The present invention may provide a system, method and device containing a motor. The motor may propel an in-vivo device by rotating a propeller situated for example outside of an outer shell of such device with an electromagnetic field generated by for example a plurality of electrical coils situated for example within such device.

FIELD OF THE INVENTION

The present invention relates to a motor, to methods of production thereof, and to uses thereof. Typically the invention relates to a brushless motor that may be used in-vivo, possibly in miniature devices.

BACKGROUND OF THE INVENTION

In-vivo sensing devices, such as for example autonomous in-vivo capsules may be moved through a body lumen by periodic forces such as for example peristalsis in the gastrointestinal tract. In certain areas of a body lumen, such as for example a small intestine, such forces may be sufficient to move a device through the lumen. In other areas however, such as for example a large intestine, such forces may be less frequent and may leave a device in a single position for long periods of time. Sensing the entire lumen of, for example, the large intestine may be, for example, erratic as well as time consuming. The area of the lumen about which data may be collected may also be limited to the point around which the device came to rest.

SUMMARY OF THE INVENTION

According to embodiments of the present invention, an autonomous in-vivo device may include a rotor, a plurality of electric coils to generate an electromagnetic field from inside the in-vivo device around the rotor, and a switch to direct current to one or more coils at a time. In some embodiments of the present invention the rotor may be a propeller to propel the in-vivo device through a body lumen.

According to embodiments of the present invention a method of propelling an in-vivo device may be provided. For example, an electromagnetic field from within the device set around the propeller may be generated. The electromagnetic field may serve to rotate the propeller. In one embodiment of the present invention, fluids within the body lumen may be directed to the propeller through channels incorporated within the in-vivo device.

In other embodiments of the present invention a system for controlling a rotor within an in-vivo device may be provided. According to one embodiment of the present invention the system may include an in-vivo sensing device with a rotor and a transmitter, an external transceiver and/or receiver.

It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn accurately or to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity, or several physical components may be included in one functional block or element. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.

DETAILED DESCRIPTION OF THE INVENTION

Reference is made toFIG. 1, a schematic diagram of an in-vivo device with an in-vivo, typically electric motor in accordance with an embodiment of the invention. In some embodiments of the present invention, a propeller device may be driven by the in-vivo motor. In other embodiments of the present invention, one or more other components of a device may be driven by the in-vivo motor, for example, a sampling probe, a door for a chamber, or other in-vivo component. Device100may include a sensing device such as for example an imaging device112within an outer shell or housing110constructed and operative in accordance with an embodiment of the invention. Housing110may be, for example, spherical, ovoid, capsule shaped or any other suitable shape and may be partially deformable. Imaging device112may typically include at least one sensor such as for example imaging sensor116, which may be or include for example a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) image sensor. Image sensor116may be supported for example, on circuit board119. InFIG. 1the imaging device112may include, for example a lens122and a lens holder120. One or more (e.g., a pair or a ring) illumination sources118, such as light emitting diodes (LEDs), may illuminate areas to be imaged by the imaging sensor116. Illumination sources118may be supported on circuit board117. Other suitable positions for imaging sensor116and illumination sources118may be used and other suitable circuit boards and shapes of a housing110may be used. Device100may include a circuit board124or other suitable substrate that may contain one or more components and/or circuitry, e.g. switches and/or a controller that may have a capacity to control or regulate one or more components in device100, and one or more power sources such as for example batteries126. In some embodiments device100may include a transmitter127, such as for example a wireless transmitter and an antenna129. Device100may include a receiver121that may receive signals from, for example, an external source, such as control signals transmitted from, for example, an operator and a controller131that may control responses of device100to such signals. In some embodiments of the present invention, transmitter127, receiver121and controller131may be integrated into a single component, for example, a transceiver or other component. In other embodiments, more or less components may be integrated into a single component. Device100may transmit signals and/or data to, for example, an external transceiver123where such signals, sensory data or images may be stored or further processed for analysis, for example, by processor19and/or viewed on an external display138, such as for example a monitor. In some embodiments transceiver123may include only receiving capabilities. In some embodiments, transmitter127for example may transmit image signals to the external receiving unit so that images may be viewed for example on-line and in real time as the device100may pass through a body lumen. Other suitable viewing methods may be used. In some embodiments, an operator such as for example a viewer of an image on display138may control one or more of the functions of device100by for example transmitting signals and/or input commands to, for example, receiver121. A wire152, or other lead, or other electrical connection may connect board124with other components of device100such as for example board150.

