Event-based control of a lumen traveling device
Methods of controlling the operation of a device traveling in a body tube tree, including selecting a direction of travel based on information relating to a previous event associated with a possible direction of travel, implemented with a control system located partially or fully on the lumen traveling device. Various actions can be performed by the device for, e.g., medical or therapeutic purposes. Machine-readable media including instructions for performing the methods are also described.
1 . A system comprising:
non-transitory machine readable media, for use in a lumen traveling device control system, including:
one or more instructions that cause the lumen traveling device control system to identify at least two possible directions of travel of a lumen traveling device through a body tube tree, the body tube tree including a plurality of branched, interconnected channels, and the at least two possible directions of travel corresponding to at least two of the branched, interconnected channels;
one or more instructions that cause the lumen traveling device control system to receive data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel;
one or more instructions that cause the lumen traveling device control system to select a direction of travel from the at least two directions of travel based at least in part on the data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel; and
one or more instructions that cause the lumen traveling device control system to direct at least one of a steering mechanism and a propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in the selected direction of travel.
2 .- 4 . (canceled)
5 . The system of claim 1 , wherein the non-transitory machine readable media bears one or more instructions that cause the lumen traveling device control system to determine that at least one of the at least two directions of travel is non-navigable by the lumen traveling device, and wherein the one or more instructions that cause the lumen traveling device control system to select a direction of travel from the at least two directions of travel based at least in part on the data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel include instructions that cause the lumen traveling device control system to avoid the at least one of the at least two directions of travel if it is non-navigable by the lumen traveling device.
6 .- 11 . (canceled)
12 . The system of claim 1 , wherein the non-transitory machine readable media includes:
one or more instructions that cause the lumen traveling device control system to identify a stop condition based at least in part on the data; and
one or more instructions that cause the lumen traveling device control system to direct at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to stop moving through the body tube tree.
13 . The system of claim 1 , wherein the non-transitory machine readable media includes:
one or more instructions that cause the lumen traveling device control system to store the data in a memory location on the lumen traveling device.
14 . The system of claim 1 , wherein the non-transitory machine readable media includes:
one or more instructions that cause the lumen traveling device control system to store the motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism in a memory location on the lumen traveling device.
15 . The system of claim 1 , wherein the non-transitory machine readable media includes:
one or more instructions that cause the lumen traveling device control system to transmit the data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel from the lumen traveling device to a remote device.
16 . The system of claim 1 , wherein the non-transitory machine readable media includes:
one or more instructions that cause the lumen traveling device control system to transmit motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism from the lumen traveling device to a remote device.
17 . The system of claim 1 , wherein the non-transitory machine readable media includes:
one or more instructions that cause the lumen traveling device control system to receive at least one of instructions or data from a remote device.
18 . The system of claim 1 , wherein the non-transitory machine readable media is carried by the lumen traveling device.
19 . The system of claim 1 , wherein the non-transitory machine readable media is carried in part by the lumen traveling device and in part by a remote device.
20 .- 22 . (canceled)
23 . The system of claim 1 , wherein the non-transitory machine readable media includes:
one or more instructions that cause the lumen traveling device control system to receive information related to whether or not at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device; and
one or more instructions that cause the lumen traveling device control system to select a direction of travel from the at least two possible directions of travel based at least in part on the information related to whether or not at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device.
24 . A method of operating a lumen traveling device with a lumen traveling device control system, comprising:
identifying at least two possible directions of travel of a lumen traveling device through a body tube tree, the body tube tree including a plurality of branched, interconnected channels, and the at least two possible directions of travel corresponding to at least two of the branched, interconnected channels;
receiving data representing a stored parameter value relating to a previous event;
selecting a direction of travel from the at least two directions of travel based at least in part on the data representing a stored parameter value relating to a previous event; and
directing at least one of a steering mechanism and a propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in the selected direction of travel.
25 .- 34 . (canceled)
35 . The method of claim 24 , further comprising:
identifying a stop condition based at least in part on the data; and
directing at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause to cause the lumen traveling device to stop moving through the body tube tree.
36 . The method of claim 24 , further comprising:
storing the data in a memory location on the lumen traveling device.
37 . The method of claim 24 , further comprising:
storing motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism in a memory location on the lumen traveling device.
38 . The method of claim 24 , further comprising:
transmitting the data from the lumen traveling device to a remote device.
39 . The method of claim 24 , further comprising:
transmitting motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism from the lumen traveling device to a remote device.
40 . The method of claim 24 , further comprising:
receiving at least one of instructions or data from a remote device.
41 . The method of claim 24 , performed under the control of a lumen traveling device control system on-board the lumen traveling device.
42 . The method of claim 24 , performed under the control of a lumen traveling device control system located in part on-board the lumen traveling device and in part on a remote device.
43 . The method of claim 24 , further comprising:
receiving information related to whether or not at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device; and
selecting the direction of travel from the at least two possible directions of travel based at least in part on the information related to whether or not at least one of at least two possible directions of travel of the lumen traveling device through the body tube tree has previously been traveled by the lumen traveling device.
44 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to receive data representing a stored parameter value relating to a previous event associated with at least one of the at least two possible directions of travel include one or more instructions that cause the lumen traveling device control system to receive data relating to at least one of a previous action performed by the lumen traveling device or a parameter value previously sensed by the lumen traveling device.
45 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to direct at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in the selected direction of travel include one or more instructions that cause the lumen traveling device control system to direct at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in the selected direction of travel for a pre-determined distance, cause the lumen traveling device to move through the body tube tree in the selected direction of travel for a pre-determined duration, cause the lumen traveling device to move through the body tube tree in the selected direction of travel until a stop instruction is received from a remote device by the lumen traveling device, cause the lumen traveling device to turn, cause the lumen traveling device to continue moving in a current direction of travel, or cause the lumen traveling device to reverse its direction of travel.
46 . The system of claim 1 , wherein the non-transitory machine readable media includes at least one of computer readable media, a non-volatile memory in the lumen traveling device, ROM, PROM, EPROM, EEPROM, or Flash memory.
47 . The method of claim 24 , wherein receiving data representing a stored parameter value relating to a previous event includes receiving data relating to at least one of a previous action performed by the lumen traveling device or a parameter value previously sensed by the lumen traveling device.
48 . The method of claim 24 , wherein directing at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in the selected direction of travel includes directing at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to move through the body tube tree in the selected direction of travel for a pre-determined distance, cause the lumen traveling device to move through the body tube tree in the selected direction of travel for a pre-determined duration, cause the lumen traveling device to move through the body tube tree in the selected direction of travel until an stop instruction is received from a remote device by the lumen traveling device, cause the lumen traveling device to turn, cause the lumen traveling device to continue moving in a current direction of travel, or cause the lumen traveling device to reverse its direction of travel.