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Bernth JE, Zhang G, Malas D, Abrahams G, Hayee B, Liu H. MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape. Soft Robot 2024; 11:670-683. [PMID: 38484296 DOI: 10.1089/soro.2023.0096] [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] [Indexed: 04/05/2024] Open
Abstract
Colonoscopy is currently the best method for detecting bowel cancer, but fundamental design and construction have not changed significantly in decades. Conventional colonoscope (CC) is difficult to maneuver and can lead to pain with a risk of damaging the bowel due to its rigidity. We present the MorphGI, a robotic endoscope system that is self-propelling and made of soft material, thus easy to operate and inherently safe to patient. After verifying kinematic control of the distal bending segment, the system was evaluated in: a benchtop colon simulator, using multiple colon configurations; a colon simulator with force sensors; and surgically removed pig colon tissue. In the colon simulator, the MorphGI completed a colonoscopy in an average of 10.84 min. The MorphGI showed an average of 77% and 62% reduction in peak forces compared to a CC in high- and low-stiffness modes, respectively. Self-propulsion was demonstrated in the excised tissue test but not in the live pig test, due to anatomical differences between pig and human colons. This work demonstrates the core features of MorphGI.
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Affiliation(s)
- Julius E Bernth
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - Guokai Zhang
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - Dionysios Malas
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - George Abrahams
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - Bu Hayee
- King's College Hospital NHS Foundation Trust, London, United Kingdom
| | - Hongbin Liu
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
- Institute of Automation, Chinese Academy of Sciences (CAS), Beijing, China
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2
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Hoang MC, Park JO, Kim J. Battery-Free Tattooing Mechanism-Based Functional Active Capsule Endoscopy. MICROMACHINES 2022; 13:2111. [PMID: 36557410 PMCID: PMC9786073 DOI: 10.3390/mi13122111] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/03/2022] [Revised: 11/23/2022] [Accepted: 11/28/2022] [Indexed: 06/17/2023]
Abstract
This paper presents a novel tattooing capsule endoscope (TCE) for delivering a certain amount of ink to the submucosal layer of digestive tract organs. A dual-function permanent magnet is used for locomotion and injection activation. The developed capsule endoscope can move actively in 5 DOF due to the interaction between the permanent magnet and a controllable external magnetic field produced by an electromagnet actuation system. In addition, the permanent magnet is involved in a specially designed mechanism to activate a process that creates a squeezing motion to eject the liquid from the storage room to the target. The dimension of the prototype is 12.5 mm in diameter and 34.6 mm in length. The proposed TCE is tested ex vivo using a fresh porcine small-intestine segment. We were able to direct the TCE to the target and deliver the tattoo agent into the tissue. The proposed mechanism can be used for drug delivery or lesion tattooing, as well as to accelerate the realization of the functional capsule endoscope in practice.
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Affiliation(s)
| | - Jong-Oh Park
- Correspondence: (J.-O.P.); (J.K.); Tel.: +82-062-530-5262 (J.K.)
| | - Jayoung Kim
- Correspondence: (J.-O.P.); (J.K.); Tel.: +82-062-530-5262 (J.K.)
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3
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Rehan M, Yeo AG, Yousuf MU, Avci E. Anchoring Mechanism for Capsule Endoscope: Mechanical Design, Fabrication and Experimental Evaluation. MICROMACHINES 2022; 13:2045. [PMID: 36557344 PMCID: PMC9782074 DOI: 10.3390/mi13122045] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/17/2022] [Revised: 11/08/2022] [Accepted: 11/18/2022] [Indexed: 06/17/2023]
Abstract
Capsule endoscopes are widely used to diagnose gut-related problems, but they are passive in nature and cannot actively move inside the gut. This paper details the design process and development of an anchoring mechanism and actuation system to hold a capsule in place within the small intestine. The design centres around the mechanical structure of the anchor that makes use of compliant Sarrus linkage legs, which extend to make contact with the intestine, holding the capsule in place. Three variants with 2 legs, 3 legs and 4 legs of the anchoring mechanism were tested using a shape memory alloy spring actuator (5 mm × ϕ 3.4 mm). The experiments determine that all the variants can anchor at the target site and resist peristaltic forces of 346 mN. The proposed design is well suited for an intestine with a diameter of 19 mm. The proposed design allows the capsule endoscopes to anchor at the target site for a better and more thorough examination of the targeted region. The proposed anchoring mechanism has the potential to become a vital apparatus for clinicians to use with capsule endoscopes in the future.
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Affiliation(s)
- Muhammad Rehan
- Department of Mechanical and Electrical Engineering, Massey University, Palmerston North 4410, New Zealand
- Electronic Engineering Department, Sir Syed University of Engineering & Technology, Karachi 75300, Pakistan
| | - Andrew G. Yeo
- Department of Mechanical and Electrical Engineering, Massey University, Palmerston North 4410, New Zealand
| | - Muhammad Uzair Yousuf
- Department of Mechanical Engineering, NED University of Engineering and Technology, Karachi 75270, Pakistan
| | - Ebubekir Avci
- Department of Mechanical and Electrical Engineering, Massey University, Palmerston North 4410, New Zealand
- MacDiarmid Institute for Advanced Materials and Nanotechnology, Wellington 6140, New Zealand
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4
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Sun H, Liu J, Wang Q, Lai C, Chi W, Niu C, Wang L, Teng Z, Shi Y, Tian P. In vivo animal study of the magnetic navigation system for capsule endoscope manipulation within the esophagus, stomach, and colorectum. Med Phys 2022; 49:6813-6823. [PMID: 36087029 DOI: 10.1002/mp.15976] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/01/2022] [Revised: 08/22/2022] [Accepted: 08/27/2022] [Indexed: 12/13/2022] Open
Abstract
BACKGROUND/PURPOSES Magnetic navigation capsule endoscopy (MNCE) is considered to be an important means to realize the controllable and precise examination of capsule endoscopy (CE) in the unstructured gastrointestinal (GI) tract. For the current magnetic navigation system (MNS), due to the limitation of workspace, driving force, and control method of the CE, only clinical application in the stomach has been realized, whereas the examination of other parts of the GI tract is still in the experimental stage. More preclinical studies are needed to achieve the multisite examination of the GI tract. METHODS Based on the MNS (Supiee) developed in the laboratory, an X-ray imaging system with magnetic shielding and a commercial CE are integrated to form the MNCE system. Then, in vivo GI tract experiments with a porcine model are performed to verify the clinical feasibility and safety of this system. Moreover, the effects of different control modes on the efficiency and effect of GI tract examination are studied. RESULTS Animal experiments demonstrate that with the MNCE system, it is convenient to achieve steering control in any direction and multiple reciprocating movements of CE in the GI tract. Benefiting from the flexibility of the three basic control modes, the achieved swing movement pattern of CE can effectively reduce the inspection time. It is demonstrated that the esophageal examination time can be reduced from 13.2 to 9.2 min with a maximum movement speed of 5 mm/s. CONCLUSION In this paper, the feasibility, safety, and efficacy of the MNCE system for a one-stop examination of the in vivo GI tract (esophagus, stomach, and colorectum) is first demonstrated. In addition, complex movement patterns of CE such as the swinging are proved to effectively improve examination efficiency and disease detection rates. This study is crucial for the clinical application of the MNCE system.