In some embodiments of the present invention, device100may include a screw, propeller, fan, or rotor140that may be attached, for example fixed or rotatably attached, to a shaft142. In other embodiments other suitable components, besides a propeller may be engaged to shaft142for functions other than and/or including propulsion. Rotor140may be situated inside for example a crater-shaped hub144that may form for example the center of a doughnut-shaped ring146that may surround the hub144. Dimensions of hub144may be such that rotor140may rotate freely within ring146. In some embodiments, hub144and ring146may be shaped similar to the dimple or punt at the bottom of a wine bottle. Shaft142may be rotatably fixed to the base of ring146so that it may rotate freely. The base of ring146may in some embodiments be approximately 9 to 13 mm in diameter and be recessed approximately 5 to 10 mm from the outermost portion of ring146. Other shapes and configurations may be used. In some embodiments, rotor140, e.g. propeller may be or include one or more permanent magnets having a north and south end. Sealed or enclosed within ring146may be one or more electrical coils148. Coils148may in some embodiments be held by and connected to a circuit board150, or other substrate or other holder and or support that may provide electrical connections to coils148. Circuit board150may include or be connected to circuitry, e.g the controller131and/or a switch151, such as for example a reed switch that may control or regulate the flow of current among coils148. Support or circuit board150may be in electrical communication with for example circuit board124and/or batteries126. One or more intake ducts160in for example along the housing may channel liquids from an area around device100into hub144.

In operation, rotor140, ring146and coils148may be configured as components of for example an electric motor, such as for example a brushless electric motor, such that rotor140may serve as the rotor of such motor, ring146may serve as the stator of such motor, and coils148may carry current, for example, providing a magnetic force that may influence the orientation of propeller or shaft42and cause it to rotate. For example, an AC current passing through each of coils48with a phase lag may cause an alternating magnetic force that may, for example, rotate magnetic blades140A and140B. In other embodiments a DC current supplied to each of the coils in a sequence may provide an alternating magnetic force that may rotate the magnetic blades140A and140B. Other suitable methods may be used to drive rotor140and/or shaft142. Liquid may flow or be drawn from an in-vivo environment into ducts160, and may be and channeled through to hub144where such liquid may be forced out by rotor140, thereby providing thrust to device100. In some embodiments the speed of rotor140may be controlled by for example a timer with a switch or a controller on for example board124, or by for example an operator or external controller, e.g. included in an external transceiver123or processor139that may transmitting signals to device100. In other embodiments, one blade, for example, blade140A may be made to be heavier than another blade140B. Such lack of balance in the weights of the blades140A and140B may initiate, for example, a secondary circular swaying motion of device100as it may advance forward or backwards during propulsion. In some embodiments of the present invention, it may be desirable to initiate a swaying motion of the device so as to increase the field of view of for example the imager116or other sensing device during propulsion through a body lumen.

Device100may include components and operate similarly to the imaging systems described in U.S. Pat. No. 5,604,531 to Iddan, et al., WO 01/65995 and/or WO 02/054932, each assigned to the common assignee of the present application and each hereby incorporated by reference. Furthermore, a reception, processing and review system may be used, such as in accordance with embodiments of U.S. Pat. No. 5,604,531 to Iddan, et al., WO 01/65995 and/or WO 02/054932, although other suitable reception, processing and review systems may be used.

