A biomaterial collection device can include a wire that includes a functional member including a proximal end, a distal end, a first flat surface and a second flat surface opposing the first surface. The functional member can be configured to fit within a body lumen. The functional member can include binding elements configured to bind circulating biomolecules and cells. The functional member can include curved portions that form revolutions around the longitudinal axis of the device.

An endoscopic deployment device includes a body mountable on an endoscopic device, the body having a movable carrier couplable to an end effector device, the end effector device having an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the end effector shaft, the outer sheath being sized and shaped for insertion through a working channel of the endoscopic device, the body having a carrier channel for the carrier to slide therein, wherein the end effecter is actuatable between an open position and a closed position; and a motor having a drive shaft coupled to the carrier, rotation of the drive shaft sliding the carrier in the carrier channel and actuating the end effector in response to a signal from one or more actuation buttons; wherein at least one vibration motor generates vibrations as an angular position of the motor changes.

This disclosure features methods and compositions for treating diseases of the gastrointestinal tract with an immunosuppressant.

A capsule apparatus comprising: an enclosure and a capsule core arranged in the enclosure. The capsule core comprises: a power supply, an acceleration sensor connected to the power supply, a switching element having an input terminal connected to the power supply and a control terminal connected to the acceleration sensor; a control unit connected to a first output terminal of the switching element; and a working system connected to a second output terminal of the switching element. The capsule core also comprises a microcontroller unit, the control unit is integrated in the microcontroller unit, and the output terminal of the switching element is connected to the microcontroller unit. The acceleration sensor can control the power on and off of the control unit and the working system according to different states.

This disclosure features methods and compositions for treating diseases of the gastrointestinal tract with an immunosuppressant.

In some embodiments, devices, systems, and methods for advancing and positioning tethered capsule microendoscopes are provided. In some embodiments, a device for capsule endomicroscopy is provided, comprising: a tether having a proximal end and distal end; an optical fiber disposed within the tether; a tube enclosing at least a portion of the tether, the tube having a proximal end and a distal end, a diameter of the tube being larger than the diameter of the tether; a housing coupled to the distal end of the tether and the distal end of the tube; and an optical element disposed within the housing, the optical element being optically coupled to the distal end of the optical fiber and configured to direct light received from the optical fiber toward a periphery of the housing.

A steerable endoscope comprising: a. a capsule body having a longitudinal axis and having at least one axle channel therein; b. at least two propellers, each located on an axle located in said at least one axle channel, each propeller comprising a plurality of blades rotatable about a hub; c. a camera and light source housed within said capsule body; a drive mechanism, including a differential steering mechanism, housed within said capsule body, the drive mechanism being capable of driving said propellers to rotate said blades into contact with the mucosa of an internal body cavity or tract such that the endoscope is capable of self-propelled steerable travel within the internal body cavity or tract.

An endoscope for inspection of the gastrointestinal tract of a mammal, in particular of the small intestine of a human, includes an elongated, flexible tubular structure and a flexible, elongated element placed inside the tubular structure such that a distal portion of the elongated element protrudes from a distal end of the tubular structure and is connected to an endoscopic tip, wherein the elongated element is engaged with the tubular structure in such way that a rotation of the tubular structure around the elongated element in a first rotation direction will increase a gap between the endoscopic tip and the distal end, while a rotation of the tubular structure around the elongated element in a second rotation direction, opposite to the first rotation direction, will decrease the gap between the endoscopic tip and the distal end.

Improved localization of the capsule in acoustic capsule endoscopy is provided by using analysis of the frames of the acoustic images to deduce the relative motion of the capsule from frame to frame. This idea can be supplemented with any combination of: further localization methods; propulsion of the capsule via acoustic radiation reaction; bidirectional communication and system level feedback control; energy harvesting; photoacoustic (or x-ray acoustic) imaging; and adding therapy and/or sensor capabilities to the capsule.

Implementations include herein are visual navigation strategies and systems for lumen center tracking comprising a high-level state machine for gross (i.e., left/right/center) region prediction and curvature estimation and multiple state-dependent controllers for center tracking, wall-avoidance and curve following. This structure allows a navigation system to navigate even under the presence of significant occlusion that occurs during turn navigation and to robustly recover from mistakes and disturbances that may occur while attempting to track the lumen center. This system comprises a high-level state machine for gross region prediction, a turn estimator for anticipating sharp turns, and several lower level controllers for heading adjustment.