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Affiliation(s)
- Hongbo Sun
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Jianhua Liu
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Qiuliang Wang
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Chunxiao Lai
- Department of Gastroenterology, Baiyun Branch, Nanfang Hospital, Southern Medical University, Guangzhou, China
| | - Wenqiang Chi
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China
| | - Chaoqun Niu
- College of Information and Communication Engineering, Faculty of Information Technology, Beijing University of Technology, Beijing, China
| | - Lei Wang
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Zhifan Teng
- College of Electrical and Information Engineering, Hunan University, Changsha, China
| | - Yang Shi
- School of Mechanical and Electrical Engineering, Xi'an Technological University, Xi'an, China
| | - Peilong Tian
- School of Mechanical and Electrical Engineering, Xi'an Technological University, Xi'an, China
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Hanscom M, Cave DR. Endoscopic capsule robot-based diagnosis, navigation and localization in the gastrointestinal tract. Front Robot AI 2022; 9:896028. [PMID: 36119725 PMCID: PMC9479458 DOI: 10.3389/frobt.2022.896028] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/14/2022] [Accepted: 08/08/2022] [Indexed: 01/10/2023] Open
Abstract
The proliferation of video capsule endoscopy (VCE) would not have been possible without continued technological improvements in imaging and locomotion. Advancements in imaging include both software and hardware improvements but perhaps the greatest software advancement in imaging comes in the form of artificial intelligence (AI). Current research into AI in VCE includes the diagnosis of tumors, gastrointestinal bleeding, Crohn’s disease, and celiac disease. Other advancements have focused on the improvement of both camera technologies and alternative forms of imaging. Comparatively, advancements in locomotion have just started to approach clinical use and include onboard controlled locomotion, which involves miniaturizing a motor to incorporate into the video capsule, and externally controlled locomotion, which involves using an outside power source to maneuver the capsule itself. Advancements in locomotion hold promise to remove one of the major disadvantages of VCE, namely, its inability to obtain targeted diagnoses. Active capsule control could in turn unlock additional diagnostic and therapeutic potential, such as the ability to obtain targeted tissue biopsies or drug delivery. With both advancements in imaging and locomotion has come a corresponding need to be better able to process generated images and localize the capsule’s position within the gastrointestinal tract. Technological advancements in computation performance have led to improvements in image compression and transfer, as well as advancements in sensor detection and alternative methods of capsule localization. Together, these advancements have led to the expansion of VCE across a number of indications, including the evaluation of esophageal and colon pathologies including esophagitis, esophageal varices, Crohn’s disease, and polyps after incomplete colonoscopy. Current research has also suggested a role for VCE in acute gastrointestinal bleeding throughout the gastrointestinal tract, as well as in urgent settings such as the emergency department, and in resource-constrained settings, such as during the COVID-19 pandemic. VCE has solidified its role in the evaluation of small bowel bleeding and earned an important place in the practicing gastroenterologist’s armamentarium. In the next few decades, further improvements in imaging and locomotion promise to open up even more clinical roles for the video capsule as a tool for non-invasive diagnosis of lumenal gastrointestinal pathologies.
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6
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Ye D, Xue J, Yuan S, Zhang F, Song S, Wang J, Meng MQH. Design and Control of a Magnetically-Actuated Capsule Robot with Biopsy Function. IEEE Trans Biomed Eng 2022; 69:2905-2915. [PMID: 35259093 DOI: 10.1109/tbme.2022.3157451] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
OBJECTIVE Wireless capsule endoscopy has been well used for gastrointestinal (GI) tract diagnosis. However, it can only obtain images and cannot take samples of GI tract tissues. In this study, we designed a magnetically-actuated biopsy capsule (MABC) robot for GI tract diagnosis. METHODS The proposed robot can achieve locomotion and biopsy functions under the control of external electromagnetic actuation (EMA) system. Two types of active locomotion can be achieved, plane motion refers to the robot rolling on the surface of the GI tract with a rotating uniform magnetic field. 3D motion refers to the robot moving in 3D space under the control of the EMA system. After reaching the target position, the biopsy needle can be sprung out for sampling and then retracted under a gradient magnetic field. RESULTS A pill-shaped robot prototype (15mm 32mm) has been fabricated and tested with phantom experiments. The average motion control error is 0.32mm in vertical direction, 3.3mm in horizontal direction, and the maximum sampling error is about 5.0mm. The average volume of the sampled tissue is about 0.35mm3. CONCLUSION We designed a MABC robot and proposed a control framework which enables planar and 3D spatial locomotion and biopsy sampling. SIGNIFICANCE The untethered MABC robot can be remotely controlled to achieve accurate sampling in multiple directions without internal power sources, paving the way towards precision sampling techniques for GI diseases in clinical procedures.
