US20090137869A1 - Self-advancing device - Google Patents
Self-advancing device Download PDFInfo
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- US20090137869A1 US20090137869A1 US12/360,319 US36031909A US2009137869A1 US 20090137869 A1 US20090137869 A1 US 20090137869A1 US 36031909 A US36031909 A US 36031909A US 2009137869 A1 US2009137869 A1 US 2009137869A1
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- fluid
- flow path
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- probe
- self
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- 238000012546 transfer Methods 0.000 claims abstract description 11
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- 230000001133 acceleration Effects 0.000 claims description 7
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- 238000013459 approach Methods 0.000 claims description 3
- 210000001124 body fluid Anatomy 0.000 claims description 2
- 239000010839 body fluid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
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- 238000012423 maintenance Methods 0.000 description 1
- 239000003380 propellant Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0122—Steering means as part of the catheter or advancing means; Markers for positioning with fluid drive by external fluid in an open fluid circuit
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/015—Control of fluid supply or evacuation
Definitions
- the invention relates to a self-advancing device particularly, but not exclusively, for use in the field of medical instrumentation.
- a number of self-advancing mechanisms are used in the medical industry to advance instruments, such as an endoscope, internally of a patient's body.
- Another endoscope is disclosed in International Application No. PCT/AU99/00005, which is propelled forwardly by a piston slidably mounted within a tubular member of the endoscope.
- the piston is caused to move toward and impact on a distal end wall of the endoscope to provide forward motion.
- a wire or other mechanism is used to retract the piston for subsequent acceleration and impact with the end wall, in order to further advance the endoscope.
- a disadvantage of such an arrangement is that the impact of the piston can produce an uncomfortable sensation within the patient and the use of a retracting wire may complicate construction of the endoscope and compromise operating efficiency, such as due to frictional resistance between the tubular member and the wire.
- a device which includes an elongate body with a movable mass arranged for sliding movement within the body, the element being arranged to decelerate toward an end of the body in order to impart forward movement thereto, via momentum transfer, and being arranged to accelerate away from said end in order to further drive the body forward, again using momentum transfer.
- the mass is a piston element.
- the element is driven under action of a fluid and the device includes control means to allow fluid flow between the element and the body to be controlled so as to effect deceleration and acceleration of the element toward and away from the end of the body.
- the device may define a first flow path for applying pressurized fluid to a rear of the element and a second flow path for allowing the fluid to be discharged from between a front of the element and the end of the body, wherein fluid flow along the second flow path is reduced as the element approaches the end of the body, in order to provide a fluid cushion to dampen impact between the element and the body.
- a third flow path may also be provided to inject fluid between the element and the end of the body, in order to accelerate the element in a rearward direction relative to the end of the body, fluid flow along the third flow path being established when the element is adjacent the end of the body.
- a sensor is provided to determine the proximity of the element relative to the end of the body.
- the second flow path is provided in a conduit, which extends axially through the element and the body, and the third flow path is also through the conduit, in a reverse direction to the second flow path.
- the element slides in a channel, within the body, and a conduit extends axially through the channel and the element, for providing pressurized fluid to the device, wherein valves are arranged in the conduit to direct the pressurized fluid into a region between a rear of the body and a rear of the element, along the first flow path, and to direct fluid from the conduit along the third flow path, into a second region, in front of the element, for driving the element in a reverse direction, and wherein the second flow path passes through openings formed in the channel and into a return passage formed in the body fluid to exit the second region along the second flow path, as the element is moved forward.
- the valves may include a main valve positioned in a forward end of the conduit and secondary valves arranged adjacent the first region, wherein a positive fluid pressure is maintained in the conduit and the valve is in a closed condition when the element travels in a forward direction, so that fluid is directed through the secondary valves, into the first region between the conduit and the body, to drive the element in the forward direction.
- Additional valves may be provided to vent fluid captured between a rear end of the body and the element directly into the second flow path, when the element is moved rearward of the body.
- a self-advancing probe including a device, as described above.
- the probe may be provided with a light source and camera.
- the probe may also include location means for securing the probe relative to adjoining structure.
- probe is an endoscope and, the endoscope may be disposable.
- a method of generating movement in a self-advancing device which includes a body and a moveable mass arranged for sliding movement relative to the body, including rapidly decelerating the element toward an end of the body to impart forward movement thereto, via momentum transfer and accelerating the element away from said end in order to further drive the body forward, again using momentum transfer.
