Parameter-based control of a lumen traveling device

Abstract

Methods of controlling the operation of a device traveling in a body tube tree, including sensing parameters from possible directions of travel and selecting the direction of travel based on the sensed parameters, 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.

What is claimed is: 
     
         1 .- 95 . (canceled) 
     
     
         96 . A system comprising:
 a lumen-traveling device configured to fit within a man-made lumen within the body of a subject, the lumen-traveling device including
 a structural element configured to fit within the man-made lumen; 
 a propelling mechanism configured to produce movement of the lumen-traveling device through the man-made lumen; 
 motion control circuitry configured to control the propelling mechanism to control movement of the lumen-traveling device through the man-made lumen; 
 response control circuitry configured to generate a response control signal upon receipt of a signal indicating detection of a parameter value of interest; and 
 an active portion operatively connected to the response initiation circuitry and configured to produce a response upon receipt of the response control signal. 
   
     
     
         97 . The system of  claim 96 , including the man-made lumen. 
     
     
         98 .- 99 . (canceled) 
     
     
         100 . The system of  claim 96 , wherein the active portion includes a scraping tool. 
     
     
         101 . The system of  claim 96 , including a timing device for scheduling tasks. 
     
     
         102 . The system of  claim 96 , including at least one sensing or information gathering device or structure configured to detect the parameter value of interest and to generate the signal indicating detection of the parameter value of interest. 
     
     
         103 . The system of  claim 102 , wherein the at least one sensing or information gathering device or structure includes at least one pressure sensor, temperature sensor, flow sensor, viscosity sensor, shear sensor, pH sensor, gas sensor, chemical sensor, optical sensor, image sensor, CCD array, acoustic sensor, biosensor, electrical sensor, magnetic sensor, clock or timer. 
     
     
         104 . The system of  claim 102 , wherein the parameter value of interest includes at least one of a temperature, a pressure, a fluid flow, an optical absorption, an optical emission, a fluorescence, a phosphorescence, an index of refraction, an electrical resistivity, a density, a sound speed, a pH, an osmolality, or a presence or absence of an object, material, or substance. 
     
     
         105 . The system of  claim 102 , wherein the parameter value of interest includes a presence or absence an object, material or substance or interest, the object, material or substance of interest including at least one of a blood clot, a thrombus, an embolus, a plaque, a lipid, a kidney stone, a dust particle, a pollen particle, an aggregate, a cell, a specific type of cell, a cell fragment, a cellular component, a platelet, an organelle, a collection or aggregation of cells or components thereof, a gamete, a pathogen, a parasite, a biological marker, an antibody, an antigen, a peptide, a polypeptide, a protein, a complex, a signaling material, a nuclueic acid, an oligonucleotide, a polynucleotide, a cell, a cellular component, an organelle, a gamete, a pathogen, a lipid, a lipoprotein, an alcohol, an acid, an ion, an immunomodulator, a sterol, a steroid, a carbohydrate, a sugar, a polysaccharide, a glycoprotein, a metal, an electrolyte, a metabolite, an organic compound, an organophosphate, a drug, a therapeutic, a gas, a pollutant, a tag, a chemical, a physical marker, or a label. 
     
     
         106 . The system of  claim 96 , wherein the structural element includes a lumen-wall engaging portion and a fluid-contacting portion configured to contact fluid within the man-made lumen and to at least intermittently permit flow of fluid through the man-made lumen. 
     
     
         107 .- 111 . (canceled) 
     
     
         112 . The system of  claim 96 , including a wheel, roller, or screw element, wherein the propelling mechanism is configured to turn the wheel, roller, or screw element to propel the structural element through the man-made lumen. 
     
     
         113 . The system of  claim 96 , including two or more lumen-wall engaging portions, wherein the propelling mechanism includes one or more expanding/contracting structures, inflatable/deflatable structures, bimetallic strip, shape memory material, shape-change polymer, or shape-change metal adapted to change in configuration to produce intermittent engagement of lumen walls by the lumen-wall engaging portions. 
     
     
         114 . The system of  claim 96 , wherein the propelling mechanism includes two or more appendages capable of walking motion. 
     
     
         115 . The system of  claim 96 , wherein the propelling mechanism includes radially and longitudinally expanding or extending structures. 
     
     
         116 . The system of  claim 96 , including a motion-arresting portion. 
     
     
         117 . The system of  claim 116 , wherein the motion-arresting portion includes at least one hook, claw, adhesive material, glue, brake, reversal mechanism for the propelling mechanism, shutoff for the propelling mechanism, or anchor configured to attach at least temporarily to a wall of the lumen. 
     
     
         118 . The system of  claim 96 , including at least one remote device. 
     
     
         119 . The system of  claim 118 , including a lumen traveling device control system located in part in the lumen-traveling device and in part in the at least one remote device. 
     
     
         120 . The system of  claim 118 , including a lumen traveling device control system located at least in part in the at least one remote device. 
     
     
         121 . The system of  claim 119 , wherein all functionalities essential for operation of the lumen traveling device are located on the lumen traveling device in on-board control circuitry and wherein a subset of auxiliary functions are located in the at least one remote device in remote control circuitry. 
     
     
         122 . The system of  claim 118 , wherein remote device is configured to provide at least one of monitoring of operation of the lumen traveling device, data collection, data analysis, or map building. 
     
     
         123 . The system of  claim 118 , wherein the remote device is configured to be located within the body of the subject at a distance from the lumen traveling device. 
     
     
         124 . The system of  claim 118 , wherein the remote device is configured to be located outside the body of the subject 
     
     
         125 . The system of  claim 124 , wherein remote device is configured to be carried or worn on the body of the subject or placed near subject. 
     
