Path selection by a lumen traveling device in a body tub tree based on previous path
Methods of controlling the operation of a device traveling in a body tube tree, including selecting a direction of travel of the device through the body tube tree based upon whether or not the device has previous travelled in a particular direction, 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, 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 information related to whether at least one of the 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;
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 the 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 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 .- 5 . (canceled)
6 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to receive information indicating 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 include one or more instructions that cause the lumen traveling device control system to receive information from a remote device.
7 .- 24 . (canceled)
25 . The system of claim 1 , 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 possible directions of travel include one or more instructions that cause the lumen traveling device control system to avoid at least one portion of the body tube tree having a dimension less than a specified minimum dimension.
26 . 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 a record of the selected direction of travel.
27 .- 44 . (canceled)
45 . 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 direct the sensing of a local parameter value with a parameter sensor on the lumen traveling device.
46 .- 48 . (canceled)
49 . 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 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 in a memory location on the lumen traveling device.
50 . 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 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 from the lumen traveling device to a remote device.
51 .- 57 . (canceled)
58 . 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 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;
selecting 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; 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.
59 . The method of claim 58 , wherein the directing is performed under the control of motion control circuitry located on-board the lumen traveling device.
60 . The method of claim 58 , wherein the directing is performed under the control of motion control circuitry located in part on-board the lumen traveling device and in part on a remote device.
61 . The method of claim 58 , wherein the directing is performed under the control of motion control circuitry located on a remote device.
62 . The method of claim 58 , wherein receiving information indicating 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 includes receiving information from a portion of the lumen traveling device.
63 . The method of claim 58 , wherein receiving information indicating 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 includes receiving information from a remote device.
64 .- 81 . (canceled)
82 . The method of claim 58 , wherein selecting a direction of travel from the at least two possible directions of travel includes avoiding at least one portion of the body tube tree having a dimension less than a specified minimum dimension.
83 . The method of claim 58 , further comprising storing a record of the selected direction of travel.
84 . The method of claim 58 , further comprising directing an active portion of the lumen traveling device to mark or label the selected direction of travel.
85 .- 102 . (canceled)
103 . The method of claim 58 , further comprising:
sensing a local parameter value with a parameter sensor on the lumen traveling device;
identifying a stop condition based at least in part on the sensed local parameter value; and
directing at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to cause the lumen traveling device to stop movement of the lumen traveling device through the body tube tree based at least in part on the identified stop condition.
104 .- 110 . (canceled)
111 . A method for detecting and treating atherosclerotic plaques in the vasculature of a mammalian subject, comprising:
introducing a lumen traveling device into the vasculature of a subject;
activating a propelling mechanism on the lumen traveling device to cause the lumen traveling device to travel through the vasculature of the subject;
emitting a first wavelength of electromagnetic radiation with a light emitting diode on the lumen traveling device;
detecting an atherosclerotic plaque in the vasculature of the subject by sensing a second wavelength of electromagnetic radiation with an imaging sensor in the lumen traveling device, wherein the second wavelength of electromagnetic radiation is emitted by the atherosclerotic plaque in response to the first wavelength of electromagnetic radiation; and
releasing a therapeutic agent from a reservoir of the lumen traveling device in response to detection of the atherosclerotic plaque.
112 . The method of claim 111 , further comprising:
determining the location of the lumen traveling device within the vasculature of the subject on a topological map stored at least in part in a data storage location on the lumen traveling device.
113 . A system comprising:
non-transitory machine readable media, for use in a lumen traveling device control system for controlling a lumen traveling device including a light emitting diode, an imaging sensor, a reservoir containing a therapeutic agent for treatment of an atherosclerotic plaque, and a propelling mechanism, the non-transitory machine readable media including:
one or more instructions that cause the lumen traveling device control system to activate the propelling mechanism to cause the lumen traveling device to travel through the vasculature of the subject;
one or more instructions that cause the lumen traveling device control system to direct the light emitting diode to emit a first wavelength of electromagnetic radiation;
one or more instructions that cause the lumen traveling device control system to direct the detection of an atherosclerotic plaque by sensing a second wavelength of electromagnetic radiation emitted by the atherosclerotic plaque with the imaging sensor; and
one or more instructions that cause the lumen traveling device control system to release the therapeutic agent from the reservoir of the lumen traveling device in response to detection of an atherosclerotic plaque.
114 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to receive information indicating 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 include one or more instructions that cause the lumen traveling device control system to receive information regarding at least one of the direction of travel of the lumen traveling device, the position of the lumen traveling device, or the presence or absence of a marker or label indicating whether or not at least one of the at least two possible directions of travel has previously been traveled by the lumen traveling device.