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7
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Garcia L, Kerns G, O'Reilley K, Okesanjo O, Lozano J, Narendran J, Broeking C, Ma X, Thompson H, Njapa Njeuha P, Sikligar D, Brockstein R, Golecki HM. The Role of Soft Robotic Micromachines in the Future of Medical Devices and Personalized Medicine. MICROMACHINES 2021; 13:28. [PMID: 35056193 PMCID: PMC8781893 DOI: 10.3390/mi13010028] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/03/2021] [Revised: 11/24/2021] [Accepted: 12/02/2021] [Indexed: 12/16/2022]
Abstract
Developments in medical device design result in advances in wearable technologies, minimally invasive surgical techniques, and patient-specific approaches to medicine. In this review, we analyze the trajectory of biomedical and engineering approaches to soft robotics for healthcare applications. We review current literature across spatial scales and biocompatibility, focusing on engineering done at the biotic-abiotic interface. From traditional techniques for robot design to advances in tunable material chemistry, we look broadly at the field for opportunities to advance healthcare solutions in the future. We present an extracellular matrix-based robotic actuator and propose how biomaterials and proteins may influence the future of medical device design.
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Affiliation(s)
- Lourdes Garcia
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Genevieve Kerns
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Kaitlin O'Reilley
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Omolola Okesanjo
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Jacob Lozano
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Jairaj Narendran
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Conor Broeking
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Xiaoxiao Ma
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Hannah Thompson
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Preston Njapa Njeuha
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Drashti Sikligar
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Reed Brockstein
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
| | - Holly M Golecki
- Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
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8
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Suhail M, Khan A, Rahim MA, Naeem A, Fahad M, Badshah SF, Jabar A, Janakiraman AK. Micro and nanorobot-based drug delivery: an overview. J Drug Target 2021; 30:349-358. [PMID: 34706620 DOI: 10.1080/1061186x.2021.1999962] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/03/2023]
Abstract
Progress in the drug delivery system in the last few decades has led to many advancements for efficient drug delivery. Both micro and nanorobots, are regarded as superior drug delivery systems to deliver drugs efficiently by altering other forms of energy into propulsion and movements. Furthermore, it can be advantageous as it is directed to targeted sites beneath physiological environments and conditions. They have been validated to possess the capability to encapsulate, transport, and supply therapeutic contents directly to the disease sites, thus enhancing the therapeutic efficiency and decreasing systemic side effects of the toxic drugs. This review discusses about the microand nanorobots for the diagnostics and management of diseases, types of micro, and nanorobots, role of robots in drug delivery, and its biomedical applications.
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Affiliation(s)
- Muhammad Suhail
- School of Pharmacy, Kaohsiung Medical University, Kaohsiung City, Taiwan
| | - Arshad Khan
- Department of Pharmacy, Faculty of Pharmacy and Alternative Medicine, The Islamia University of Bahawalpur, Bahawalpur, Pakistan
| | - Muhammad Abdur Rahim
- Department of Pharmacy, Faculty of Pharmacy and Alternative Medicine, The Islamia University of Bahawalpur, Bahawalpur, Pakistan
| | - Abid Naeem
- Key Laboratory of Modern Preparation of Traditional Chinese Medicine, Ministry of Education, Jiangxi University of Traditional Chinese Medicine, Nanchang, China
| | - Muhammad Fahad
- Department of Pharmaceutics, Faculty of Pharmacy, Gomal University D.I.Khan, Dera Ismail Khan, Pakistan
| | - Syed Faisal Badshah
- Department of Pharmacy, Faculty of Pharmacy and Alternative Medicine, The Islamia University of Bahawalpur, Bahawalpur, Pakistan
| | - Abdul Jabar
- Department of Pharmacy, Faculty of Pharmacy and Alternative Medicine, The Islamia University of Bahawalpur, Bahawalpur, Pakistan
| | - Ashok Kumar Janakiraman
- Department of Pharmaceutical Technology, Faculty of Pharmaceutical Sciences, UCSI University, Cheras, Malaysia
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9
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Shao Y, Fahmy A, Li M, Li C, Zhao W, Sienz J. Study on Magnetic Control Systems of Micro-Robots. Front Neurosci 2021; 15:736730. [PMID: 34512256 PMCID: PMC8432292 DOI: 10.3389/fnins.2021.736730] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/05/2021] [Accepted: 07/31/2021] [Indexed: 11/21/2022] Open
Abstract
Magnetic control systems of micro-robots have recently blossomed as one of the most thrilling areas in the field of medical treatment. For the sake of learning how to apply relevant technologies in medical services, we systematically review pioneering works published in the past and divide magnetic control systems into three categories: stationary electromagnet control systems, permanent magnet control systems and mobile electromagnet control systems. Based on this, we ulteriorly analyze and illustrate their respective strengths and weaknesses. Furthermore, aiming at surmounting the instability of magnetic control system, we utilize SolidWorks2020 software to partially modify the SAMM system to make its final overall thickness attain 111 mm, which is capable to control and observe the motion of the micro-robot under the microscope system in an even better fashion. Ultimately, we emphasize the challenges and open problems that urgently need to be settled, and summarize the direction of development in this field, which plays a momentous role in the wide and safe application of magnetic control systems of micro-robots in clinic.
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Affiliation(s)
- Youjia Shao
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China.,Faculty of Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR, China
| | - Ashraf Fahmy
- Faculty of Science and Engineering, Swansea University, Swansea, United Kingdom.,Department of Electrical Power and Machines, School of Engineering, Helwan University, Helwan, Egypt
| | - Ming Li
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China
| | - Chunxu Li
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China.,Centre for Robotics and Neural Systems, University of Plymouth, Plymouth, United Kingdom
| | - Wencang Zhao
- School of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao, China
| | - Johann Sienz
- Faculty of Science and Engineering, Swansea University, Swansea, United Kingdom
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10
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Alsunaydih FN, Yuce MR. Next-generation ingestible devices: sensing, locomotion and navigation. Physiol Meas 2021; 42. [PMID: 33706294 DOI: 10.1088/1361-6579/abedc0] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2020] [Accepted: 03/11/2021] [Indexed: 12/15/2022]
Abstract
There is significant interest in exploring the human body's internal activities and measuring important parameters to understand, treat and diagnose the digestive system environment and related diseases. Wireless capsule endoscopy (WCE) is widely used for gastrointestinal (GI) tract exploration due to its effectiveness as it provides no pain and is totally tolerated by the patient. Current ingestible sensing technology provides a valuable diagnostic tool to establish a platform for monitoring the physiological and biological activities inside the human body. It is also used for visualizing the GI tract to observe abnormalities by recording the internal cavity while moving. However, the capsule endoscopy is still passive, and there is no successful locomotion method to control its mobility through the whole GI tract. Drug delivery, localization of abnormalities, cost reduction and time consumption are improvements that can be gained from having active ingestible WCEs. In this article, the current technological developments of ingestible devices including sensing, locomotion and navigation are discussed and compared. The main features required to implement next-generation active WCEs are explored. The methods are evaluated in terms of the most important features such as safety, velocity, complexity of design, control, and power consumption.