- FIG. 1 is a diagrammatic cross section of a self-advancing device.
- FIG. 2 is a graph, illustrating velocity of a piston element of the device of FIG. 1 .
- FIG. 3 is a cross-sectional view of an alternative form of self-advancing device.
- FIG. 4 is a perspective view of a self-advancing endoscope.
- FIG. 5 is a diagrammatic cross-sectional view of a self-advancing angioscope.
- a self-advancing device 1 is shown in FIG. 1 as including an elongate body 2 with a movable mass 3 , in the form of piston element 4 arranged for sliding movement along a channel 5 formed within a body 2 .
- the body 2 is mounted on an axially extending conduit 6 , which projects into the body 2 from a pipe 7 .
- a second coaxial pipe 8 is also provided for fluid communication with a first region 9 of the channel 5 , between a rear end 10 of the element 4 and a rear end 11 of the body 2 .
- the pipe 7 maintains fluid communication with a second region 15 , between a front end 12 of the element 4 and a front end 13 of the tube.
- Sensors 16 and 17 are also provided to detect proximity of the element relative to either end 11 or 13 of the body 2 .
- the sensors 16 , 17 are shown for illustrative purposes only and they need not be in the locations shown. Indeed, the sensors may be dispensed with entirely provided the position of the element 4 within the body 2 is known or can at least be appropriately determined by some other appropriate means.
- a first flow path 21 is established to force fluid into the first region 9 between the rear end 11 of the body 2 and the element 4 , to drive the element 4 toward the front end 13 of the body 2 .
- a second flow path 22 is established to drain fluid from the second region 15 , between the front end 12 of the element 4 and the end 13 of the body 2 .
- the element 4 may be accelerated toward the front end 13 of the body 2 .
- Relative inertia between the element 4 and the body 2 maintains the device 1 in place up until the element 4 is adjacent the end 13 of the body 2 , as determined by sensor 16 , at which time, the element 4 is rapidly decelerated.
- the change in momentum is transferred to the body 2 so as to overcome the relative inertia of the body 2 and impart forward motion thereto.
- the deceleration is effected in such a manner that the fluid in the second region, between the front end 12 of the element 4 and the body 2 acts to dampen an impact between the element 4 and the body 2 itself.
- the dampening effect may be achieved by regulating the fluid flow along the second flow path 22 .
- a second working cycle is then implemented, in which the element 4 is rapidly accelerated away from the front end 13 of the body 2 by injecting high-pressure fluid along a flow path 23 through the conduit 6 and into the second region 15 , between the front end 13 of the element 4 and the body 2 , so that the inertia of the body is again overcome, to allow the body 2 to again move in a forwardly direction, indicated by arrow “A”.
- the element 4 is then decelerated and brought to a stop, once it is proximate to the rear end 10 of the body 2 , as detected by sensor 17 , so as to position the element 4 for commencement for another working cycle.
- the specific construction of the device which allows flow paths 21 , 22 , 23 to be defined, as well as the dynamic regulation of fluid flow along those flow paths, constitutes an overall control means which provides for control of the fluid flow between the element 4 and the body 2 to thereby effect the frequency and rate of deceleration or acceleration, as required, in order to move the device.
- the control means may also be used to cause reverse motion of the device by essentially reversing the direction of the working cycles.
- the first described working cycle is indicated by reference numeral 30 and comprises a first phase 31 where the element 4 is accelerated along the channel 5 and a second phase 32 where the element is rapidly decelerated to a rest position, indicated by reference numeral 33 , which corresponds to the element 4 being adjacent the front end 13 .
- the second work cycle 34 then includes an identical and reversed initial phase 35 of rapid acceleration followed by a deceleration phase 36 which continues until the element 4 is again at a rest position indicated by reference numeral 37 , adjacent the rear end 11 of the body 2 .
- a device 40 similar to device 1 , is shown and like reference numerals are used to denote like parts.
- the device 40 operates in substantially the same manner insofar as relative acceleration and deceleration of the element 4 is used to impart motive drive to the body 2 .
- the device 40 includes an elongate body 2 with a piston element 4 mounted on a conduit 6 for sliding motion in a channel 5 arranged internally of the body 2 .
- the conduit 6 includes a main valve 41 at a forward end 42 thereof.
