Controlled motion capsule

11883,007

17/825515

May 26, 2022

Controlled motion capsules and associated systems and methods are described. Controlled motion capsules can decelerate, and stop, without damaging epithelial walls. If any components fail, a controlled motion capsule, without added energy, becomes its most compact shape, passing harmlessly through the GI tract. Controlled motion capsule may include a shape changing material, comprising a reversible soft copolymer, in a container in the capsule, with a nonionizing radiation emitter, and a controller to activate the nonionizing radiation to expand and contract the shape changing material, on detection of certain conditions or instructions. Expansion of the shape changing material, including contact with epithelial walls, decelerates and can stop the controlled motion capsule movement. Motion control allows scientists to study the microbiome, doctors to deliver intestinal drugs at precise locations, and to closely examine signs of precancerous growth.

Coyle, Brian Michael (Canyon, CA, US)

1. A controlled motion capsule comprising: a swallowable case, a controller monitoring at least one data, a compartment enclosing a shape changing gel, the shape changing gel comprising a reversible component with at least one hydrophilic component; the shape-changing gel having an interior material and an outermost layer, the outermost layer having a capacity to protect the interior material; at least one nonionizing radiation emitter proximal to the shape changing gel; the controller determining at least one nonionizing radiation value in response to the at least one monitored data; based on the at least one nonionizing radiation value, the controller variably energizes the at least one nonionizing radiation emitter to at least one level selected from the group of an intensity level and a duration level; the shape changing gel expanding and contracting to a three-dimensional volume dependent on the at least one level; wherein motion of the capsule through a tubular structure in an animal is variably decelerated by the expansion and contraction of the shape changing gel.

2. The controlled motion capsule of claim 1 , wherein: the outermost layer comprises an interlocked elastomer.

3. The controlled motion capsule of claim 1 , further comprising: the outermost layer directs the swelling of the shape changing gel in a shape.

4. The controlled motion capsule of claim 1 , wherein the shape changing gel expands from a first condition to a second condition in less than 90 seconds.

5. The controlled motion capsule of claim 1 , wherein the shape changing gel remains in a first condition when activated by the nonionizing radiation, and the shape changing gel swells to a second condition when not activated by the nonionizing radiation.

6. The controlled motion capsule of claim 1 , wherein the controller includes a system for determining the controlled motion capsule somalocation.

7. The controlled motion capsule of claim 6 , wherein the controller includes a positioning program; the positioning program includes at least one feedback mechanism to compute at least one trajectory of the controlled motion capsule; the at least one feedback mechanism produces at least one duration data selected from one or more of a velocity, deceleration, acceleration, turn, rotation, orientation, direction, slide, and stop duration data; the positioning program uses the at least one duration data to compute the at least one trajectory; the controller uses the at least one trajectory to determine the controlled motion capsule somalocation.

8. The controlled motion capsule of claim 6 , further comprising: at least one system that may measure at least one visual, hyperspectral, chemical, physical, or electrophysiological data of the body tubular structure environment; the controller uses the at least one data to determine the controlled motion capsule somalocation.

9. The controlled motion capsule of claim 6 , wherein the shape changing gel maintains the controlled motion capsule in the at least one somalocation for a sufficient time to perform one or more medical tasks.

10. The controlled motion capsule of claim 1 , wherein the nonionizing radiation produces a temperature change, and wherein the shape changing gel comprises a thermosensitive soft material.

11. The swallowable capsule of claim 1 , in which the shape changing gel comprises a selection from one or more of polymers, liquid crystals, mesogens, resins, or gels, and mixtures thereof.

12. The swallowable capsule of claim 1 , wherein the shape changing gel includes: at least one monomer that includes at least one functional group configured to undergo a reversible photochromic reaction in response to at least one wavelength of nonionizing radiation.

13. The swallowable capsule of claim 1 , wherein the shape changing gel includes: at least one functional group selected from one or more of azobenzenes, diarylethenes, stilbenes, spiropyrans, sulfonated spiropyrans, spirooxazines, spirobenzopyrans, fulgides, dithienylethenes, hexaarylbiimidazoles, azotolene, imines, hydrazones, coumarin, and nitrobenzyl, including moieties, derivatives, and mixtures thereof.

14. The swallowable capsule of claim 1 , wherein the shape changing gel further comprises: a self-healing agent, selected from the group of agents including A) graphene B) acryloyl-6-aminocaproic acid crosslinked with a polymer matrix, and C) dispersed particles that can polymerize a damaged polymer.

15. The swallowable capsule of claim 1 , wherein the shape changing gel further comprises: a liquid crystal elastomer gel in an original shape; the nonionizing radiation induces a photothermal response in the liquid crystal elastomer gel, thereby changing the shape of the liquid crystal elastomer gel.

16. The controlled motion capsule of claim 1 , wherein the shape changing gel expanding is to a three-dimensional volume at least 2 times the volume of the shape changing material when contracted.

