Abstract:
Remote-controllable, micro-scale, robotic device for use in diagnosing and/or treating abnormalities inside a human body in vivo. The device has a length from 0.1 mm to 10 mm and can be introduced into the body either from natural body openings or by injection into the blood stream. Once inside the body, the device can be guided to different locations in the body by an outside operator using radio controls and computer software. 2-dimensional image information and spectroscopic information (e.g., fluorescence, absorption, elastic scattering, Raman, etc.) gathered by the device inside the body are transmitted by video and radio signals to a computer located externally relative to the body. The transmitted information is processed, analyzed and displayed by the external computer for use by the outside operator. The outside operator can then make a diagnosis and, if applicable, instruct the device to render a treatment on the examined area. Such treatments include the ablation of tissue using lasers or the like and the binding of ruptured tissues together using chemical glue, UV cured epoxy materials or photochemical or photo-ionization techniques using near-infrared light to weld tissue from absorption at water bands.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application claims the benefit under 35 U.S.C. 119(e) of U.S. Provisional Patent Application Ser. No. 60/062,743, filed Oct. 23, 1997, the disclosure of which is incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     The present invention relates generally to the detection and treatment of diseased and/or abnormal biological materials, such as cells and/or tissues, and relates more particularly to the detection and treatment of diseased and/or abnormal biological materials using photonics. 
     The use of photonics to image biological materials, to detect abnormal and/or diseased states present therein and/or to treat such abnormalities and disease states has become increasingly more prevalent over the last several years. Examples of patents directed to the use of photonics in the foregoing types of applications include the following, all of which are incorporated herein by reference: U.S. Pat. No. 4,930,516, inventors Alfano et al., issued Aug. 4, 1998; U.S. Pat. No. 5,042,494, inventor Alfano, issued Aug. 27, 1991; U.S. Pat. No. 5,369,496, inventors Alfano et al., issued Nov. 29, 1994; U.S. Pat. No. 5,061,075, inventors Alfano et al., issued Oct. 29, 1991; U.S. Pat. No. 5,131,398, inventors Alfano et al., issued Jul. 21, 1992; U.S. Pat. No. 5,348,018, inventors Alfano et al., issued Sep. 20, 1994; U.S. Pat. No. 5,467,767, inventors Alfano et al., issued Nov. 21, 1995; U.S. Pat. No. 5,261,410, inventors Alfano et al., issued Nov. 16, 1993; U.S. Pat. No. 5,293,872, inventors Alfano et al., issued Mar. 15, 1994; U.S. Pat. No. 5,635,402, inventors Alfano et al., issued Jun. 3, 1997; U.S. Pat. No. 5,474,910, inventor Alfano, issued Dec. 12, 1995; U.S. Pat. No. 5,371,368, inventors Alfano et al., issued Dec. 6, 1994; U.S. Pat. No. 5,413,108, inventor Alfano, issued May 9, 1995; U.S. Pat. No. 5,644,429, inventors Alfano et al., issued Jul. 1, 1997; U.S. Pat. No. 5,625,458, inventors Alfano et al., issued Apr. 29, 1997; U.S. Pat. No. 5,710,429, inventors Alfano et al., issued Jan. 20, 1998; U.S. Pat. No. 5,719,399, inventors Alfano et al., issued Feb. 17, 1998; U.S. Pat. No. 5,769,081, inventors Alfano et al., issued Jun. 23, 1998; U.S. Pat. No. 5,799,656, inventors Alfano et al., issued Sep. 1, 1998; and U.S. Pat. No. 5,813,988, inventors Alfano et al., issued Sep. 29, 1998. 
     One of the primary benefits of the photonic approach to imaging and examining biological materials is that said imaging and examination can be conducted in vivo in a patient with little risk of injury to the patient. This is to be contrasted with certain conventional imaging techniques, such as X-ray imaging, which involves subjecting a patient to potentially harmful X-ray radiation, and with certain conventional examination techniques, such as biopsy and histological evaluation, which cannot be conducted in vivo. Where the organ or tissue to be examined is located internally, the photonic approach to examination typically involves inserting optical fibers, typically disposed within an endoscope or similar device, into the patient&#39;s body in proximity to the area to be examined. The area to be examined is irradiated with light transmitted thereto by the optical fibers, and the light from the irradiated area is collected and transmitted by the optical fibers to a spectroscopic device or camera and computer for observation and analysis. 