- the valve 41 is biased into a closed position, by the action of a spring 43 which is provided between the valve 41 and a front end 13 of the body 2 . Under that condition, positive fluid pressure is applied to the conduit 6 , from a pipe 7 coupled thereto such that fluid is forced along a first flow path 51 , through secondary valves 44 and into a first region 9 , between a rear end 11 of the body 2 and the element 4 , so as to force the element 4 toward the front end 13 of the body 2 .
- fluid is forced out of a second region 15 , between a front end 12 of the element 4 , through openings 45 , along a second flow path 52 which passes down a return passage 46 formed in the body, for communication with a second coaxial pipe 8 .
- Progression of the element 4 in a forwardly direction, indicated by arrow “A” results in the openings 45 being closed and the second flow path 52 being interrupted.
- Positive fluid pressure maintains the forward motion of the element 4 although such motion is rapidly decelerated by action of fluid within the second region 15 as well as compression of a spring 46 , so that the element 4 is brought to standstill.
- valve Immediately prior to that position, the valve is caused to open by engagement with the element 4 and a third flow path 53 is then established by virtue of positive pressure forcing fluid through the valve 41 and thereby causing rapid acceleration of the element 4 in a reverse direction. Under that condition, the first flow path 51 , where fluid entered the first region 9 , is closed off and the fluid remaining in the region 9 between the element 4 and the rear end 11 of the body 2 is caused to exit via further valves 47 . In addition, once the element 4 moves past the openings 45 , fluid from the third flow path 53 exits via those openings 45 and the element 4 decelerates and is pushed back at a reduced rate, by action of the spring 46 .
- valves 48 are contacted and forced open to allow for egress of any remaining fluid in the region 9 between the rear 11 of the body 2 and a rear 10 of the element 4 .
- the valves 44 are subsequently opened and the first fluid flow path 51 is again established to accelerate the element 4 toward the front end 13 of the body 2 .
- the above described self-advancing device 1 , 40 may be used to propel any suitable probe or the like and, in particular, the device may be fitted to an endoscope 60 , such as shown in FIG. 4 .
- the device 1 , 40 may additionally include a light source 61 and a camera 62 , as well as suitable location means 63 for securing the endoscope in a chosen location.
- the endoscope 60 may include a cable 64 which houses the pipes 7 , 8 to facilitate operation of the control means, including provision of energy, air, water and any other required consumables.
- the cable 64 may be integrally formed with the device 1 , 40 and be adapted for a single-use type application, where it can be detachably secured to a junction box 65 which is provided between the endoscope 60 and a reusable controlling unit 66 .
- the device 1 has a body 2 formed of a flexible tube 61 and the movable mass 3 is in the form of a plurality of balls 62 , arranged to travel as a set of piston elements 4 along a channel 5 .
- a conduit 6 opens into the channel 5 to allow for a first flow path 21 to be established, for driving the balls 62 in a forward direction, indicated by arrow “A”.
- a return passage 46 provides for a second flow path 22 to be established, to allow fluid to escape from a region 15 , between the mass 2 and a front end 13 of the body 2 as the balls 62 are driven forwardly.
- a third flow path 23 then allows pressurized fluid to be injected back into the region 15 to drive the mass 3 in a reverse direction.
- the work cycles for the device 1 of the angioscope 60 are thereby the same as those described with reference to the device of FIGS. 1 to 3 .
- Embodiments of the invention may, accordingly, be utilized in any suitable application or field such as where a remotely actuable self-advancing probe is required, either in the medical, surveillance or other relevant fields such as inspection and or maintenance of pipelines, cable and wire hoses, and search and rescue operations.
- the body 2 of the device may be either rigid or flexible, as described with reference to FIG. 5 .
- the moving mass 2 may be propelled by means of any one of gas pressure; liquid pressure; electromagnetic linear type motor or solenoid; light (photonic) pressure; sound and ultrasonic pressure; gas density gradient; or combination of any of above.
- the moving mass (piston) or set of moving masses (pistons) can be made of solid substance or be a column of liquid or gas moving in elongated tubular body (cylinder) with the speed function as described above with reference to the FIG. 2 .
- the moving mass can be of any shape and form.
- the device 1 , 40 or probe can be propelled with the energy delivered from an external source via flexible means for example—pipe, electric wire/cable, fiber optic cable and/or mechanical flexible wire etc.
- the self-advancing probe endoscope, angioscope or catheter
- the probe can be a self containing unit with the propellant or energy source attached to the body of the probe—for example—the probe is propelled by the linear motion electromagnetic motor (solenoid, etc.)—the probe itself, control device and set of batteries can be encapsulated into one unit.
