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Cao Q, Deng R, Pan Y, Liu R, Chen Y, Gong G, Zou J, Yang H, Han D. Robotic wireless capsule endoscopy: recent advances and upcoming technologies. Nat Commun 2024; 15:4597. [PMID: 38816464 PMCID: PMC11139981 DOI: 10.1038/s41467-024-49019-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/15/2023] [Accepted: 05/21/2024] [Indexed: 06/01/2024] Open
Abstract
Wireless capsule endoscopy (WCE) offers a non-invasive evaluation of the digestive system, eliminating the need for sedation and the risks associated with conventional endoscopic procedures. Its significance lies in diagnosing gastrointestinal tissue irregularities, especially in the small intestine. However, existing commercial WCE devices face limitations, such as the absence of autonomous lesion detection and treatment capabilities. Recent advancements in micro-electromechanical fabrication and computational methods have led to extensive research in sophisticated technology integration into commercial capsule endoscopes, intending to supersede wired endoscopes. This Review discusses the future requirements for intelligent capsule robots, providing a comparative evaluation of various methods' merits and disadvantages, and highlighting recent developments in six technologies relevant to WCE. These include near-field wireless power transmission, magnetic field active drive, ultra-wideband/intrabody communication, hybrid localization, AI-based autonomous lesion detection, and magnetic-controlled diagnosis and treatment. Moreover, we explore the feasibility for future "capsule surgeons".
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Affiliation(s)
- Qing Cao
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Runyi Deng
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yue Pan
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Ruijie Liu
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Yicheng Chen
- Sir Run-Run Shaw Hospital, College of Medicine, Zhejiang University, Hangzhou, 310016, China
| | - Guofang Gong
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Jun Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Huayong Yang
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Dong Han
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China.
- School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China.
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Peker F, Ferhanoğlu O. Active distance control in multi-capsule endoscopy via closed loop electromagnetic force between capsules. Med Biol Eng Comput 2024; 62:1153-1163. [PMID: 38158548 DOI: 10.1007/s11517-023-02997-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/02/2023] [Accepted: 12/09/2023] [Indexed: 01/03/2024]
Abstract
Capsule endoscopy offers a non-invasive and patient-friendly method for imaging the gastrointestinal tract, boasting superior tissue accessibility compared to traditional endoscopy and colonoscopy. While advances have led to capsules capable of drug delivery, tactile sensing, and biopsy, size constraints often limit a single capsule from having multifunctionality. In response, we introduce multi-capsule endoscopy, where individually ingested capsules, each with unique functionalities, work collaboratively. However, synchronized navigation of these capsules is essential for this approach. In this paper, we present an active distance control strategy using a closed-loop system. This entails equipping one capsule with a sphere permanent magnet and the other with a solenoid. We utilized a Simulink model, incorporating (i) the peristalsis motion on the primary capsule, (ii) a PID controller, (iii) force dynamics between capsules through magnetic dipole approximation, and (iv) position tracking of the secondary capsule. For practical implementation, Hall effect sensors determined the inter-capsule distance, and a PID controller adjusted the solenoid's current to maintain the desired capsule spacing. Our proof-of-concept experiments, conducted on phantoms and ex vivo bovine tissues, pulled the leading capsule mimicking a typical human peristalsis speed of 1 cm/min. Results showcased an inter-capsule distance of 1.94 mm ± 0.097 mm for radii of curvature at 500 mm, 250 mm, and 100 mm, aiming for a 2-mm capsule spacing. For ex vivo bovine tissue, the achieved distance was 0.97 ± 0.28 mm against a target inter-capsule distance of 1 mm. Through the successful demonstration of precise inter-capsule control, this study paves the way for the potential of multi-capsule endoscopy in future research.
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Affiliation(s)
- Furkan Peker
- Faculty of Electrical and Electronics Eng., Department of Electronics and Communication Eng., Istanbul Technical University, Maslak, Istanbul, 34469, Turkey.
| | - Onur Ferhanoğlu
- Faculty of Electrical and Electronics Eng., Department of Electronics and Communication Eng., Istanbul Technical University, Maslak, Istanbul, 34469, Turkey
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Erdil K, Gürcüoğlu O, Ferhanoğlu O. Electromagnetically actuated 3D-printed tunable optical slit device. APPLIED OPTICS 2023; 62:5244-5250. [PMID: 37707228 DOI: 10.1364/ao.493522] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/25/2023] [Accepted: 06/12/2023] [Indexed: 09/15/2023]
Abstract
This paper presents the design, manufacturing, and characterization of a three-dimensional (3D)-printed and electromagnetically actuated adjustable optical slit structure. The device comprises magnet-attached slits connected to the main frame via two springs controlled by external coils. To analyze the forces acting on the springs and simulate the mechanical behavior of the device, we developed both analytical and finite-element models. After fabricating the device using fused deposition, we conducted a series of tests to evaluate its performance. These tests included (1) analyzing the opacity of the slit blade as a function of its thickness, (2) measuring the temperature increase resulting from the power applied to the coils to determine the operable range of the structure, and (3) evaluating the hysteresis, repeatability, and resolution (minimum step) of the device. The experimental works were crucial to assessing the device's practicality and optimizing its performance for specific applications, which reveals a maximum slit width of ∼450µm, with ∼6.4µm step size within this study. Overall, our developed slit device has the potential to be useful in various optics-related laboratories due to its compatibility with conventional 1-inch (25.4 mm) diameter optomechanical mounts, compact form, low power consumption, and rapid prototyping capability with hybrid materials in a cost-friendly fashion, owing to the 3D-printing technology. We discuss an application where the adjustable slit is employed in a combined laser-scanning microscope and a spectrometer, highlighting its versatility and potential for the future.
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