Rotor140may be constructed of or coated with for example stainless steel or other metallic alloy that may be magnetized or otherwise made reactive to magnetic force. Other suitable materials may be used. Rotor140may be of fixed pitch or variable pitch, and may have more than two blades. Rotor140may be magnetized using known methods such that one end140A is positive and another end140B is negative. Propellers with a larger number of blades may also be possible. For example, for a capsule with dimensions of 20 to 35 mm in length, 11 to 14 mm diameter, and weighing approximately 2.5-3.5 grams, a propeller of 4 to 8 mm rotating at, for example, 40 to over 1000 revolutions per minute may be sufficient to propel a capsule at a rate of 0.5 to 10 cm/s through a standing liquid. Other speeds, sizes and constructions of rotor140are possible.

Rotor140may be fixed to and extend from shaft142. In some embodiments, rotor140may be rotatably fixed to the housing at the base of hub144. In some embodiments, rotor140may be constructed of non-metallic substances.

Ring146may be or be constructed from a hollowed portion of housing110. Outer shell of ring146may be constructed of, resin or other suitable material, through which an electromagnetic force may pass. In some embodiments, ring146may be shaped as a laterally bisected and hollowed torus (shaped as a sliced bagel that has been emptied of all but its outer crust). Ring146may take other shapes such as for example a square, rectangle, etc.

Reference is made toFIG. 2A, a schematic diagram of a circuit board with rigid and flexible sections having one section with electrical coils in accordance with an embodiment of the invention. Rigid circuit boards sections117,119, and124and flexible circuit boards125and150may be configured as is described in embodiments of the invention described in publication WO 02/102224 entitled “In-vivo Device with a Circuit Board having Rigid Sections and Flexible Sections”, and in U.S. patent application Ser. No. 10/879,054 filed on Jun. 30, 2004 and entitled “In-vivo Device having Flexible Circuit Board and Method of Manufacturing Thereof”, each assigned to the common assignee of this application and each incorporated in their entirety by reference herein. In one embodiment of the present invention, circuit board117may support one or more illumination sources118. Circuit board119may support, for example imager116, and circuit board124may support, for example, one or more components such as transmitter127. Other suitable components may be supported by one or more circuit board section and other suitable number of circuit boards sections may be used. In some embodiments rigid sections may be alternatively flexible sections. In some embodiments, one or more coils148may be attached to and protrude from board150and board150may be connected by a flexible circuit board and/or connection125to circuit board124. A controller204embedded to board150may be used (e.g. in addition to or instead of controller131) to control current through coils148. Coil current drive lines202may connect coils148to a controller204via a switch. In other embodiments a switch may be integral to controller204or may not be needed. Sensors200, as may be suitable for brushless electric motors may be situated on board150at various points between or among coils148and may be connected to controller204through, for examples, lines203. In some embodiments, board150may be shaped as a flattened ring that may be fitted over the hollowed area of ring146. In some embodiments, board150may be ring shaped or coned shape so that coils148that may protrude upwards from board150, may face inwards towards hub144. Angling of board150may direct a greater portion of the electromagnetic field created by coils148towards rotor140. In some embodiments, coils148may be held in housing110without a board150, and may be in electrical communication with a controller131and a power source126.

Board150may be preferably completely enclosed within housing110so that no part of board150and coils148may come in contact with the liquids or other matter in an in-vivo environment.

In some embodiments, controller204may be built into board150or attached for example perpendicular to the bottom of board150. Controller204may include a reed switch or other suitable components for switching on/off the current to one or more of coils148so as to for example, regulate and alternate the current in a brushless electric motor. Controller204may alternate the flow of current through coils148so that rotor140may rotate smoothly within hub144. In some embodiments the rotation of rotor140may be reversed by changing the order of the alternation of current in coils148. The rotation of rotor140may be, for example, controlled to be clockwise or counter-clockwise to either advance device100forwards or backwards. In some embodiments rotor140may be sequentially rotated forward and backwards to for example jiggle device100out of a stuck position.