- the self-advancing probe (endoscope, angioscope, and/or catheter) may serve as a vehicle for delivery of functional devices such as sensory and surveillance devices, manipulators, containers, communication, lighting and dosing devices etc.
Abstract
A device which includes an elongate body with a movable mass arranged for sliding movement within the body is disclosed. The element is arranged to decelerate toward an end of the body in order to impart forward movement thereto, via momentum transfer, and is further arranged to accelerate away from said end in order to further drive the body forward, again using momentum transfer.
Description
- This application is a continuation of U.S. application Ser. No. 10/499,426 filed Sep. 13, 2004 (issued on Jan. 27, 2009 as U.S. Pat. No. 7,481,764), which is a National Stage application of PCT Application No. PCT/AU02/01733, filed on Dec. 20, 2002, which claims priority to Australian Patent Application Nos. PS 1610/02 (filed on Apr. 8, 2002), PS 0647/02 (filed on Feb. 21, 2002), and PR 9678/01 (filed on Dec. 20, 2001). Each of the above-referenced applications is incorporated by reference in its entirety.
- 1. Field
- The invention relates to a self-advancing device particularly, but not exclusively, for use in the field of medical instrumentation.
- 2. Description of the Related Art
- A number of self-advancing mechanisms are used in the medical industry to advance instruments, such as an endoscope, internally of a patient's body.
- Self-advancing endoscopes are disclosed in, for example, U.S. Pat. No. 4,934,786, U.S. Pat. No. 5,345,925 and U.S. Pat. No. 5,562,601. The devices disclosed in these patents all rely on the outer surface of the endoscope having a relatively movable portion that grips the internal wall of a passage through which the endoscope is passing. In that manner, the endoscopes rely on external pushing as their source of forward motion and the resultant construction of the mechanisms to achieve that motion can be relatively complex.
- Another endoscope is disclosed in International Application No. PCT/AU99/00005, which is propelled forwardly by a piston slidably mounted within a tubular member of the endoscope. The piston is caused to move toward and impact on a distal end wall of the endoscope to provide forward motion. A wire or other mechanism is used to retract the piston for subsequent acceleration and impact with the end wall, in order to further advance the endoscope. A disadvantage of such an arrangement is that the impact of the piston can produce an uncomfortable sensation within the patient and the use of a retracting wire may complicate construction of the endoscope and compromise operating efficiency, such as due to frictional resistance between the tubular member and the wire.
- In accordance with embodiments of the invention, there is provided a device which includes an elongate body with a movable mass arranged for sliding movement within the body, the element being arranged to decelerate toward an end of the body in order to impart forward movement thereto, via momentum transfer, and being arranged to accelerate away from said end in order to further drive the body forward, again using momentum transfer.
- In certain embodiments, the mass is a piston element.
- In some embodiments, the element is driven under action of a fluid and the device includes control means to allow fluid flow between the element and the body to be controlled so as to effect deceleration and acceleration of the element toward and away from the end of the body.
- The device may define a first flow path for applying pressurized fluid to a rear of the element and a second flow path for allowing the fluid to be discharged from between a front of the element and the end of the body, wherein fluid flow along the second flow path is reduced as the element approaches the end of the body, in order to provide a fluid cushion to dampen impact between the element and the body. A third flow path may also be provided to inject fluid between the element and the end of the body, in order to accelerate the element in a rearward direction relative to the end of the body, fluid flow along the third flow path being established when the element is adjacent the end of the body.
- In certain embodiments, a sensor is provided to determine the proximity of the element relative to the end of the body.
- In one arrangement, the second flow path is provided in a conduit, which extends axially through the element and the body, and the third flow path is also through the conduit, in a reverse direction to the second flow path.
- In an alternative arrangement, the element slides in a channel, within the body, and a conduit extends axially through the channel and the element, for providing pressurized fluid to the device, wherein valves are arranged in the conduit to direct the pressurized fluid into a region between a rear of the body and a rear of the element, along the first flow path, and to direct fluid from the conduit along the third flow path, into a second region, in front of the element, for driving the element in a reverse direction, and wherein the second flow path passes through openings formed in the channel and into a return passage formed in the body fluid to exit the second region along the second flow path, as the element is moved forward.
- The valves may include a main valve positioned in a forward end of the conduit and secondary valves arranged adjacent the first region, wherein a positive fluid pressure is maintained in the conduit and the valve is in a closed condition when the element travels in a forward direction, so that fluid is directed through the secondary valves, into the first region between the conduit and the body, to drive the element in the forward direction.
