An endotracheal tube cleaning apparatus to be used with an endotracheal tube, the cleaning apparatus having an elongate tubular member with a distal end that extends into the endotracheal tube and a channel defined therethrough and terminating at a distal end disposed in a vicinity of the distal end of the elongate tubular member. Compounds of the present invention are useful as inhibitors of trypsin-like serine proteases, specifically factor Xa. Angular velocities from the second inertia sensor and the third angle sensor are fed back to a second drive source control unit. The detector arrangement has four detector elements arranged in four quadrants defined by an x-axis and a y-axis of the detector arrangement, perpendicular to each other.