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Affiliation(s)
- Fahad N Alsunaydih
- Department of Electrical and Computer Systems Engineering, Monash University, Melbourne, VIC, Australia.,Department of Electrical Engineering, Qassim University, Onizah, Qassim, Saudi Arabia
| | - Mehmet R Yuce
- Department of Electrical and Computer Systems Engineering, Monash University, Melbourne, VIC, Australia
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11
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Novel Clinical Applications and Technical Developments in Video Capsule Endoscopy. Gastrointest Endosc Clin N Am 2021; 31:399-412. [PMID: 33743934 DOI: 10.1016/j.giec.2020.12.011] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
Video capsule endoscopy is entering its third decade. After slow acceptance, it has become the gold standard in diagnosing small intestinal disorders. This article summarizes new practical applications for capsule endoscopy outside the small intestine. From 2 randomized controlled trials, it is becoming clear that it has a role in the management of patients with hematemesis and nonhematemesis bleeding. Under active investigation are novel applications of capsule technology, including the potential ability to sample luminal contents or tissue, self-propelled capsules, incorporation of other imaging techniques beyond white light, such as ultrasound and fluorescents, and the possibility of drug delivery.
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12
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Hoang MC, Choi E, Kang B, Park JO, Kim CS. A Miniaturized Capsule Endoscope Equipped a Marking Module for Intestinal Tumor Localization. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2020; 2019:3712-3715. [PMID: 31946681 DOI: 10.1109/embc.2019.8856868] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
This study introduces a miniaturized capsule endoscope equipped with a marking module for intestinal tumor or lesion localization. The design concept is based on an active wireless capsule endoscope platform that is manipulated by an external electromagnetic actuation (EMA) system. The magnetic response of a permanent magnet inside the capsule is designed to have flexible movement in viscous environment of bowel. This magnet is also utilized to activate tattooing process by triggering a gas-generated chemical reaction. Once approaching to a target region, gradient magnetic field from EMA system is induced to push magnet down, releasing water to dry chemical powder mixture. Then the gas pressure increases and pushes the piston move to inject ink into target point. During traveling in digestive organs, injection needle is stowed inside the capsule to avoid damage to the organs. The whole procedure is manipulated by EMA system, the injection consumes no internal battery and is observable through capsule's camera which provides clinician vision. Basic tests were conducted to evaluate the performance of proposed robotic capsule. The success of creating a black visible bled from serosa of intestine proves the feasibility and potential of the design. This study could be an alternative for traditional tattooing endoscopy and motivate other research groups for further development of functional wireless capsule endoscope.
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13
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Berkelman P, Tix B. Simultaneous Independent Translational and Rotational Feedback Motion Control System for a Cylindrical Magnet using Planar Arrays of Magnetic Sensors and Cylindrical Coils. IEEE MAGNETICS LETTERS 2020; 11:1-5. [PMID: 33777328 PMCID: PMC7996633 DOI: 10.1109/lmag.2020.3038586] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/10/2023]
Abstract
This letter describes an electromagnetic feedback control system for rigid-body motion control of a magnet. Its novel features are that sensing and actuation using magnetometer sensors and actuator coils operate simultaneously, and magnetic field models from the controlled magnet and each of the actuator coil currents are used together to calculate the 3D position and orientation of the magnet to control motion simultaneously and independently in multiple degrees of freedom including planar translation and two in rotation, leaving rotation about the cylindrical axis of magnetization uncontrolled. The system configuration and the localization and actuation methods are presented with experimental results of magnet localization with constant and varying coil currents, and during feedback control of trajectory following motion of the magnet in multiple directions on a planar surface and with controlled changes in orientation. The intended application of the system is for motion control of magnetic endoscope capsules and other miniature medical devices inside the human body.
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Affiliation(s)
- Peter Berkelman
- Department of Mechanical Engineering at the University of Hawaii-Manoa, Honolulu, HI, 96822 USA
| | - Bernadette Tix
- Information and Computer Sciences Department at the University of Hawaii-Manoa
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14
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Magnetically Controlled Capsule Endoscopy in Children: A Single-center, Retrospective Cohort Study. J Pediatr Gastroenterol Nutr 2019; 69:13-17. [PMID: 30747810 DOI: 10.1097/mpg.0000000000002292] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
OBJECTIVE Capsule endoscopy (CE) is a noninvasive diagnostic tool for the digestive tract. We aim to investigate the feasibility and safety of newly developed magnetically controlled capsule endoscopy (MCE) in children. METHODS A total of 129 children who underwent MCE in Shanghai Children's Hospital were retrospectively recruited between March 2016 and August 2018. The feasibility, positive findings, and safety of MCE were evaluated and systematically analyzed. RESULTS Of all those children, 68 were boys, and 61 were girls with a mean age of 9.8 ± 1.9 years (6-14 years). The MCE procedure was feasible in all children. The mean esophageal transit time was 6.0 ± 4.6 seconds. The mean gastric examination time was 14.4 ± 3.9 minutes, and the average gastric transit time was 83.9 ± 59.1 minutes. Positive findings were detected in 82 children (82/129, 63.6%), 1 had esophageal lesions, 30 had superficial gastritis, 14 had superficial gastritis with bile reflux, 18 had nodular gastritis, 1 had ulcers, and 2 had heterotopic pancreas. There were 5 patients who had duodenal bulbar ulcers. One had lymphatic follicle, 1 had celiac disease, 1 had blue rubber bleb nevus syndrome, and 2 polyps were detected in 16 patients who were examined the small bowel. No serious adverse event was reported during the MCE examination and follow-up, and all subjects excreted the capsules spontaneously within 2 weeks. CONCLUSIONS We showed that MCE is feasible and safe in children above 6 years. More studies are needed to further investigate the efficacy of MCE in children.