     
         126 .- 128 . (canceled) 
     
     
         129 . The system of  claim 118 , wherein the lumen traveling device includes a transmitter and receiver operatively coupled to at least one of the motion control circuitry and the response control circuitry and configured to communicate with the at least one remote device. 
     
     
         130 . The system of  claim 118 , wherein the lumen traveling device and the at least one remote device are configured for transmission of at least one of data and power signals between the lumen travelling device and the at least one remote device. 
     
     
         131 . The system of  claim 118 , wherein the lumen traveling device and the at least one remote device are configured for transmission of at least one of electromagnetic, acoustic signals, electrical signals, and optical signals between the lumen traveling device and the at least one remote device. 
     
     
         132 . A lumen traveling device control system comprising:
 one or more non-transitory machine readable data storage media bearing   one or more instructions for causing a propelling mechanism to produce movement of the lumen-traveling device through a man-made lumen within the body of a subject, wherein the lumen-traveling device includes a structural element configured to fit within the man-made lumen, the propelling mechanism, motion control circuitry and response control circuitry, and an active portion;   one or more instructions for receiving a signal indicative of detection of a parameter value of interest;   one or more instructions for generating a response control signal with the response control circuitry responsive to receipt of the signal indicative of detection of the parameter value of interest; and   one or more instructions for performing an action with the active portion responsive to receipt of the response control signal.   
     
     
         133 . The lumen traveling device control system of  claim 132 , wherein the one or more instructions for producing a response with the active portion include one or more instructions for controlling a scraping tool. 
     
     
         134 . The lumen traveling device control system of  claim 132 , including one or more instructions for determining a time and one or more instructions for performing the action with the active portion based at least in part on the time. 
     
     
         135 .- 136 . (canceled) 
     
     
         137 . The lumen traveling device control system of  claim 132 , wherein the one or more instructions for receiving the signal indicative of detection of the parameter value of interest include one or more instructions for detecting the parameter value of interest from at least one sensing or information gathering device or structure. 
     
     
         138 .- 139 . (canceled) 
     
     
         140 . The lumen traveling device control system of  claim 132 , wherein the one or more instructions for causing the propelling mechanism to produce movement of the lumen-traveling device through the man-made lumen within the body of a subject include one or more instructions for causing one or more expanding/contracting structures, inflatable/deflatable structures, bimetallic strip, shape memory material, shape-change polymer, or shape-change metal adapted to change in configuration to produce intermittent engagement of lumen walls by one or more lumen-wall engaging portion of the lumen traveling device. 
     
     
         141 . The lumen traveling device control system of  claim 132 , including one or more instructions for controlling a motion-arresting portion. 
     
     
         142 . The lumen traveling device control system of  claim 132 , including at least one remote device, wherein the remote device is remote from the lumen traveling device. 
     
     
         143 . The lumen traveling device control system of  claim 142 , located in part in the lumen-traveling device and in part in the at least one remote device. 
     
     
         144 . The lumen traveling device control system of  claim 142 , including one or more instructions for causing the remote device to provide at least one of monitoring of operation of the lumen traveling device, data collection, data analysis, or map building. 
     
     
         145 .- 146 . (canceled) 
     
     
         147 . The lumen traveling device control system of  claim 142 , including one or more instruction for communicating at least one of data and power signals between the lumen travelling device and the at least one remote device. 
     
     
         148 . The system of  claim 97 , wherein the man-made lumen includes at least one of a vascular catheter, a spinal fluid shunt, a vascular graft, a bowel re-anastomose, a bypass graft, a surgically created fistula, an indwelling stent, a vascular stent, a gastrointestinal stent, a tracheal stent, a respiratory stent, a ureteral stent, or a genitourinary stent. 
     
     
         149 . The system of  claim 96 , wherein the structural element includes at least one of a substantially tubular structure, a substantially cylindrical structure, a substantially annular structure, a substantially spiral structure, an adjustable diameter, multiple lumens in fluid communication with the man-made lumen, a capsule-like structure, a self-expanding material, a resilient material, a mesh-like material, a slotted structure, a bioactive component, or a biocompatible material. 
     
     
         150 . The system of  claim 96 , wherein the structural element is formed from at least one of a self-expanding material, a resilient material, a mesh-like material, metal, polymer, fabric, composite material, inorganic material, organic material, organic material of biologic origin, or organic material of abiologic origin. 
     
     
         151 . The system of  claim 118 , wherein remote device includes at least one of a computing device, a cell phone, a mobile device, a remote controller, a personal digital assistant, a handheld device, a computer system, a laptop computer, a computer pad, or a computer work station. 
     
     
         152 . The lumen traveling device control system of  claim 132 , wherein the one or more instructions for determining a time include one or more instructions for determining the time based on a signal from a timing device or one or more instructions for determining the time relative to an event. 
     
     
         153 . The lumen traveling device control system of  claim 132 , wherein the one or more instructions for causing the propelling mechanism to produce movement of the lumen-traveling device through the man-made lumen within the body of a subject include one or more instructions for causing the propelling mechanism to drive rotational movement of a lumen-wall-engaging structure to propel the structural element through the man-made lumen or one or more instructions for turning a wheel, roller, or screw element to propel the structural element through the man-made lumen. 
     
     
         154 . The lumen traveling device control system of  claim 142 , wherein the remote device includes at least one of a computing device, a cell phone, a mobile device, a remote controller, a personal digital assistant, a handheld device, a computer system, a laptop computer, a computer pad, or a computer work station.