     As can readily be appreciated, one of the current limitations on the use of photonics to image, examine and/or treat biological materials located inside a patient is the ability to access the biological materials wished to be examined using optical fibers and/or endoscopes. 
     SUMMARY OF THE INVENTION 
     It is an object of the present invention to provide a novel device that is designed to detect and/or treat diseased and/or abnormal biological materials, such as cells and/or tissues, inside a patient&#39;s body. 
     It is another object of the present invention to provide a device that overcomes at least some of the problems described above in connection with the use of optical fibers and/or endoscopes to access internally disposed biological materials. 
     In accordance with the teachings of the present invention and in furtherance of the aforementioned objects, there is provided a wireless, remote-controllable, micro-scale device adapted for use inside a patient&#39;s body, said wireless, remote-controlled, micro-scale device preferably being 0.1 mm to 20 mm in length and comprising (a) a transport capsule; (b) means for moving said transport capsule inside a patient&#39;s body; (c) imaging means, on board said transport capsule, for collecting image information on the appearance of the inside of the patient&#39;s body; (d) examining means, on board said transport capsule, for collecting information regarding the presence of abnormal biological materials inside the patient&#39;s body; and (e) communication means, on board said transport capsule, for transmitting the information collected by said imaging means and said examining means to a location outside the patient&#39;s body. As will hereinafter be described, said examining means preferably includes means for measuring the spectrum of photo-excited tissue, and said examining means and said imaging means preferably includes a laser, a flamp lamp, a light emitting diode or similar device. 
     In another embodiment of the invention, the remote-controlled, micro-scale device is not wireless, but rather, is connected to an electrical wire cable. 
     The present invention is made possible, in part, by the recent advent of enabling technology in the fields of microrobotics (see, for example, U.S. Pat. No. 5,610,488, inventor Miyazawa, which issued Mar. 11, 1997 and which is incorporated herein by reference) and microelectromechanical systems (MEMS) (see, for example, Motamedi et al., “Micro-opto-electro-mechanical devices and on-chip optical processing,  Opt. Eng.,  36(5), 1282-97 (May 1997); Gonzalez et al., “Packaging Technology for Miniature IVD Instrumentation,” Medical  Device &amp; Diagnostic Industry,  70-75 (April 1998); Motamedi et al., “Miniaturized micro-optical scanners,”  Optical Engineering,  33(11):3616-23 (November 1994); Lang, “Silicon microstructuring technology,”  Material Science and Engineering,  R17, 1-55 (1996); and “A guitar the size of a cell,”  New York Times,  Page C4 (Jul. 29, 1997), all of which are incorporated herein by reference). 
     Additional objects, as well as features, aspects and advantages of the present invention, will be set forth, in part, in the description which follows and, in part, will be obvious from the description or may be learned by practice of the invention. In the description, reference is made to the accompanying drawings which form a part thereof and in which is shown by way of illustration specific embodiments for practicing the invention. These embodiments will be described in sufficient detail to enable those skilled in the art to practice the invention, and it is to be understood that other embodiments may be utilized and that structural changes may be made without departing from the scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is best defined by the appended claims. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The accompanying drawings, which are hereby incorporated into and constitute a part of this specification, illustrate preferred embodiments of the invention and, together with the description, serve to explain the principles of the invention. In the drawings wherein like reference numerals represent like parts: 
     FIG. 1 is a block diagram of a first embodiment of a remote-controllable, micro-scale device adapted for use inside a patient&#39;s body, the remote-controlled, micro-scale device being constructed according to the teachings of the present invention; 
     FIG. 2 is a schematic diagram of a first implementation of the remote-controllable, microscale device of FIG. 1, wherein the motion mechanism comprises a propeller; 
     FIG. 3 is a schematic diagram of a second implementation of the remote-controllable, micro-scale device of FIG. 1, wherein the motion mechanism comprises micro tractor treads; 
     FIGS.  4 ( a ) and  4 ( b ) are schematic diagrams of a third implementation of the remote-controllable, micro-scale device of FIG. 1 shown before and after deployment of a motion mechanism comprising a propeller and a snail-type feeler; 