17. The controlled motion capsule of claim 1 , further comprising: at least one of a data collecting unit and a data communication unit.

18. The controlled motion capsule of claim 17 , wherein the controller uses at least one data from the at least one of the data collecting unit and the data communication unit to determine the nonionizing radiation value.

19. A method for inflating and deflating part of a capsule as it passes through a gastrointestinal tube, including: swallowing the capsule, the capsule comprising: i) a case having a size that permits swallowing by a human, the case comprising: 1) An area with a controller, the controller variably activating and variably deactivating at least one nonionizing radiation emitter; 2) A compartment storing a gel-like media, including: a) a first side and a second side opposite the first side; b) the gel-like media located in the cavity between the sides in a first volume; c) at least one membrane layer anterior to the gel-like media; ii) the controller produces at least one first signal to activate the at least one nonionizing radiation emitter; 1) The controller processes at least one first data to determine the at least one first signal; a) the at least one first data is provided by a source selected from the group of A) at least one sensor included in the capsule, and B) at least one source outside of the body; 2) The at least one nonionizing radiation emitter variably energizes the gel-like media so that it variably inflates to a second volume; a) the gel-like media inflates through the first and the second sides; b) the capsule variably decelerates from a cause selected from the group of A) the gel-like media inflation causes interference with peristaltic flow, and B) the gel-like media inflation causes the at least one membrane layer to press against at least one side of the gastrointestinal tube to stop the capsule; iii) the controller produces at least one second signal to adjust the activation of the at least one nonionizing radiation emitter; 1) The controller processes at least one second data to determine the at least one second signal; a) the at least one second data is provided by a source selected from the group of A) dynamic feedback of the performance of the capsule over time, B) a predetermined data, and C) at least one source outside of the body; 2) The nonionizing radiation emitter variably energizes the gel-like media to an adjusted volume; a) the adjusted volume is selected from A) the second volume; B) the first volume; C) a volume between the first and second volumes; 3) The nonionizing radiation emitter de-energizes the gel-like media; a) the gel-like media and membrane layer deflate; b) the gel-like media is largely disposed between the first and the second sides.

20. A fail-safe controlled motion capsule, comprising: the capsule swallowable by an animal; a shape changing gel enclosed in a container in the capsule; the shape changing gel variably expanding from an initial state to a three-dimensional volume, in response to nonionizing radiation energy; a controller; at least one nonionizing radiation energizer; the controller variably energizing with nonionizing radiation the shape changing gel; a first fail-safe system: whereby de-energizing of the shape changing gel results in the shape changing gel contracting to the initial state, or substantially close to the initial state, sufficient to allow the controlled motion capsule to pass through a body tubular structure without a problem; a second fail-safe system: a feedback system that detects at least one special case, the at least one special case being the shape changing gel poses a risk to the body tubular structure; at least one special compound incorporated in the shape changing gel, wherein if activated the at least one special compound breaks down the shape changing gel; the controller, in response to the feedback system detection of the at least one special case, activates the at least one special compound.

4507115 March 1985 Kambara
7201511 April 2007 Moriyama et al.
7552702 June 2009 Stone
8684010 April 2014 Shachar et al.
9283044 March 2016 Juloski et al.
9750923 September 2017 Niichel
10300296 May 2019 Ben-Yehuda et al.
20050096712 May 2005 Abraham-Fuchs
20070123809 May 2007 Weiss
20080188837 August 2008 Belsky

Yao, H., Stidham, R.W., Gao, Z., Gryak, J., Najarian, K., Motion-based camera localization system in colonoscopy videos, Medical Image Analysis, 2021, 73: 102180. cited by applicant
Vaidya, H., Makinde, O.D., Choudhari, R., Prasad, K.V., Khan, S.U., Vajravel, K., Peristaltic flow of non-Newtonian fluid through an inclined complaint nonlinear tube: application to chyme transport in the gastrointestinal tract, Eur. Phys. J. Plus, 2020, 135:934. cited by applicant
Bianchi, F., Masaracchia, A., Shojaei Barjeui, E., Menciassi, A., Arezzo, A., . . . Cuiti, G., Localization strategies for robotic endoscopic capsules: a review, Expert Review of Medical Devices, 2019, 16(5), 381-403. cited by applicant
Huda, M.N., Liu, P., Saha, C., Yu, H., Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot, Journal of Intelligent & Robotic Systems, 2020, 100:753-764. cited by applicant
Ams-OSRAM AG, “Thermal management of LED light sources” Application Note Document No. AN052 2 / 23 Aug. 18, 2022, Premstaetten, Austria. cited by applicant
Decter et al., “There's Something About Mark”, Scene 61, Final Shooting Script, Oct. 21, 1997, p. 1, Copyright © 1998, 20th Century Fox, Los Angeles. cited by applicant

edspgr.11883007