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15
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Image Based High-Level Control System Design for Steering and Controlling of an Active Capsule Endoscope. J INTELL ROBOT SYST 2018. [DOI: 10.1007/s10846-018-0956-8] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/27/2022]
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16
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Liao Z, Zou W, Li ZS. Clinical application of magnetically controlled capsule gastroscopy in gastric disease diagnosis: recent advances. SCIENCE CHINA-LIFE SCIENCES 2018; 61:1304-1309. [PMID: 30367341 DOI: 10.1007/s11427-018-9353-5] [Citation(s) in RCA: 26] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Subscribe] [Scholar Register] [Received: 07/20/2018] [Accepted: 08/23/2018] [Indexed: 12/16/2022]
Abstract
Magnetically controlled capsule gastroscopy (MCCG) is a novel system primarily used for the diagnosis of gastric disease. It consists of an endoscopic capsule with magnetic material inside, external guidance magnet equipment, data recorder and computer workstation. Several clinical trials have demonstrated that MCCG is comparable in accuracy in diagnosing gastric focal disease when compared to conventional gastroscopy. Further clinical studies are needed to test the diagnostic accuracy and improve the functioning of MCCG. This novel MCCG system could be a promising alternative for screening for gastric diseases, with the advantages of no anesthesia required, comfort and high acceptance across populations.
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Affiliation(s)
- Zhuan Liao
- Department of Gastroenterology, Changhai Hospital, the Second Military Medical University, Shanghai, 200433, China
| | - Wenbin Zou
- Department of Gastroenterology, Changhai Hospital, the Second Military Medical University, Shanghai, 200433, China
| | - Zhao-Shen Li
- Department of Gastroenterology, Changhai Hospital, the Second Military Medical University, Shanghai, 200433, China.
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17
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Stewart FR, Qiu Y, Lay HS, Newton IP, Cox BF, Al-Rawhani MA, Beeley J, Liu Y, Huang Z, Cumming DRS, Näthke I, Cochran S. Acoustic Sensing and Ultrasonic Drug Delivery in Multimodal Theranostic Capsule Endoscopy. SENSORS 2017; 17:s17071553. [PMID: 28671642 PMCID: PMC5539857 DOI: 10.3390/s17071553] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/05/2017] [Revised: 06/28/2017] [Accepted: 06/29/2017] [Indexed: 12/22/2022]
Abstract
Video capsule endoscopy (VCE) is now a clinically accepted diagnostic modality in which miniaturized technology, an on-board power supply and wireless telemetry stand as technological foundations for other capsule endoscopy (CE) devices. However, VCE does not provide therapeutic functionality, and research towards therapeutic CE (TCE) has been limited. In this paper, a route towards viable TCE is proposed, based on multiple CE devices including important acoustic sensing and drug delivery components. In this approach, an initial multimodal diagnostic device with high-frequency quantitative microultrasound that complements video imaging allows surface and subsurface visualization and computer-assisted diagnosis. Using focused ultrasound (US) to mark sites of pathology with exogenous fluorescent agents permits follow-up with another device to provide therapy. This is based on an US-mediated targeted drug delivery system with fluorescence imaging guidance. An additional device may then be utilized for treatment verification and monitoring, exploiting the minimally invasive nature of CE. While such a theranostic patient pathway for gastrointestinal treatment is presently incomplete, the description in this paper of previous research and work under way to realize further components for the proposed pathway suggests it is feasible and provides a framework around which to structure further work.
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Affiliation(s)
- Fraser R Stewart
- School of Life Sciences, University of Dundee, Dundee DD1 5EH, Scotland, UK.
| | - Yongqiang Qiu
- School of Engineering, University of Glasgow, Glasgow G12 8QQ, Scotland, UK.
| | - Holly S Lay
- School of Engineering, University of Glasgow, Glasgow G12 8QQ, Scotland, UK.
| | - Ian P Newton
- School of Life Sciences, University of Dundee, Dundee DD1 5EH, Scotland, UK.
| | - Benjamin F Cox
- School of Medicine, University of Dundee, Dundee DD1 9SY, Scotland, UK.
| | | | - James Beeley
- School of Engineering, University of Glasgow, Glasgow G12 8QQ, Scotland, UK.
| | - Yangminghao Liu
- School of Science and Engineering, University of Dundee, Dundee DD1 4HN, Scotland, UK.
| | - Zhihong Huang
- School of Science and Engineering, University of Dundee, Dundee DD1 4HN, Scotland, UK.
| | - David R S Cumming
- School of Engineering, University of Glasgow, Glasgow G12 8QQ, Scotland, UK.
| | - Inke Näthke
- School of Life Sciences, University of Dundee, Dundee DD1 5EH, Scotland, UK.
| | - Sandy Cochran
- School of Engineering, University of Glasgow, Glasgow G12 8QQ, Scotland, UK.
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18
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Shamsudhin N, Zverev VI, Keller H, Pane S, Egolf PW, Nelson BJ, Tishin AM. Magnetically guided capsule endoscopy. Med Phys 2017; 44:e91-e111. [PMID: 28437000 DOI: 10.1002/mp.12299] [Citation(s) in RCA: 35] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2016] [Revised: 02/22/2017] [Accepted: 04/13/2017] [Indexed: 12/18/2022] Open
Abstract
Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air- and fluid-filled lumina and cavities in the body for minimally invasive medicine.