     FIG. 5 is a schematic diagram of a fourth implementation of the remote-controllable, micro-scale device of FIG. 1, wherein the motion mechanism comprises a propeller in combination with a gas jet; 
     FIG. 6 is a schematic diagram of a modified induction motor based electric generator for use in the device of FIG. 1; 
     FIGS.  7 ( a ) and  7 ( b ) are schematic diagrams of two different embodiments of a remote micro-snake-like probe for use in the device of FIG. 1; 
     FIG. 8 is a schematic diagram of the device of FIG.  7 ( b ) being used to take the spectra of a tissue for cancer diagnosis and to remove a stone from a gallbladder; 
     FIG.  9 . is a schematic diagram of the path that the device of FIG. 1 takes after having been ingested orally; 
     FIG. 10 is a schematic diagram of a system comprising the device of FIG. 1 used by an operator to examine a patient; 
     FIG.  11 ( a ) is a schematic diagram of a system comprising a second embodiment of a remote-controllable, micro-scale device adapted for use inside a patient&#39;s body, said remote-controllable, micro-scale device being powered, operated and controlled through a wire cable; and 
     FIG.  11 ( b ) is an enlarged schematic diagram of the remote-controllable, micro-scale device shown in FIG.  11 ( a ). 
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
     The present invention is directed to a remote-controllable, micro-scale device which can be introduced into an animal (e.g., human) body by a minimally invasive procedure (e.g., by insertion through a natural body opening, such as the mouth, or by injection into the blood stream) and which can be used to travel to a variety of sites inside the body, such as the stomach, gallbladder, intestines, colon, rectum, prostate, kidney, liver, brain, and blood vessels. As will hereinafter be seen, according to one embodiment of the invention, the remote-controllable, micro-scale device is wireless and has complete freedom to move about inside a patient. In another embodiment, the remote-controllable, micro-scale device is connected by a wire cable to a computer system located externally relative to the patient&#39;s body. In any event, once at any of the aforementioned locations in a patient&#39;s body, the device can be used to detect the presence of abnormalities or disease states (e.g., by measuring the spectra of light emitted from an irradiated region), which information can be transmitted from the device to an outside operator for analysis. The operator can then instruct the device to render appropriate treatment, such as the ablation of tumors or blockages, the welding of ruptures, or the like. 
     Referring now to FIG. 1, there is shown a block diagram of a first embodiment of a remote-controllable, micro-scale device constructed according to the teachings of the present invention, the remote-controllable, micro-scale device being represented generally by reference numeral  11 . 
     Device  11 , which is a wireless, remote-controllable, micro-scale device, includes a transport capsule  13 , capsule  13  being used to house some or all of the other components of device  11 . Preferably, transport capsule  13  is made of a smooth and non-corrosive material, such as teflon, stainless steel, silicon or gold. The particular type of material of which capsule  13  is made is preferably selected to be most suitable depending upon whether device  11  is intended to take a gastrointestinal route through a patient (typically initiated by swallowing) or a blood circulatory route through a patient (typically initiated by injection into the blood stream). It can also be launched from an endoscope. Where device  11  is intended for gastrointestinal use, it preferably has a shape similar to a common medicinal tablet or capsule with a length of up to 20 mm and a radius of up to 2 mm. Where device  11  is intended for blood stream use (by injection through a large diameter needle or hollow tube), it preferably has dimensions smaller than 1 mm. 
     Device  11  also includes a spectroscopic system  14  (comprising, for example, transmission-type and/or reflection-type gratings and filters), a motion mechanism  15 , a surgical system  17 , a laser system  19 , a communications system  21 , a light source  23 , an imaging system  25  and a power system  27 , all of which are coupled to a microcomputer and controller  29 . 
     Referring now to FIG. 2, there is shown a first implementation  31  of the remote-controllable, micro-scale device of FIG.  1 . As can be seen, the motion mechanism of implementation  31  comprises a mechanical propeller  33 . Where the device is intended for use in the blood stream, propeller  33  may be driven by an electric motor  35 . Where the device is intended for use in the gastrointestinal system, propeller  33  may be turned by a build in gas flow. 
