IP Library › Patent Application 13136678

Patent Application

App. No. 13/136,678

Map-based navigation of a body tube tree by a lumen traveling device

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Patent No.: US None
App. No.: 13/136,678

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Abstract

Method of controlling the operation of a device traveling in a body tube tree, including, determining the location of the device on a map of the body tube tree and planning a path of travel for the device toward a target location. 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.

Claims (114)

1 . A system comprising:

non-trap 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 obtain a map of at least a portion of a body tube tree including a plurality of branched, interconnected channels;

one or more instructions that cause the lumen traveling device control system to determine a current location of a lumen traveling device on the map with an operation performed on-board the lumen traveling device, the lumen traveling device located within the body tube tree represented by the map;

one or more instructions that cause the lumen traveling device control system to determine a target location for the lumen traveling device within the body tube tree;

one or more instructions that cause the lumen traveling device control system to plan a path of travel for the lumen traveling device, the path of travel leading at least a portion of the way between the current location and the target location; 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 along the path of travel.

2 . The system of claim 1 , wherein the non-transitory machine readable media further includes:

one or more instructions that cause the lumen traveling device control system to direct the sensing of at least one parameter value with at least one sensor on the lumen traveling device; and

one or more instructions that cause the lumen traveling device control system to direct the lumen traveling device to perform a further operation based upon the at least one sensed parameter value.

3 . The system of claim 1 , wherein the non-transitory machine readable media further includes:

one or more instructions that cause the lumen traveling device control system to direct the sensing of at least one parameter value with at least one sensor on the lumen traveling device; and

one or more instructions that cause the lumen traveling device control system to determine that at least a portion of the planned path of travel is non-navigable by the lumen traveling device based on the at least one sensed parameter value; and

one or more instructions that cause the lumen traveling device control system to revise the planned path of travel to avoid the non-navigable portion of the planned path of travel.

4 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to plan a path of travel for the lumen traveling device include one or more instructions that cause the lumen traveling device control system to plan a path between the current location and the target location.

5 . (canceled)

6 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to plan a path of travel for the lumen traveling device include one or more instructions that cause the lumen traveling device control system to plan a path between the current location and a second location in the body tube tree, the second location intermediate between the current location and the target location on the map of the body tube tree.

7 - 9 . (canceled)

10 . The system of claim 6 , wherein the one or more instructions that cause the lumen traveling device control system to plan a path of travel for the lumen traveling device include one or more instructions that cause the lumen traveling device control system to plan a path between a first branch point at the current location and a second branch point at the second location.

11 - 18 . (canceled)

19 . 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 at least two possible directions of travel of a lumen traveling device through a body tube tree;

one or more instructions that cause the lumen traveling device control system to receive 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;

one or more instructions that cause the lumen traveling device control system to receive data representing at least one parameter value sensed from at least one of the at least two possible directions of travel of the lumen traveling device through the body tube tree;

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 data representing at least one parameter value and 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 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.

20 . 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 detect an arrival of the lumen traveling device at a branch point in the body tube tree with at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels;

one or more instructions that cause the lumen traveling device control system to select at least one of the at least two branch channels;

one or more instructions that cause the lumen traveling device control system to activate the propelling mechanism to propel the lumen traveling device into the selected branch channel; and

one or more instructions that cause the lumen traveling device control system to store information regarding at least one of the at least two branch channels.

21 . The system of claim 20 , wherein the non-transitory machine readable media includes:

one or more instructions that cause the lumen traveling device control system to determine a time based on a signal from a timing device;

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;

and

one or more instructions that cause the lumen traveling device control system to direct the active portion of the lumen traveling device to perform an action based at least in part upon at least one of the local parameter value and the determined time.

22 . 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 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 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;

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, wherein the selected direction of travel is expected to lie along the planned path of travel; and

23 . The system of claim 1 , wherein the one or more instructions that cause the lumen traveling device control system to plan a path of travel for the lumen traveling device include:

one or more instructions that cause the lumen traveling device control system to determine a first path of travel leading between the current location and an intermediate location; and

one or more instructions that cause the lumen traveling device control system to determine a second path of travel leading between the intermediate location and the target location.