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Affiliation(s)
- Naveen Shamsudhin
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Vladimir I Zverev
- Faculty of Physics, M.V. Lomonosov Moscow State University, Moscow, 119991, Russia
| | - Henrik Keller
- KUKA Roboter GmbH, Zugspitzstrasse 140, Augsburg, 86165, Germany
| | - Salvador Pane
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Peter W Egolf
- Institute of Thermal Sciences and Engineering, University of Applied Sciences of Western Switzerland, Yverdon-les-Bains, CH 1401, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Alexander M Tishin
- Faculty of Physics, M.V. Lomonosov Moscow State University, Moscow, 119991, Russia.,Pharmag LLC, Promyshlennaya st 4, Troitsk, Moscow, 142190, Russia
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19
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B. Abu Bak B, S. Mohmad S, Adam I. Navigation of an Automated Guided Vehicle Based on Sugeno Inference Engine. ACTA ACUST UNITED AC 2016. [DOI: 10.3923/jas.2016.570.579] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
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20
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Madani K, Khanmohammadi S, Azimirad V. Finding Optimal Actuation Configuration for Magnetically Driven Capsule Endoscopy Based on Genetic Algorithm. J Med Biol Eng 2016. [DOI: 10.1007/s40846-016-0180-6] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
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21
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Mura M, Abu-Kheil Y, Ciuti G, Visentini-Scarzanella M, Menciassi A, Dario P, Dias J, Seneviratne L. Vision-based haptic feedback for capsule endoscopy navigation: a proof of concept. JOURNAL OF MICRO-BIO ROBOTICS 2016. [DOI: 10.1007/s12213-016-0090-2] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/29/2022]
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22
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BO YE, ZHENJUN SUN, YAQI CHEN, HONGHAI ZHANG, SHENG LIU. A NEW MAGNETIC CONTROL METHOD FOR SPIRAL-TYPE WIRELESS CAPSULE ENDOSCOPE. J MECH MED BIOL 2016. [DOI: 10.1142/s0219519416500317] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
In this paper, the authors propose a new magnetic control method for spiral-type wireless capsule endoscope (WCE). A cylindrical external permanent magnet (EPM) is used to generate rotational magnetic field to manipulate the synchronous rotation of a magnetic spiral-type WCE. To verify the feasibility of this method, a handheld actuator (HA) controlled by micro controller unit (MCU) was fabricated to drive the rotation of the EPM which is fixed on a step motor, and a magnetic spiral-type WCE along with a bracket were fabricated, too. Theoretical analysis and magnetic simulation about the control distance were performed. In ex vivo experiments were carried out in porcine small intestine, the control distance and control performances were evaluated. Experimental results indicate that this method can provide a maximum control distance up to 426.6[Formula: see text]mm with good control stability. Compared with Helmholtz coils method, this method is more cost-effective and the control region is broader. In addition, the estimated value of static friction torque (about 0.5694[Formula: see text]mN[Formula: see text][Formula: see text][Formula: see text]m) is obtained, which enriches the current research on friction issue in active control of the magnetic spiral-type WCE. This method has great potential to be applied in future clinical application.
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Affiliation(s)
- YE BO
- School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, P. R. China
- School of Computer Science and Information Engineering, HuBei University, Wuhan 430062, P. R. China
| | - SUN ZHENJUN
- School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, P. R. China
| | - CHEN YAQI
- Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430030, P. R. China
| | - ZHANG HONGHAI
- School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, P. R. China
| | - LIU SHENG
- School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, P. R. China
- School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, P. R. China
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23
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Ciuti G, Caliò R, Camboni D, Neri L, Bianchi F, Arezzo A, Koulaouzidis A, Schostek S, Stoyanov D, Oddo CM, Magnani B, Menciassi A, Morino M, Schurr MO, Dario P. Frontiers of robotic endoscopic capsules: a review. JOURNAL OF MICRO-BIO ROBOTICS 2016; 11:1-18. [PMID: 29082124 PMCID: PMC5646258 DOI: 10.1007/s12213-016-0087-x] [Citation(s) in RCA: 49] [Impact Index Per Article: 6.1] [Reference Citation Analysis] [Abstract] [Key Words] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2016] [Revised: 03/24/2016] [Accepted: 04/07/2016] [Indexed: 12/15/2022]
Abstract
Digestive diseases are a major burden for society and healthcare systems, and with an aging population, the importance of their effective management will become critical. Healthcare systems worldwide already struggle to insure quality and affordability of healthcare delivery and this will be a significant challenge in the midterm future. Wireless capsule endoscopy (WCE), introduced in 2000 by Given Imaging Ltd., is an example of disruptive technology and represents an attractive alternative to traditional diagnostic techniques. WCE overcomes conventional endoscopy enabling inspection of the digestive system without discomfort or the need for sedation. Thus, it has the advantage of encouraging patients to undergo gastrointestinal (GI) tract examinations and of facilitating mass screening programmes. With the integration of further capabilities based on microrobotics, e.g. active locomotion and embedded therapeutic modules, WCE could become the key-technology for GI diagnosis and treatment. This review presents a research update on WCE and describes the state-of-the-art of current endoscopic devices with a focus on research-oriented robotic capsule endoscopes enabled by microsystem technologies. The article also presents a visionary perspective on WCE potential for screening, diagnostic and therapeutic endoscopic procedures.
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Affiliation(s)
- Gastone Ciuti
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - R Caliò
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - D Camboni
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - L Neri
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy.,Ekymed S.r.l., Livorno, Italy
| | - F Bianchi
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - A Arezzo
- Department of Surgical Disciplines, University of Torino, Torino, Italy
| | - A Koulaouzidis
- Endoscopy Unit, The Royal Infirmary of Edinburgh, Edinburgh, Scotland, UK
| | | | - D Stoyanov
- Centre for Medical Image Computing and the Department of Computer Science, University College London, London, UK
| | - C M Oddo
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | | | - A Menciassi
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - M Morino
- Department of Surgical Disciplines, University of Torino, Torino, Italy
| | - M O Schurr
- Ovesco Endoscopy AG, Tübingen, Germany.,Steinbeis University Berlin, Berlin, Germany
| | - P Dario
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
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24
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Nothnagel N, Rahmer J, Gleich B, Halkola A, Buzug TM, Borgert J. Steering of Magnetic Devices With a Magnetic Particle Imaging System. IEEE Trans Biomed Eng 2016; 63:2286-2293. [PMID: 27046918 DOI: 10.1109/tbme.2016.2524070] [Citation(s) in RCA: 24] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
Small magnetic devices have been steered in arbitrary direction and with variable force using a preclinical demonstrator system for magnetic particle imaging (MPI). Fast localization due to the high imaging rate of over 40 volumes/s and strong forces due to the high field gradient of more than 1 T/m render an MPI system, a good platform for image-guided steering of magnetic devices. In this paper, these capabilities are demonstrated in phantom experiments, where a closed feedback loop has been realized to exert translational forces in horizontal and vertical direction on a magnetic device moving in a viscous medium. The MPI system allows for the controlled application of those forces by combining variable homogeneous fields with strong field gradients.