115 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to receive information indicating 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 include one or more instructions that cause the lumen traveling device control system to receive information regarding the presence or absence of a marker or label indicating whether or not at least one of the at least two possible directions of travel has previously been traveled by the lumen traveling device, the marker or label including at least one of a chemical marker or label, a biochemical marker or label, a nucleic acid, a protein, a radioactive marker or label, physical marker or label, a magnetic marker or label, an optically detectable marker or label, a magnetically detectable marker or label, or an electrically detectable marker or label.
116 . The system of claim 1 , 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 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 include one or more instructions that cause the lumen traveling device control system to select a direction of travel from the group consisting of a direction of travel that has not previously been traveled by the lumen traveling device, a direction of travel that is the least frequently traveled by the lumen traveling device of the at least two directions of travel, a direction of travel that is the most frequently traveled by the lumen traveling device of the at least two directions of travel, a direction of travel that is the most recently traveled by the lumen traveling device of the at least two directions of travel, and a direction of travel that is the least recently traveled by the lumen traveling device of the at least two directions of travel.
117 . 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 direct an active portion of the lumen traveling device to mark or label the selected direction of travel by marking or labeling a selected body lumen with a marker or label that includes at least one of a chemical marker or label, a biochemical marker or label, a nucleic acid, a protein, a radioactive marker or label, a physical marker or label, a magnetic marker or label, an optically detectable marker or label, a magnetically detectable marker or label, or an electrically detectable marker or label.
118 . 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, for a predetermined duration, or until a stop instruction is received from a remote device.
119 . 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 do at least one of turn, continue moving in a current direction of travel, continue moving in a current direction of travel until a branch point is reached, or reverse its direction of travel.
120 . The system of claim 45 , wherein the non-transitory machine readable media includes at least one of one or more instructions that cause the lumen traveling device control system to store data representing the sensed local parameter value in a memory location on the lumen traveling device or one or more instructions that cause the lumen traveling device control system to transmit data representing the sensed local parameter value from the lumen traveling device to a remote device.
121 . The system of claim 1 , wherein the non-transitory machine readable media includes at least one of computer readable media, recordable-type media, a non-volatile memory in the lumen traveling device, ROM, PROM, EPROM, EEPROM, or Flash memory.
122 . The method of claim 58 , wherein receiving information indicating 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 includes receiving information regarding at least one of the direction of travel of the lumen traveling device, the position of the lumen traveling device, or the presence or absence of a marker or label indicating whether or not at least one of the at least two possible directions of travel has previously been traveled by the lumen traveling device.
123 . The method of claim 58 , wherein receiving information indicating 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 includes receiving information regarding the presence or absence of a marker or label indicating whether or not at least one of the at least two possible directions of travel has previously been traveled by the lumen traveling device, the marker or label including at least one of a chemical marker or label, a biochemical marker or label, a nucleic acid, a protein, a radioactive marker or label, a physical marker or label, a magnetic marker or label, an optically detectable marker or label, a magnetically detectable marker or label, or an electrically detectable marker or label.
124 . The method of claim 58 , wherein selecting 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 includes selecting a direction of travel from the group consisting of a direction of travel that has not previously been traveled by the lumen traveling device, a direction of travel that is the least frequently traveled by the lumen traveling device of the at least two directions of travel, a direction of travel that is the most frequently traveled by the lumen traveling device of the at least two directions of travel, a direction of travel that is the most recently traveled by the lumen traveling device of the at least two directions of travel, and a direction of travel that is the least recently traveled by the lumen traveling device of the at least two directions of travel.
125 . The method of claim 84 , further comprising directing an active portion of the lumen traveling device to mark or label the selected direction of travel by marking or labeling a selected body lumen with at least one of a chemical marker or label, a biochemical marker or label, a nucleic acid, a protein, a radioactive marker or label, a physical marker or label, a magnetic marker or label, an optically detectable marker or label, a magnetically detectable marker or label, or an electrically detectable marker or label.
126 . The method of claim 58 , 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 do at least one of move through the body tube tree in the selected direction of travel for a pre-determined distance, move through the body tube tree in the selected direction of travel for a pre-determined duration, move through the body tube tree in the selected direction of travel until a stop instruction is received from a remote device, turn, continue moving in a current direction of travel, continue moving in a current direction of travel until a branch point is reached, or reverse its direction of travel.
127 . The method of claim 58 , further comprising at least one of sensing a local parameter value with a parameter sensor on the lumen traveling device, storing data representing the sensed local parameter value in a memory location on the lumen traveling device, transmitting data representing the sensed local parameter value from the lumen traveling device to a remote device, 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, transmitting motion control instructions for directing operation of at least one of the steering mechanism and the propelling mechanism on the lumen traveling device to a remote device, or receiving at least one of instructions or data from a remote device.