US 12,245,748 B2
Endoscopic capsule system with haptic feedback
Sebastian Schostek, Tübingen (DE); and Marc Schurr, Tübingen (DE)
Assigned to Ovesco Endoscopy AG, (DE)
Appl. No. 17/762,550
Filed by Ovesco Endoscopy AG, Tübingen (DE)
PCT Filed Sep. 23, 2020, PCT No. PCT/EP2020/076623
§ 371(c)(1), (2) Date Mar. 22, 2022,
PCT Pub. No. WO2021/058601, PCT Pub. Date Apr. 1, 2021.
Claims priority of application No. 19199675 (EP), filed on Sep. 25, 2019.
Prior Publication US 2022/0354349 A1, Nov. 10, 2022
Int. Cl. A61B 1/00 (2006.01); A61B 1/04 (2006.01); A61B 5/00 (2006.01); A61B 5/06 (2006.01)
CPC A61B 1/00158 (2013.01) [A61B 1/041 (2013.01); A61B 5/6861 (2013.01); A61B 5/062 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An endoscopic capsule system comprising:
an endoscopic capsule having magnetic characteristics and being adapted to get introduced into a hollow organ of a patient's body;
an extracorporeal guiding and moving apparatus for guiding and moving the endoscopic capsule, said extracorporeal guiding and moving apparatus having a moveable multi-hinged cantilever arm, which is at one end portion pivotally mounted at a support stand and which comprises an effector having magnetic characteristics and being pivotally mounted at the other free end portion of the cantilever arm for trailing, rotating, yawing and/or pitching the endoscopic capsule in accordance with the actual movement of the effector;
a controller device being designed and adapted to define a position and/or an orientation of the endoscopic capsule relative to the effector; and
a force and/or moment generation device or a braking device being adapted to influence the extracorporeal guiding and moving apparatus at least with respect to pre-selected movements of the cantilever arm and/or the effector, the force and/or moment generation device or the braking device being connected to the controller device to generate counter forces and/or counter moments or braking forces against moving forces that are manually applied to the cantilever arm and/or effector in accordance with the actually defined position and/or orientation of the endoscopic capsule relative to the effector.