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25
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Kim M, Lee C, Lee Y, Park C, Kim Y, Kim S. Maneuverable Capsule Endoscope Based on Gimbaled Ducted-Fan System: Concept and Simulation Results. J Med Biol Eng 2016. [DOI: 10.1007/s40846-016-0105-4] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
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26
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27
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Lucarini G, Mura M, Ciuti G, Rizzo R, Menciassi A. Electromagnetic Control System for Capsule Navigation: Novel Concept for Magnetic Capsule Maneuvering and Preliminary Study. J Med Biol Eng 2015; 35:428-436. [PMID: 26345712 PMCID: PMC4551543 DOI: 10.1007/s40846-015-0055-2] [Citation(s) in RCA: 15] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/29/2014] [Accepted: 03/11/2015] [Indexed: 12/22/2022]
Abstract
The gastrointestinal tract is home of some of the most deadly human diseases. The main problems are related to the difficulty of accessing it for diagnosis or intervention and concomitant patient discomfort. The flexible endoscopy technique has established itself in medical practice due to its high diagnostic accuracy and reliability; however, several technical limitations still remain and the procedure is poorly tolerated by patients. The use of magnetic fields to control and steer endoscopic capsules is increasing in minimally invasive procedures. In fact, magnetic coupling is one of the few physical phenomena capable of transmitting motion beyond a physical barrier, allowing for the compact design of the device itself. In this framework, the authors present the preliminary design and assessment of a magnetic coupling for magnetic endoscopic capsules considering an electromagnetic approach. In particular, a novel toroidal electromagnet is proposed as the control and driving system. The system concept, design, and preliminary results are reported.
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Affiliation(s)
- Gioia Lucarini
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Marco Mura
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Gastone Ciuti
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Rocco Rizzo
- Department of Energy and Systems Engineering, University of Pisa, Pisa, Italy
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28
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Mahoney AW, Abbott JJ. Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy. Int J Rob Res 2015. [DOI: 10.1177/0278364914558006] [Citation(s) in RCA: 134] [Impact Index Per Article: 14.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023]
Abstract
This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-distended stomach. We analyze the kinematics of magnetic manipulation using a single permanent magnet as the end-effector of a serial-link robot manipulator, and we formulate a control method that enables the capsule’s position and direction to be controlled when the robot manipulator is not in a kinematic singularity, and that sacrifices control over the capsule’s direction to maintain control over the capsule’s position when the manipulator enters a singularity. We demonstrate the method’s robustness to a reduced control rate of 25 Hz, reduced localization rates down to 30 Hz, deviation in the applied magnetic field from that expected, and the presence of manipulator singularities. Five-DOF manipulation of an untethered magnetic device has been previously demonstrated by electromagnetic systems only.
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Affiliation(s)
| | - Jake J. Abbott
- Department of Mechanical Engineering,
University of Utah, USA
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29
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Slawinski PR, Obstein KL, Valdastri P. Emerging Issues and Future Developments in Capsule Endoscopy. TECHNIQUES IN GASTROINTESTINAL ENDOSCOPY 2015; 17:40-46. [PMID: 26028956 PMCID: PMC4445887 DOI: 10.1016/j.tgie.2015.02.006] [Citation(s) in RCA: 28] [Impact Index Per Article: 3.1] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/07/2023]
Abstract
Capsule endoscopy (CE) has transformed from a research venture into a widely used clinical tool and the primary means for diagnosing small bowel pathology. These orally administered capsules traverse passively through the gastrointestinal tract via peristalsis and are used in the esophagus, stomach, small bowel, and colon. The primary focus of CE research in recent years has been enabling active CE manipulation and extension of the technology to therapeutic functionality; thus, widening the scope of the procedure. This review outlines clinical standards of the technology as well as recent advances in CE research. Clinical capsule applications are discussed with respect to each portion of the gastrointestinal tract. Promising research efforts are presented with an emphasis on enabling active capsule locomotion. The presented studies suggest, in particular, that the most viable solution for active capsule manipulation is actuation of a capsule via exterior permanent magnet held by a robot. Developing capsule procedures adhering to current healthcare standards, such as enabling a tool channel or irrigation in a therapeutic device, is a vital phase in the adaptation of CE in the clinical setting.
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Affiliation(s)
- Piotr R. Slawinski
- STORM Lab, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235-1592, USA
| | - Keith L. Obstein
- STORM Lab, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235-1592, USA
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN 37235-1592, USA
| | - Pietro Valdastri
- STORM Lab, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235-1592, USA
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN 37235-1592, USA
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30
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Sliker LJ, Ciuti G. Flexible and capsule endoscopy for screening, diagnosis and treatment. Expert Rev Med Devices 2014; 11:649-66. [PMID: 25148269 DOI: 10.1586/17434440.2014.941809] [Citation(s) in RCA: 63] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022]
Abstract
Endoscopy dates back to the 1860s, but many of the most significant advancements have been made within the past decade. With the integration of robotics, the ability to precisely steer and advance traditional flexible endoscopes has been realized, reducing patient pain and improving clinician ergonomics. Additionally, wireless capsule endoscopy, a revolutionary alternative to traditional scopes, enables inspection of the digestive system with minimal discomfort for the patient or the need for sedation, mitigating some of the risks of flexible endoscopy. This review presents a research update on robotic endoscopic systems, including both flexible scope and capsule technologies, detailing actuation methods and therapeutic capabilities. A future perspective on endoscopic potential for screening, diagnostic and therapeutic gastrointestinal procedures is also presented.
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Affiliation(s)
- Levin J Sliker
- Department of Mechanical Engineering, University of Colorado, 114 ECME, Engineering Center, 1111 Engineering Drive, Boulder, CO 80309-0427, USA
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31
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Sun ZJ, Ye B, Sun Y, Zhang HH, Liu S. Design and implementation of magnetically maneuverable capsule endoscope system with direction reference for image navigation. Proc Inst Mech Eng H 2014; 228:652-64. [PMID: 25052694 DOI: 10.1177/0954411914540876] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
This article describes a novel magnetically maneuverable capsule endoscope system with direction reference for image navigation. This direction reference was employed by utilizing a specific magnet configuration between a pair of external permanent magnets and a magnetic shell coated on the external capsule endoscope surface. A pair of customized Cartesian robots, each with only 4 degrees of freedom, was built to hold the external permanent magnets as their end-effectors. These robots, together with their external permanent magnets, were placed on two opposite sides of a "patient bed." Because of the optimized configuration based on magnetic analysis between the external permanent magnets and the magnetic shell, a simplified control strategy was proposed, and only two parameters, yaw step angle and moving step, were necessary for the employed robotic system. Step-by-step experiments demonstrated that the proposed system is capable of magnetically maneuvering the capsule endoscope while providing direction reference for image navigation.
