A gastrointestinal capsule (GIC) including a capsule housing having a longitudinal axis; a thrusting mechanism, disposed within the housing; and a battery adapted to power the and a battery adapted to power the thrusting mechanism; the thrusting mechanism having an active mode, and a passive mode with respect to the active mode, the thrusting mechanism adapted to exert a radial force on the housing, in a radial direction with respect to the axis, such that when the capsule is disposed within a gastrointestinal tract of a user, and the mechanism is in the active mode, the gastrointestinal capsule stimulates a wall of the tract; the active mode including a series of at least two pulses of the radial force, the series having a first duration, the passive mode having a second duration, wherein an activation cycle is defined by the series of pulses followed by the second duration.

An object is to detect the pressing force of a tip driven unit. In the controller 22, a motor control circuit 85, a load change detection unit 86, a moving speed calculation unit 87 that calculates the moving speed of a rotating body 41, a pressing force detection unit 88 that obtains the pressing force of the rotating body 41 based on the moving speed which is calculated, a CPU 89, and an alarm 91 are disposed. The pressing force is obtained based on the cycle of load change by the joint 41a in which a front end and a rear end overlap with each other is formed in the rotating body 41.

Computerized information acquisition and processing apparatus. In one embodiment, the apparatus includes an ingestible (e.g., swallowable) computerized device that includes a video apparatus, digital processor apparatus, and a wireless interface. A non-ingestible portion of the system communicates with the ingestible device via the wireless interface and, using computer software and algorithms, processes video data generated by the ingestible device relating to the intestinal tract of a living subject, so as to enhance the speed and/or accuracy of review by a physician or other individual. In one variant, the algorithmic processing by the non-ingestible apparatus includes one or more of: (i) color intensity analysis; (ii) artifact shape analysis; and/or (iii) inter-frame similarity analysis. In another variant, the ingestible device is configured to compress the data using the processor apparatus prior to transmission over the interface to conserve wireless bandwidth.

On an inner peripheral surface of an assistance tool of an insertion device, a sliding surface extends from an assistance tool proximal surface toward a distal side, and when the assistance tool attached to an insertion section rotates, the sliding surface slides on a supporting surface around a longitudinal axis. A flange portion of the insertion section includes an opposed surface opposed to the assistance tool proximal surface with a gap when the assistance tool is attached to the insertion section. In a part where the assistance tool proximal surface is opposed to the opposed surface, a proximal end of an outer peripheral surface of the assistance tool does not form a step relative to the flange portion.

An insertion apparatus includes: a flexible tube; an electric driving source arranged on a proximal end side of the flexible tube; a driven portion arranged on a distal end of the flexible tube; and a single driving force transmitting member inserted in the flexible tube and formed by being wound in a coil shape. For the driving force transmitting member, first torsional rigidity in a first rotating state of being rotated in a direction of being wound in the coil shape is set higher than second torsional rigidity in a second rotating state of being rotated in an opposite direction; and the driven portion performs a first motion by the first rotating state and performs a second motion requiring a larger amount of force than the first motion by the second rotating state.

A gastrointestinal capsule (GIC) including a capsule housing having a longitudinal axis; a thrusting mechanism, disposed within the housing; and a battery adapted to power the and a battery adapted to power the thrusting mechanism; the thrusting mechanism having an active mode, and a passive mode with respect to the active mode, the thrusting mechanism adapted to exert a radial force on the housing, in a radial direction with respect to the axis, such that when the capsule is disposed within a gastrointestinal tract of a user, and the mechanism is in the active mode, the gastrointestinal capsule stimulates a wall of the tract; the active mode including a series of at least two pulses of the radial force, the series having a first duration, the passive mode having a second duration, wherein an activation cycle is defined by the series of pulses followed by the second duration.

A system includes: a capsule endoscope configured to be introduced into a subject to generate an image signal, and a control device for generating an image of the subject. The capsule endoscope includes: a first transmitter for sending information indicating a posture of the capsule endoscope; a first receiver for receiving a control signal from the control device; and a changing mechanism for changing the posture of the capsule endoscope based on the control signal. The control device includes: a second receiver for acquiring the information indicating the posture; a detector for detecting the posture of the capsule endoscope based on the information indicating the posture; a calculator for calculating a target posture of the capsule endoscope based on the image; and a signal generator for generating the control signal based on a detection result of the posture of the capsule endoscope and on the target posture.

An insertion device includes an insertion section extended along a longitudinal axis, and an assist tool detachably attached to the insertion section. The assist tool is actuated with being attached to the insertion section, thereby causing a propulsion force for movement along the longitudinal axis to act on the insertion section. A moving member movable between a first position and a second position is provided in one of the insertion section and the assist tool. The moving member is held at the second position due to a pressure from the other of the insertion section and the assist tool, in a state that the assist tool is located at the specific position relative to the insertion section.

A device fashioned in the shape of a toroid is rotated by a mechanism that propels itself in one or more directions based on internal rotation. In one specific example, the toroidal device is a toroidal balloon, where the tread of the toroidal balloon driven vehicle (TBDV) is self-contained and the entire outer surface is dynamic. Such a device is uniquely and ideally suitable for exploration of a tubular structure such as, but not limited to, the alimentary tract.

An insertion body includes: a base arranged in the central axis; a rotating body provided on an outer periphery of the base and rotatable around the central axis; and a channel which includes a guide provided at the base such that the rotative force transmitting section is able to be guided between a first position in which the rotative force transmitting section in the longitudinal axis can be inclined from the central axis when the rotative force transmission unit is inserted from the outside to the inside and a second position in which the rotative force transmitting section in the longitudinal axis is parallel to the central axis and a rotative force can be transmitted to the rotating body from the rotative force transmitting section, and through which the rotative force transmission unit is inserted through the opening end and the guide.