     A second implementation  41  of the remote-controllable, micro-scale device of FIG. 1 is shown schematically in FIG.  3 . In said implementation, the motion mechanism comprises micro tractor treads  43  for enabling the device to move on the inner surfaces of an organ. The device can be used to detect tissue properties using spectroscopy. 
     A third implementation  51  of the remote-controllable, micro-scale device of FIG. 1 is shown schematically in FIGS.  4 ( a ) and  4 ( b ). In said implementation, the motion mechanism comprises a suction-type conveyor belt  53  for enabling the device to move along the surfaces of an internal organ in a manner akin to the way a snail feeler operates. Preferably, the conveyor belt  53  is retractable to a position inside capsule  13  and is deployed after the device has been swallowed. As can be seen, the motion mechanism of implementation  51  also comprises a helicopter-type propeller  55 , propeller  55  preferably being retractable to a position inside capsule  13  for deployment after the device has been swallowed. 
     A fourth implementation  61  of the remote-controllable, micro-scale device of FIG. 1 is shown schematically in FIG.  5 . In said implementation, the motion mechanism comprises a propeller  63  and a gas jet  65  for rocketing the device forward and to the sides. 
     Other types of motion mechanisms which may be usable in the remote-controllable, micro-scale device of FIG. 1 include means for generating snake-type motion, such as a multiple wheel system, and electromagnetic systems, such as a metal sensor in the device controlled by an external magnet. 
     The foregoing devices can measure local tissue properties in situ using spectroscopic features from fluorescence and Raman bands. 
     Referring back to FIG. 1, the power system for device  11  preferably is provided by a small seed internal battery and/or an external power source. An example of a micro-scale battery which may be suitable for use in device  11  is an advanced lightweight alkaline battery developed by United Technology Corp., said battery having a gold-plate magnesium co- or counterflow bipolar plate, a graphite electrolyte reservoir plate and a 50 μm matrix, with a total active component weight of about 0.16 gm/cm 2 . The aforementioned battery is capable of delivering 9A/cm 2  at 0.72 V or 39 W/gm continuous power. A micro-scale battery of the foregoing type may be used to supply the necessary power for the internal computer operation and controllers of device  11 . Other internally-disposed power sources include standard high efficiency micro-batteries to generate electric currents and high density chemical batteries wherein two or more chemicals are mixed to release a significant amount of energy as a source to generate electric energy (this energy being an ideal source for high power lasers to conduct surgical operations). Still another possible power source is x-rays, translucent through the human body, to absorbers on the device—the absorbed energy is then converted by the device to power to drive the device. 
     However, due to the finite size of the device, the major power requirement for motion, communications and laser operation is typically delivered by external pumped power sources. One example of an external pumped power source is a remote induction generator. As seen in FIG. 6, a modified induction motor-based electric generator can be disposed inside the device, with an external time-varied powered magnetic field used to rotate a rotor inside the device, the rotated rotor then being used to generate electric current. Another external pumped power source is a remote microwave delivery system comprising EM antennae or receivers with high absorption coefficient and resonance geometrical arrangement built inside the device to collect external microwave energy at a designated wavelength. Still another external pumped power source is a remote ultrasound delivery system comprising piezoelectric receivers built inside the device to collect external ultrasonic energy to power the device and to charge-up an internal battery. 
     The communications system of device  11  preferably comprises one or more microscopic resonating-beams as small as 30 μm long and 8 μm wide that are anchored at each end to a silicon chip, with the respective midsections of the beams suspended about 0.1 μm above the chip surface. When the requisite radio-frequency signal voltage is applied to an electrode under the beams, the resulting electrostatic force makes the hanging section of the beams vibrate up and down at frequencies of nearly 15 MHz, enabling two-way radio signals to be radiated to and from the device. As can readily be appreciated, by adding a signal processor to the above-described silicon chip, one can construct two-way radios, telephones and modems as small and as inexpensive as can be imagined. 
     The imaging system of device  11  preferably comprises a micro-video CCD with LED light sources built on small scale computer chips. Micro flash lamps can be used to illuminate areas to be imaged. The LED light sources are preferably three color LED diodes based on MBES technology to generate quantum well emissions. The data collected from the CCD is digitized and transmitted by radio waves to an external computer system to be displayed, stored and analyzed. 
