Invention Grant
US09198563B2 Temporal control of a lumen traveling device in a body tube tree 有权
体管管中管腔行走装置的时间控制

Temporal control of a lumen traveling device in a body tube tree
Abstract:
Methods of controlling the operation of a device traveling in a body tube tree, including determining a time based on a signal from a timing device and performing an action based on the determined time, implemented with a control system located partially or fully on the lumen traveling device. Various actions can be performed by the device for, e.g., medical or therapeutic purposes. Machine-readable media including instructions for performing the methods are also described.
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