- Additional valves may be provided to vent fluid captured between a rear end of the body and the element directly into the second flow path, when the element is moved rearward of the body.
- In another aspect, there is provided a self-advancing probe, including a device, as described above.
- The probe may be provided with a light source and camera. The probe may also include location means for securing the probe relative to adjoining structure.
- In at least some embodiments, probe is an endoscope and, the endoscope may be disposable.
- In another aspect, there is provided a method of generating movement in a self-advancing device which includes a body and a moveable mass arranged for sliding movement relative to the body, including rapidly decelerating the element toward an end of the body to impart forward movement thereto, via momentum transfer and accelerating the element away from said end in order to further drive the body forward, again using momentum transfer.
- The invention is described, by way of non-limiting example only, with reference to the accompanying drawings, in which:
-
FIG. 1 is a diagrammatic cross section of a self-advancing device. -
FIG. 2 is a graph, illustrating velocity of a piston element of the device ofFIG. 1 . -
FIG. 3 is a cross-sectional view of an alternative form of self-advancing device. -
FIG. 4 is a perspective view of a self-advancing endoscope. -
FIG. 5 is a diagrammatic cross-sectional view of a self-advancing angioscope. - A self-advancing device 1 is shown in
FIG. 1 as including anelongate body 2 with amovable mass 3, in the form ofpiston element 4 arranged for sliding movement along achannel 5 formed within abody 2. Thebody 2 is mounted on an axially extendingconduit 6, which projects into thebody 2 from apipe 7. A secondcoaxial pipe 8 is also provided for fluid communication with afirst region 9 of thechannel 5, between arear end 10 of theelement 4 and arear end 11 of thebody 2. Thepipe 7 maintains fluid communication with asecond region 15, between afront end 12 of theelement 4 and afront end 13 of the tube.Sensors end body 2. Thesensors element 4 within thebody 2 is known or can at least be appropriately determined by some other appropriate means. - In operation, a
first flow path 21 is established to force fluid into thefirst region 9 between therear end 11 of thebody 2 and theelement 4, to drive theelement 4 toward thefront end 13 of thebody 2. At the same time, asecond flow path 22 is established to drain fluid from thesecond region 15, between thefront end 12 of theelement 4 and theend 13 of thebody 2. In that manner, theelement 4 may be accelerated toward thefront end 13 of thebody 2. Relative inertia between theelement 4 and thebody 2 maintains the device 1 in place up until theelement 4 is adjacent theend 13 of thebody 2, as determined bysensor 16, at which time, theelement 4 is rapidly decelerated. The change in momentum is transferred to thebody 2 so as to overcome the relative inertia of thebody 2 and impart forward motion thereto. The deceleration is effected in such a manner that the fluid in the second region, between thefront end 12 of theelement 4 and thebody 2 acts to dampen an impact between theelement 4 and thebody 2 itself. The dampening effect may be achieved by regulating the fluid flow along thesecond flow path 22. - A second working cycle is then implemented, in which the
element 4 is rapidly accelerated away from thefront end 13 of thebody 2 by injecting high-pressure fluid along aflow path 23 through theconduit 6 and into thesecond region 15, between thefront end 13 of theelement 4 and thebody 2, so that the inertia of the body is again overcome, to allow thebody 2 to again move in a forwardly direction, indicated by arrow “A”. Theelement 4 is then decelerated and brought to a stop, once it is proximate to therear end 10 of thebody 2, as detected bysensor 17, so as to position theelement 4 for commencement for another working cycle. - The specific construction of the device, which allows
flow paths element 4 and thebody 2 to thereby effect the frequency and rate of deceleration or acceleration, as required, in order to move the device. The control means may also be used to cause reverse motion of the device by essentially reversing the direction of the working cycles. - A more specific example of the working cycles is described with reference to
FIG. 2 . The first described working cycle is indicated byreference numeral 30 and comprises afirst phase 31 where theelement 4 is accelerated along thechannel 5 and asecond phase 32 where the element is rapidly decelerated to a rest position, indicated byreference numeral 33, which corresponds to theelement 4 being adjacent thefront end 13. Thesecond work cycle 34 then includes an identical and reversedinitial phase 35 of rapid acceleration followed by adeceleration phase 36 which continues until theelement 4 is again at a rest position indicated byreference numeral 37, adjacent therear end 11 of thebody 2. - Referring now to
