WO1998011816A1 - Imaging apparatus - Google Patents
Imaging apparatus Download PDFInfo
- 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
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.
Abstract
Description
Claims
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 |
---|---|---|---|
GB9619470.9 | 1996-09-18 | ||
GBGB9619470.9A GB9619470D0 (en) | 1996-09-18 | 1996-09-18 | Imaging apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998011816A1 true WO1998011816A1 (en) | 1998-03-26 |
Family
ID=10800111
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/GB1997/002523 WO1998011816A1 (en) | 1996-09-18 | 1997-09-18 | Imaging apparatus |
Country Status (3)
Country | Link |
---|---|
AU (1) | AU4309297A (en) |
GB (1) | GB9619470D0 (en) |
WO (1) | WO1998011816A1 (en) |
Cited By (71)
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EP1039830A1 (en) * | 1997-12-15 | 2000-10-04 | Given Imaging Ltd. | Energy management of a video capsule |
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. |
US6402687B1 (en) * | 1999-06-07 | 2002-06-11 | Asahi Kogaku Kogyo Kabushiki Kaisha | Fully-swallowable endoscopic system |
WO2003015619A1 (en) * | 1997-10-06 | 2003-02-27 | Adair Edwin Lloyd | Reduced area imaging device incorporated within wireless endoscopic devices |
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 (en) * | 2002-06-21 | 2004-04-08 | Scimed Life Systems Inc | Robotic endoscope with wireless interface |
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US6904308B2 (en) | 2001-05-20 | 2005-06-07 | Given Imaging Ltd. | Array system and method for locating an in vivo signal source |
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US6934093B2 (en) | 1999-06-15 | 2005-08-23 | Given Imaging Ltd | Optical system |
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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 |
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US7097615B2 (en) | 2001-10-05 | 2006-08-29 | Boston Scientific Scimed, Inc. | Robotic endoscope with wireless interface |
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US7142908B2 (en) | 2000-05-31 | 2006-11-28 | Given Imaging Ltd. | Device and method for measurement of electrical characteristics of tissue |
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WO2007011654A1 (en) * | 2005-07-14 | 2007-01-25 | Enhanced Medical System Llc | Robot for minimally invasive interventions |
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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 |
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US7351202B2 (en) | 2002-12-05 | 2008-04-01 | Ethicon Endo-Surgery, Inc. | Medical device with track and method of use |
US7468044B2 (en) | 2001-01-16 | 2008-12-23 | Given Imaging Ltd. | Device, system and method for determining in vivo body lumen conditions |
US7485093B2 (en) | 2002-04-25 | 2009-02-03 | Given Imaging Ltd. | Device and method for in-vivo sensing |
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US8639314B2 (en) | 2003-12-24 | 2014-01-28 | Given Imaging Ltd. | Device, system and method for in-vivo imaging of a body lumen |
US8696602B2 (en) | 2009-03-31 | 2014-04-15 | Given Imaging, Inc. | Method of determining body exit of an ingested capsule |
US8834354B2 (en) | 2000-04-03 | 2014-09-16 | Intuitive Surgical Operations, Inc. | Steerable endoscope and improved method of insertion |
US8885034B2 (en) | 1997-10-06 | 2014-11-11 | Micro-Imaging Solutions Llc | Reduced area imaging device incorporated within endoscopic devices |
US8888688B2 (en) | 2000-04-03 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Connector device for a controllable instrument |
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US8945010B2 (en) | 2009-12-23 | 2015-02-03 | Covidien Lp | Method of evaluating constipation using an ingestible capsule |
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GB2352636A (en) * | 1999-08-03 | 2001-02-07 | Univ College | Self-propelled device for passing along human or animal gut |
GB2352636B (en) * | 1999-08-03 | 2003-05-14 | Univ College London Hospitals | Improved passage-travelling device |
GB2358753A (en) * | 1999-10-09 | 2001-08-01 | Taylor Lann Technology Ltd | Video camera on elongate support for viewing inaccessible locations. |
US7295226B1 (en) | 1999-11-15 | 2007-11-13 | Given Imaging Ltd. | Method for activating an image collecting process |
US7869856B2 (en) | 2000-01-13 | 2011-01-11 | Moshe Refael | Encapsulated medical imaging device and method |
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