In some embodiments a current of, for example, 5 to 15 mAmp passing through coils148may be sufficient to drive rotor140through a body lumen at a rate of approximately 40 to over 1000 revolutions per minute. Other suitable speeds may be used and other suitable currents may be used.

Coils148may take shapes other than coils and may be constructed from any suitable conductive material through which an AC or DC current may be passed in order to create an electromagnetic field and/or electromagnetic force.

One or more ducts160may be configured into the shell of housing110. Ducts160may open along the outside of housing100anterior to the end of the device100. Ducts160may channel liquid or other matter in an inward and posterior direction toward one or more openings in the ring146or elsewhere on outer shell of housing110that may be for example anterior to rotor140. The channel of duct160may be beveled from the sides of housing110to the opening below ring146. In some embodiments the outer opening of duct160along the side of device100may be covered by a screen to avoid solid matter from clogging duct160or rotor140.

Reference is now made toFIG. 2Bshowing a schematic diagram of a folded circuit board with rigid and flexible sections having one section with electrical coils in accordance with an embodiment of the invention. Flexible section150may support one or more coils148. Between rigid section119and124one or more batteries126may be positioned and contacts provided in section119and124may provide electrical contact between power source126and other components. Rigid section117may support one or more illumination devices. Flexible sections125may provide electrical communication between the various circuit board sections and the power source126.

Reference is made toFIG. 3, a schematic diagram of a propeller shaft with a mechanical joint, for example a ball300and socket302joint in accordance with an embodiment of the invention. In some embodiments, shaft142may be attached to, or may include for example a ball300and socket302joint that may permit shaft142to pivot such that there may be a change in the angle of orientation of rotor140relative to the end of device100. In some embodiments a ball300and socket302may join rotor140to shaft142so that the angle of rotor140may be changed without changing the angle of shaft142. In some embodiments, the relative strength of the current, whether negative or positive, passed through the coils148on a particular side of ring146may be increased compared to the strength of current passed through coils148on another side of ring146. Such changes in the relative strength of current may cause rotor140to tilt towards one direction, for example, the direction toward the side with greater current flowing through a coil148. Such a tilt may in some embodiments modify a direction of the thrust produced by rotor140, and hence the vector of device100. In some embodiments, an external operator may control such changes in current to control the tilt of such rotor140and the direction of thrust generated by rotor140. Other methods of tilting or reorienting the direction of thrust from rotor140may be possible.

Reference is made toFIG. 4, describing a flow chart of a method in accordance with an embodiment of the invention. In block400, an electromagnetic field and/or force may be generated from within an in-vivo device around a shaft, fan, screw or propeller attached to such device. In some embodiments, the electromagnetic field may be generated by one or more electrical coils148that may be positioned inside a housing110of the in-vivo device100, for example, around a hub144of such device100. In some embodiments such coils148may be attached to one or more circuit boards150that may be folded or looped into the shape of a ring. In some embodiments such circuit board150may be a flexible circuit board. In some embodiments the circuit board may be angled so that the electrical coils face or partially face inwards towards the hub at the center of the circuit board outside of the device.

In block402a rotor (e.g., a propeller) may rotate within such electromagnetic field in response to changes in the field. In some embodiments AC and/or DC current may directed to one or more electrical coils at a time so as to provide an alternating electromagnetic field and/or force. The propeller may include a permanent magnet with a north and south side. The alternating current in the coils may cause the propeller to rotate similar to the rotation of a rotor in a brushless motor. In some embodiments the propeller may be attached to a shaft142that the shaft may be rotatably secured for example to the posterior of the device. In some embodiments the rotor140may be attached to for example a ball300and socket joint302that may permit the rotor140to tilt for example towards an electric coil148that may carry a relatively greater current than do others of the electrical coils148surrounding the propeller. Other suitable methods of altering the direction of, for example, rotor140may be used. Other steps or series of steps may be used. In other embodiments of the present invention, shaft142may be used to drive other components of in-vivo device100.