     A spectroscopic imaging system in device  11  is incorporated into the device and is connected to the CCD image system (or photodiodes, such as avalanche diodes) to improve the sensitivity of the disease diagnosis. Micro scale narrow band filters, color filter system and/or gratings can be added to the illumination source from laser, flash lamp, LED and the collected signal of the CCD camera, photodiode, avalanche photodiodes or PMT to obtain the spectroscopic information on the disease area. Wide-band dielectric filters on the device can be used to separate various colors emitted or absorbed. The filters may be rotated on a MEMS rotation wheels to select different wavelengths to measure light intensities for processing and image analysis to diagnosis. 
     To detect areas remote from the device, such as a stone in a gallbladder, a coherent fiber may be installed in the device and attached to the CCD camera to form a snake-like probe less than 1 mm in diameter, as shown in FIG.  7 ( a ), or the CCD camera and the laser may be installed on the tip of a snake-like cable, as shown in FIG.  7 ( b ). The fiber is reeled out from the transport capsule like a fishing rod. These snake-like probes can wiggle into a small organ, such as the gallbladder, while the rest of the device holds in position more remotely. The spectroscopic and visual information can be transmitted to an operator outside the body for diagnosis and instructions for treatment. 
     The light source for device  11  is preferably one or more micro-scale, color light-emitting-diodes (LEDs), lasers based on quantum wells or a photographic flash lamp. 
     A micro-scale, solid-state, semiconductor diode laser system or a flash lamp may be used either as an illumination source or as a surgical source to ablate tissue or to weld tissues together. This laser is controlled by a computer and/or by a remote system operated by an operator or medical personnel. If an abnormal tissue or cancer has been clearly identified with the spectroscopic diagnostic system, a surgeon can control the surgical laser to remove those abnormal tissues with the aid of the video imaging system. The power flux on a spot near the device will be on the order of 100 W/cm 2  on an area of 10 μm 2 . Using picosecond lasers, the power flux density can be greater than the value of 10 8  W/cm 2 . Using a photographic flash lamp, the power flux density on a spot can be on the order of Kw/cm 2 . Optical filters will be used to select the different wavelengths to excite and measure the emission features. 
     For a remote area laser surgical procedure, such as the removal of a stone from a gallbladder, the laser head can be mounted on a snake like cable, as in FIG.  8 . The laser pulse can be directly impinged onto the target area to minimize the power loss with the greatest position accuracy. 
     FIG. 9 illustrates schematically the path that device  11  takes after having been ingested orally (1-mouth, 2-esophagus, 3-stomach,  4- intestines and colon, and 5-out through rectum). FIG. 10 illustrates schematically a system  101 , system  101  comprising device  11  and a computer system C, computer system C including a communications system S and controllers C 1  and C 2 . System  101  is shown being used by an operator O to examine a patient P. 
     Referring now to FIG.  11 ( a ), there is shown a schematic diagram of another system comprising a remote-controllable, micro-scale device adapted for use inside a patient&#39;s body, said system being represented generally by reference numeral  151 . 
     System  151  comprises a remote-controllable, micro-scale device  153 , device  153  being shown in greater detail in FIG.  11 ( b ). Like device  11 , device  153  comprises light sources, optical spectroscopic units of narrow band filters or micro gratings and a photo detector or a photomultiplier. Device  153  differs most significantly from device  11  in that device  153  is not wireless, but rather, is connected to an external computer system C′ (the controllers of computer system C′ not being shown in FIG.  11 ( a ) but being the same as that of computer system C) via a wire cable. The operation commands and electrical power are delivered to device  153  through the wire cable from control computer system C′. The signals obtained by device  153  are sent through the wire cable to control computer system C′ for analysis. The operation of device  153  may be controlled using a wire cable in an endoscope. 
     The embodiments of the present invention recited herein are intended to be merely exemplary and those skilled in the art will be able to make numerous variations and modifications to it without departing from the spirit of the present invention. All such variations and modifications are intended to be within the scope of the present invention as defined by the claims appended hereto.