US 12,064,087 B2
Apparatus and method for capsule endoscopy
Danail Stoyanov, London (GB); and Agostino Stilli, London (GB)
Assigned to UCL Business LTD., London (GB)
Filed by UCL Business LTD., London (GB)
Filed on Mar. 18, 2021, as Appl. No. 17/205,941.
Application 17/205,941 is a continuation of application No. PCT/GB2019/052640, filed on Sep. 19, 2019.
Claims priority of application No. 1815267 (GB), filed on Sep. 19, 2018.
Prior Publication US 2021/0204801 A1, Jul. 8, 2021
Int. Cl. A61B 1/04 (2006.01); A61B 1/00 (2006.01)
CPC A61B 1/041 (2013.01) [A61B 1/00027 (2013.01); A61B 1/00112 (2013.01); A61B 1/00156 (2013.01); A61B 2562/0247 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An apparatus for capsule endoscopy, the apparatus comprising a capsule that comprises:
at least one inflatable bladder configured to form a toroid having a hole and an outer periphery when inflated;
a plurality of continuous tracks, each extending through the hole and around the outer periphery of the at least one inflatable bladder;
a propulsion system configured to drive the continuous tracks; and
at least one rigid collar configured to constrain the continuous tracks from moving circumferentially with respect to the hole formed by the at least one inflatable bladder;
wherein the capsule is configured such that a section of the at least one inflatable bladder that forms an inner periphery of the toroid remains the inner periphery of the toroid when the continuous tracks are driven by the propulsion system.