24 . The system of claim 23 , wherein the 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 along the path of travel include one or more instructions that cause the lumen traveling device to move along the first path of travel according to a first algorithm and the one or more instructions that cause the lumen traveling device control to move along the second path of travel according to a second algorithm, wherein the first algorithm is different than the second algorithm.

25 - 28 . (canceled)

29 . The system of claim 23 , wherein the one or more instructions that cause the lumen traveling device control system to determine a target location for the lumen traveling device within the body tube tree include one or more instructions that cause the lumen traveling device control system to receive at least one instruction regarding a target location from a remote device.

30 - 35 . (canceled)

36 . The system of claim 23 , wherein the one or more instructions that cause the lumen traveling device control system determine the first path of travel include:

one or more instructions that cause the lumen traveling device control system to identify at least two possible directions of travel of the lumen traveling device through the body tube tree;

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, wherein the selected direction of travel is along the first path.

37 . The system of claim 23 , wherein the non-transitory machine readable media includes:

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 the body tube tree;

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 data representing at least one parameter value sensed from at least one of the at least two possible directions of travel of the lumen traveling device through the body tube tree and 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

38 . A method of operating a lumen traveling device with a lumen traveling device control system, comprising:

obtaining a map of at least a portion of a body tube tree including a plurality of branched, interconnected channels;

determining a current location of a lumen traveling device on the map with an operation performed on-board the lumen traveling device, the lumen traveling device located within the body tube tree represented by the map;

determining a target location for the lumen traveling device within the body tube tree;

planning a path of travel for the lumen traveling device, the planned path of travel leading at least a portion of the way between the current location and the target location; and

causing movement of the lumen traveling device through the body tube tree along the path of travel.

39 . The method of claim 38 , further comprising:

sensing at least one parameter value with at least one sensor on the lumen traveling device; and

performing a further operation with the lumen traveling device based upon the at least one sensed parameter value.

40 . The method of claim 38 , further comprising:

sensing at least one parameter value with at least one sensor on the lumen traveling device;

determining that at least a portion of the planned path of travel is non-navigable by the lumen traveling device based on the at least one sensed parameter value; and

revising the planned path of travel to avoid the non-navigable portion of the planned path of travel.

41 . The method of claim 38 , wherein planning a path of travel for the lumen traveling device includes planning a path between the current location and the target location.

42 . (canceled)

43 . The method of claim 38 , wherein planning a path of travel for the lumen traveling device includes planning a path between the current location and a second location in the body tube tree, the second location intermediate between the current location and the target location on a map of the body tube tree.

44 - 46 . (canceled)

47 . The method of claim 43 , wherein planning a path of travel for the lumen traveling device includes planning a path between a first branch point at the current location and a second branch point at the second location.

48 - 52 . (canceled)

53 . The method of claim 38 , further comprising:

activating a propelling mechanism on the lumen traveling device to propel the lumen traveling device through the body tube tree along the path of travel;

detecting an arrival of the lumen traveling device at a branch point in the body tube tree with at least one arrival sensor on the lumen traveling device, the branch point including at least two branch channels;

selecting at least one of the at least two branch channels;

activating the propelling mechanism to propel the lumen traveling device into the selected branch channel;

storing information regarding at least one of the at least two branch channels;

determining a time based on a signal from a timing device;

sensing a local parameter value with a parameter sensor on the lumen traveling device;

and

performing an action with the active portion of the lumen traveling device based at least in part upon at least one of the local parameter value and the determined time.

54 . The method of claim 38 , further comprising:

identifying at least two possible directions of travel of a lumen traveling device through the body tube tree;

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 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, wherein the selected direction of travel is expected to lie along the planned path of travel; 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.