FIG. 3 , adevice 40, similar to device 1, is shown and like reference numerals are used to denote like parts. Thedevice 40 operates in substantially the same manner insofar as relative acceleration and deceleration of theelement 4 is used to impart motive drive to thebody 2. As withFIG. 1 , thedevice 40 includes anelongate body 2 with apiston element 4 mounted on aconduit 6 for sliding motion in achannel 5 arranged internally of thebody 2. Theconduit 6 includes amain valve 41 at aforward end 42 thereof. - The
valve 41 is biased into a closed position, by the action of aspring 43 which is provided between thevalve 41 and afront end 13 of thebody 2. Under that condition, positive fluid pressure is applied to theconduit 6, from apipe 7 coupled thereto such that fluid is forced along afirst flow path 51, throughsecondary valves 44 and into afirst region 9, between arear end 11 of thebody 2 and theelement 4, so as to force theelement 4 toward thefront end 13 of thebody 2. - As the
element 4 passes through thechannel 6, fluid is forced out of asecond region 15, between afront end 12 of theelement 4, throughopenings 45, along asecond flow path 52 which passes down areturn passage 46 formed in the body, for communication with a secondcoaxial pipe 8. Progression of theelement 4 in a forwardly direction, indicated by arrow “A” results in theopenings 45 being closed and thesecond flow path 52 being interrupted. Positive fluid pressure, however, maintains the forward motion of theelement 4 although such motion is rapidly decelerated by action of fluid within thesecond region 15 as well as compression of aspring 46, so that theelement 4 is brought to standstill. - Immediately prior to that position, the valve is caused to open by engagement with the
element 4 and athird flow path 53 is then established by virtue of positive pressure forcing fluid through thevalve 41 and thereby causing rapid acceleration of theelement 4 in a reverse direction. Under that condition, thefirst flow path 51, where fluid entered thefirst region 9, is closed off and the fluid remaining in theregion 9 between theelement 4 and therear end 11 of thebody 2 is caused to exit viafurther valves 47. In addition, once theelement 4 moves past theopenings 45, fluid from thethird flow path 53 exits via thoseopenings 45 and theelement 4 decelerates and is pushed back at a reduced rate, by action of thespring 46. - As the
element 4 approaches therear end 11 of thebody 2,additional valves 48 are contacted and forced open to allow for egress of any remaining fluid in theregion 9 between the rear 11 of thebody 2 and a rear 10 of theelement 4. Thevalves 44 are subsequently opened and the firstfluid flow path 51 is again established to accelerate theelement 4 toward thefront end 13 of thebody 2. - The above described self-advancing
device 1,40 may be used to propel any suitable probe or the like and, in particular, the device may be fitted to anendoscope 60, such as shown inFIG. 4 . In that arrangement, thedevice 1,40 may additionally include alight source 61 and acamera 62, as well as suitable location means 63 for securing the endoscope in a chosen location. Theendoscope 60 may include acable 64 which houses thepipes cable 64 may be integrally formed with thedevice 1,40 and be adapted for a single-use type application, where it can be detachably secured to ajunction box 65 which is provided between theendoscope 60 and a reusable controllingunit 66. - The same principle of momentum transfer may be used to drive a catheter or
angioscope 60, such as shown inFIG. 5 , where like reference numerals are used to denote like parts. In this instance, the device 1 has abody 2 formed of aflexible tube 61 and themovable mass 3 is in the form of a plurality ofballs 62, arranged to travel as a set ofpiston elements 4 along achannel 5. Aconduit 6 opens into thechannel 5 to allow for afirst flow path 21 to be established, for driving theballs 62 in a forward direction, indicated by arrow “A”. Areturn passage 46 provides for asecond flow path 22 to be established, to allow fluid to escape from aregion 15, between themass 2 and afront end 13 of thebody 2 as theballs 62 are driven forwardly. Athird flow path 23 then allows pressurized fluid to be injected back into theregion 15 to drive themass 3 in a reverse direction. The work cycles for the device 1 of theangioscope 60 are thereby the same as those described with reference to the device ofFIGS. 1 to 3 . - Embodiments of the invention may, accordingly, be utilized in any suitable application or field such as where a remotely actuable self-advancing probe is required, either in the medical, surveillance or other relevant fields such as inspection and or maintenance of pipelines, cable and wire hoses, and search and rescue operations.
