05-18 2006-10-10 Given Imaging Ltd. System and method for annotation on a moving image
US7142908B2 (en) 2000-05-31 2006-11-28 Given Imaging Ltd. Device and method for measurement of electrical characteristics of tissue
US7160258B2 (en) 2001-06-26 2007-01-09 Entrack, Inc. Capsule and method for treating or diagnosing the intestinal tract
WO2007011654A1 (fr) * 2005-07-14 2007-01-25 Enhanced Medical System Llc Robot pour interventions peu invasives
US7192397B2 (en) 2001-05-20 2007-03-20 Given Imaging Ltd. Floatable in vivo sensing device and method for use
US7226410B2 (en) 2002-12-05 2007-06-05 Ethicon-Endo Surgery, Inc. Locally-propelled, intraluminal device with cable loop track and method of use
US7295226B1 (en) 1999-11-15 2007-11-13 Given Imaging Ltd. Method for activating an image collecting process
DE102006059537B3 (de) * 2006-12-13 2007-12-13 Technische Universität Ilmenau Verfahren und Vorrichtung zur Erzeugung einer apedalen translatorischen Bewegung
US7336833B2 (en) 2004-06-30 2008-02-26 Given Imaging, Ltd. Device, system, and method for reducing image data captured in-vivo
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US7805178B1 (en) 2005-07-25 2010-09-28 Given Imaging Ltd. Device, system and method of receiving and recording and displaying in-vivo data with user entered data
US7869856B2 (en) 2000-01-13 2011-01-11 Moshe Refael Encapsulated medical imaging device and method
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US9186052B1 (en) 1997-10-06 2015-11-17 Micro-Imagaing Solutions Reduced area imaging device incorporated within endoscopic devices
US7030904B2 (en) 1997-10-06 2006-04-18 Micro-Medical Devices, Inc. Reduced area imaging device incorporated within wireless endoscopic devices
WO2003015619A1 (fr) * 1997-10-06 2003-02-27 Adair Edwin Lloyd Dispositif d'imagerie de faible diametre utilise dans des dispositifs endoscopiques sans fil
US8885034B2 (en) 1997-10-06 2014-11-11 Micro-Imaging Solutions Llc Reduced area imaging device incorporated within endoscopic devices
US9667896B2 (en) 1997-10-06 2017-05-30 Cellect Llc Reduced area imaging device incorporated within endoscopic devices
US9198565B2 (en) 1997-10-06 2015-12-01 Micro-Imaging Solutions Reduced area imaging device incorporated within endoscopic devices
US9307895B2 (en) 1997-10-06 2016-04-12 Micro-Imaging Solutions, Llc Reduced area imaging device incorporated within endoscopic devices
US7104952B2 (en) 1997-12-15 2006-09-12 Given Imaging Ltd. Energy management of a video capsule
EP1039830A4 (fr) * 1997-12-15 2001-09-19 Given Imaging Ltd Systeme permettant de gerer l'energie d'une capsule video
AU782616B2 (en) * 1999-05-07 2005-08-11 Encysive Pharmaceuticals Inc. Carboxylic acid derivatives that inhibit the binding of integrins to their receptors
US6547723B1 (en) * 1999-06-07 2003-04-15 Pentax Corporation Fully-swallowable endoscopic system
US6402687B1 (en) * 1999-06-07 2002-06-11 Asahi Kogaku Kogyo Kabushiki Kaisha Fully-swallowable endoscopic system
US6612982B1 (en) * 1999-06-07 2003-09-02 Pentax Corporation Fully-swallowable endoscopic system
US6527705B1 (en) * 1999-06-07 2003-03-04 Pentax Corporation Fully-swallowable endoscopic system
US7327525B2 (en) 1999-06-15 2008-02-05 Given Imaging Ltd. Optical system
US6934093B2 (en) 1999-06-15 2005-08-23 Given Imaging Ltd Optical system
US7433133B2 (en) 1999-06-15 2008-10-07 Given Imaging Ltd. Optical system
GB2352636B (en) * 1999-08-03 2003-05-14 Univ College London Hospitals Improved passage-travelling device
US6709388B1 (en) 1999-08-03 2004-03-23 University College London Hospitals Nhs Trust Passage-travelling device
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