55 . The method of claim 38 , further comprising:

identifying at least two possible directions of travel of a lumen traveling device through a body tube tree;

receiving data representing at least one parameter value sensed from at least one of the at least two possible directions of travel of the lumen traveling device through the body tube tree;

selecting a direction of travel from the at least two possible directions of travel based at least in part on the data representing at least one parameter value and 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

56 . The method of claim 38 , wherein planning the path of travel for the lumen traveling device includes planning a first path of travel leading between the current location and an intermediate location and planning a second path of travel leading between the intermediate location and the target location and wherein causing movement of the lumen traveling device through the body tube tree along the path of travel includes causing the lumen traveling device to move along the first path of travel leading between the current location and an intermediate location and causing the lumen traveling device to move along the second path of travel leading between the intermediate location and the target location.

57 . The method of claim 56 , wherein causing the lumen traveling device to move along the first path of travel includes controlling the movement of the lumen traveling device according to a first algorithm and causing the lumen traveling device to move along the second path of travel includes controlling the movement of the lumen traveling device according to a second algorithm, wherein the first algorithm is different than the second algorithm.

58 - 64 . (canceled)

65 . The method of claim 56 , wherein causing the lumen traveling device to move along the first path of travel leading between the current location and the intermediate location includes:

identifying at least two possible directions of travel of the lumen traveling device through the body tube tree;

receiving 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;

66 . The system of claim 1 , wherein the map includes at least one of a topological map, a metric map, or a conformal map.

67 . The system of claim 1 , wherein the non-transitory machine readable media further includes one or more instructions that cause the lumen traveling device control system to generate a map of at least a portion of the body tube tree through exploration of the body tube tree with the lumen traveling device, one or more instructions that cause the lumen traveling device control system to receive a map of at least a portion of the body tube tree from a remote source, or one or more instructions that cause the lumen traveling device control system to receive a map of at least a portion of the body tube tree from another lumen traveling device.

68 . The system of claim 1 , wherein the non-transitory machine readable media includes at least one of non-transitory machine readable media carried by the lumen traveling device, non-transitory machine readable media carried in part by the lumen traveling device and in part by a remote device, a computer readable media, non-volatile memory in the lumen traveling device, ROM, PROM, EPROM, EEPROM, or Flash memory.

69 . The system of claim 23 , wherein the one or more instructions that cause the lumen traveling device control system to obtain a map of at least a portion of a body tube tree include one or more instructions that cause the lumen traveling device control system to receive the map of at least a portion of a body tube tree from a remote device, one or more instructions that cause the lumen traveling device control system to receive the map of at least a portion of a body tube tree from a data storage location on the lumen traveling device, or one or more instructions that cause the lumen traveling device control system to generate a map of at least a portion of the body tube tree through exploration of the body tube tree with the lumen traveling device.

70 . The system of claim 23 , wherein the non-transitory machine readable media includes at least one of non-transitory machine readable media carried by the lumen traveling device, non-transitory machine readable media carried in part by the lumen traveling device and in part by a remote device, computer readable media, recordable-type media, non-volatile memory in the lumen traveling device, ROM, PROM, EPROM, EEPROM, or Flash memory.

71 . The method of claim 38 , wherein the map includes at least one of a topological map, a metric map, or a conformal map.

72 . The method of claim 38 , including at least one of generating a map of at least a portion of the body tube tree through exploration of the body tube tree with the lumen traveling device, or receiving a map of at least a portion of the body tube tree from another lumen traveling device.

73 . The method of claim 56 , wherein obtaining a map of at least a portion of a body tube tree includes at least one of receiving the map of at least a portion of a body tube tree from a remote device, receiving the map of at least a portion of a body tube tree from a data storage location on the lumen traveling device, or generating a map of at least a portion of the body tube tree through exploration of the body tube tree with the lumen traveling device.

Assignments (1)

ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Oct 25, 2011

From: FERREN, BRAN; HILLIS, W. DANIEL; HYDE, RODERICK A.; ISHIKAWA, MURIEL Y.; JUNG, EDWARD K.Y.; LEUTHARDT, ERIC C.; MYHRVOLD, NATHAN P.; NUGENT, THOMAS J., JR.; SWEENEY, ELIZABETH A.; TEGREENE, CLARENCE T.; WOOD, LOWELL L., JR.; WOOD, VICTORIA Y.H.

To: SEARETE LLC

Reel/Frame 027118/0520 →