- Further, it should be appreciated that many alterations and variations may be made without departing from the spirit and scope of the invention. For example, the
body 2 of the device may be either rigid or flexible, as described with reference toFIG. 5 . The movingmass 2 may be propelled by means of any one of gas pressure; liquid pressure; electromagnetic linear type motor or solenoid; light (photonic) pressure; sound and ultrasonic pressure; gas density gradient; or combination of any of above. The moving mass (piston) or set of moving masses (pistons) can be made of solid substance or be a column of liquid or gas moving in elongated tubular body (cylinder) with the speed function as described above with reference to theFIG. 2 . The moving mass can be of any shape and form. - The
device 1,40 or probe can be propelled with the energy delivered from an external source via flexible means for example—pipe, electric wire/cable, fiber optic cable and/or mechanical flexible wire etc. If the self-advancing probe (endoscope, angioscope or catheter) advances in a medium with changes in path topology such as bends, increased resistance and friction, the average cycle speed of repetitive moving mass (piston) motion has to be adjusted to ensure advancing properties. The probe can be a self containing unit with the propellant or energy source attached to the body of the probe—for example—the probe is propelled by the linear motion electromagnetic motor (solenoid, etc.)—the probe itself, control device and set of batteries can be encapsulated into one unit. The self-advancing probe (endoscope, angioscope, and/or catheter) may serve as a vehicle for delivery of functional devices such as sensory and surveillance devices, manipulators, containers, communication, lighting and dosing devices etc.
Claims (18)
1. A device which includes an elongate body with a movable mass arranged for sliding movement within the body, the element being arranged to decelerate toward an end of the body in order to impart forward movement thereto, via momentum transfer, and being arranged to accelerate away from said end in order to further drive the body forward, again using momentum transfer.
2. A device as claimed in claim 1 , wherein the mass is a piston element.
3. A device as claimed in claim 2 , wherein the element is driven under action of a fluid and the device includes control means to allow fluid flow between the element and the body to be controlled so as to effect deceleration and acceleration of the element toward and away from the end of the body.
4. A device as claimed in claim 3 , wherein the device defines a first flow path for applying pressurised fluid to a rear of the element and a second flow path for allowing the fluid to be discharged from between a front of the element and the end of the body, wherein fluid flow along the second flow path is reduced as the element approaches the end of the body, in order to provide a fluid cushion to dampen impact between the element and the body.
5. A device as claimed in claim 4 , wherein a third flow path is provided to inject fluid between the element and the end of the body, in order to accelerate the element in a rearward direction relative to the end of the body, fluid flow along the third flow path being established when the element is adjacent the end of the body.
6. A device as claimed in claim 5 , wherein a sensor is provided to determine the proximity of the element relative to the end of the body.
7. A device as claimed in claim 5 , wherein the second flow path is provided in a conduit, which extends axially through the element and the body, and the third flow path is also through the conduit, in a reverse direction to the second flow path.
8. A device as claimed in claim 5 , wherein the element slides in a channel, within the body, and a conduit extends axially through the channel and the element, for providing pressurised fluid to the device, wherein valves are arranged in the conduit to direct the pressurised fluid into a region between a rear of the body and a rear of the element, along the first flow path, and to direct fluid from the conduit along the third flow path, into a second region, in front of the element, for driving the element in a reverse direction, and wherein the second flow path passes through openings formed in the channel and into a return passage formed in the body fluid to exit the second region along the second flow path, as the element is moved forward.
9. A device as claimed in claim 8 , wherein the valves include a main valve positioned in a forward end of the conduit and secondary valves arranged adjacent the first region, wherein a positive fluid pressure is maintained in the conduit and the valve is in a closed condition when the element travels in a forward direction, so that fluid is directed through the secondary valves, into the first region between the conduit and the body, to drive the element in the forward direction.
10. A device as claimed in claim 9 , wherein additional valves are provided to vent fluid captured between a rear end of the body and the element directly into the second flow path, when the element is moved rearward of the body.
11. A device as claimed in claim 10 , wherein the mass includes a plurality of piston elements.
12. A device as claimed in claim 11 , wherein the piston elements are in the form of balls.
13. A self-advancing probe, including a device, as claimed in claim 12 .
14. A self-advancing probe, as claimed in claim 13 , wherein the probe is provided with a light source and camera.
15. A self-advancing probe, as claimed in claim 14 , wherein the probe includes location means for securing the probe relative to adjoining structure.
16. A self-advancing probe, as claimed in any one of claims 15 , wherein the probe is an endoscope.
17. A self-advancing probe, as claimed in 16, wherein the endoscope is disposable.
18. A method of generating movement in a self-advancing device which includes a body and a moveable mass arranged for sliding movement relative to the body, including rapidly decelerating the element toward an end of the body to impart forward movement thereto, via momentum transfer and accelerating the element away from said end in order to further drive the body forward, again using momentum transfer.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/360,319 US20090137869A1 (en) | 2001-12-20 | 2009-01-27 | Self-advancing device |
Applications Claiming Priority (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AUPR9678A AUPR967801A0 (en) | 2001-12-20 | 2001-12-20 | A method for propulsion of a medical probe (endoscope) and other diagnostic and treatment tools |
AUPR9678/01 | 2001-12-20 | ||
AUPS0647A AUPS064702A0 (en) | 2002-02-21 | 2002-02-21 | Disposable self-advancing endoscope |
AUPS0647/02 | 2002-02-21 | ||
AUPS1610A AUPS161002A0 (en) | 2002-04-08 | 2002-04-08 | Self-advancing angioscope/catheter |
AUPS1610/02 | 2002-04-08 | ||
US10/499,426 US7481764B2 (en) | 2001-12-20 | 2002-12-20 | Self-advancing device |
PCT/AU2002/001733 WO2003053225A1 (en) | 2001-12-20 | 2002-12-20 | Self-advancing device |
US12/360,319 US20090137869A1 (en) | 2001-12-20 | 2009-01-27 | Self-advancing device |
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PCT/AU2002/001733 Continuation WO2003053225A1 (en) | 2001-12-20 | 2002-12-20 | Self-advancing device |
US10/499,426 Continuation US7481764B2 (en) | 2001-12-20 | 2002-12-20 | Self-advancing device |
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US20090137869A1 true US20090137869A1 (en) | 2009-05-28 |
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EP (1) | EP1455635B1 (en) |
JP (1) | JP4447917B2 (en) |
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CN (1) | CN100518622C (en) |
AT (1) | ATE519417T1 (en) |
CA (1) | CA2470896C (en) |
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US20140118515A1 (en) * | 2012-10-25 | 2014-05-01 | Choon Kee Lee | Extensible and Guidable Apparatus |
US9186049B2 (en) * | 2012-10-25 | 2015-11-17 | Choon Kee Lee | Extensible and guidable apparatus |
US10925471B2 (en) | 2013-03-28 | 2021-02-23 | Endochoice, Inc. | Fluid distribution device for a multiple viewing elements endoscope |
US10905315B2 (en) | 2013-03-28 | 2021-02-02 | Endochoice, Inc. | Manifold for a multiple viewing elements endoscope |
US9986899B2 (en) | 2013-03-28 | 2018-06-05 | Endochoice, Inc. | Manifold for a multiple viewing elements endoscope |
US11793393B2 (en) | 2013-03-28 | 2023-10-24 | Endochoice, Inc. | Manifold for a multiple viewing elements endoscope |
US9993142B2 (en) | 2013-03-28 | 2018-06-12 | Endochoice, Inc. | Fluid distribution device for a multiple viewing elements endoscope |
US11925323B2 (en) | 2013-03-28 | 2024-03-12 | Endochoice, Inc. | Fluid distribution device for a multiple viewing elements endoscope |
US10499794B2 (en) | 2013-05-09 | 2019-12-10 | Endochoice, Inc. | Operational interface in a multi-viewing element endoscope |
Also Published As
Publication number | Publication date |
---|---|
JP4447917B2 (en) | 2010-04-07 |
CA2470896A1 (en) | 2003-07-03 |
JP2005512661A (en) | 2005-05-12 |
EP1455635A4 (en) | 2007-04-11 |
CA2470896C (en) | 2013-04-02 |
WO2003053225A1 (en) | 2003-07-03 |
DK1455635T3 (en) | 2011-11-28 |
CN100518622C (en) | 2009-07-29 |
KR100952532B1 (en) | 2010-04-12 |
KR20040083474A (en) | 2004-10-02 |
EP1455635B1 (en) | 2011-08-10 |
US20050165278A1 (en) | 2005-07-28 |
CN1627913A (en) | 2005-06-15 |
HK1069521A1 (en) | 2005-05-27 |
US7481764B2 (en) | 2009-01-27 |
ATE519417T1 (en) | 2011-08-15 |
EP1455635A1 (en) | 2004-09-15 |
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