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Affiliation(s)
- Zhen-Jun Sun
- School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Bo Ye
- School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
| | - Yi Sun
- National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Hong-Hai Zhang
- School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Sheng Liu
- School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
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32
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Mahoney AW, Abbott JJ. Generating Rotating Magnetic Fields With a Single Permanent Magnet for Propulsion of Untethered Magnetic Devices in a Lumen. IEEE T ROBOT 2014. [DOI: 10.1109/tro.2013.2289019] [Citation(s) in RCA: 102] [Impact Index Per Article: 10.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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33
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34
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Tripathi D, Anwar Bég O. Transient magneto-peristaltic flow of couple stress biofluids: A magneto-hydro-dynamical study on digestive transport phenomena. Math Biosci 2013; 246:72-83. [DOI: 10.1016/j.mbs.2013.07.012] [Citation(s) in RCA: 39] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/06/2012] [Revised: 07/15/2013] [Accepted: 07/17/2013] [Indexed: 01/10/2023]
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35
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Yim S, Sitti M. 3-D Localization Method for a Magnetically Actuated Soft Capsule Endoscope and Its Applications. IEEE T ROBOT 2013; 29:1139-1151. [PMID: 25383064 PMCID: PMC4224301 DOI: 10.1109/tro.2013.2266754] [Citation(s) in RCA: 59] [Impact Index Per Article: 5.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022]
Abstract
In this paper, we present a 3-D localization method for a magnetically actuated soft capsule endoscope (MASCE). The proposed localization scheme consists of three steps. First, MASCE is oriented to be coaxially aligned with an external permanent magnet (EPM). Second, MASCE is axially contracted by the enhanced magnetic attraction of the approaching EPM. Third, MASCE recovers its initial shape by the retracting EPM as the magnetic attraction weakens. The combination of the estimated direction in the coaxial alignment step and the estimated distance in the shape deformation (recovery) step provides the position of MASCE in 3-D. It is experimentally shown that the proposed localization method could provide 2.0-3.7 mm of distance error in 3-D. This study also introduces two new applications of the proposed localization method. First, based on the trace of contact points between the MASCE and the surface of the stomach, the 3-D geometrical model of a synthetic stomach was reconstructed. Next, the relative tissue compliance at each local contact point in the stomach was characterized by measuring the local tissue deformation at each point due to the preloading force. Finally, the characterized relative tissue compliance parameter was mapped onto the geometrical model of the stomach toward future use in disease diagnosis.
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Affiliation(s)
- Sehyuk Yim
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA ( )
| | - Metin Sitti
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA ( )
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36
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Obstein KL, Valdastri P. Advanced endoscopic technologies for colorectal cancer screening. World J Gastroenterol 2013; 19:431-9. [PMID: 23382621 PMCID: PMC3558566 DOI: 10.3748/wjg.v19.i4.431] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 06/20/2012] [Revised: 08/23/2012] [Accepted: 08/26/2012] [Indexed: 02/06/2023] Open
Abstract
Colorectal cancer is the third most common cancer in men and the second most common cancer in women worldwide. Diagnosing colorectal has been increasingly successful due to advances in technology. Flexible endoscopy is considered to be an effective method for early diagnosis and treatment of gastrointestinal cancer, making it a popular choice for screening programs. However, millions of people who may benefit from endoscopic colorectal cancer screening fail to have the procedure performed. Main reasons include psychological barriers due to the indignity of the procedure, fear of procedure related pain, bowel preparation discomfort, and potential need for sedation. Therefore, an urgent need for new technologies addressing these issues clearly exists. In this review, we discuss a set of advanced endoscopic technologies for colorectal cancer screening that are either already available or close to clinical trial. In particular, we focus on visual-inspection-only advanced flexible colonoscopes, interventional colonoscopes with alternative propulsion mechanisms, wireless capsule colonoscopy, and technologies for intraprocedural bowel cleansing. Many of these devices have the potential to reduce exam related patient discomfort, obviate the need for sedation, increase diagnostic yield, reduce learning curves, improve access to screening, and possibly avert the need for a bowel preparation.
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Sehyuk Yim, Sitti M. Shape-Programmable Soft Capsule Robots for Semi-Implantable Drug Delivery. IEEE T ROBOT 2012. [DOI: 10.1109/tro.2012.2197309] [Citation(s) in RCA: 83] [Impact Index Per Article: 6.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/08/2023]
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Keller J, Fibbe C, Rosien U, Layer P. Recent advances in capsule endoscopy: development of maneuverable capsules. Expert Rev Gastroenterol Hepatol 2012; 6:561-6. [PMID: 23061707 DOI: 10.1586/egh.12.26] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 12/28/2022]
Abstract
One important disadvantage of modern capsule endoscopy is its lack of maneuverability. Thus, clinically available systems depend on transportation by spontaneous gastrointestinal motility. Even in subjects with normal motility, transit time for different intestinal segments may vary considerably, and relevant segments may be passed too quickly. This probably explains why approximately 10% of all pathologies are overlooked during small bowel investigations. Moreover, without maneuverable capsule endoscopes, the large inner surface of the stomach cannot be investigated properly. The most advanced approaches, which try to develop maneuverable systems for targeted inspection of the GI tract, use magnetic fields for steering of a videocapsule with magnetic inclusions. With such systems, preliminary clinical studies have already been performed. Other projects try to develop biologically inspired steering mechanisms such as capsules that can move on legs or they use electrical stimulation of the intestinal wall in order to induce contractions for propulsion of the videocapsule.
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Affiliation(s)
- Jutta Keller
- Department of Internal Medicine, University of Hamburg, Israelitic Hospital, Hamburg, Germany.
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Abstract
This paper introduces a robotic biopsy device for capsule endoscopes. The proposed device consists of three modules for the complete process of biopsy, which includes monitoring the intestinal wall by a tissue monitoring module (TMM), aligning onto a polyp by an anchor module (AM), and sampling of the polyp tissue by a biopsy module (BM). The TMM utilizes a trigonal mirror as well as an on-board camera; since the TMM continuously takes images through lateral apertures, an operator such as a medical doctor is able to anchor the capsule endoscope onto the polyp and biopsy it with the visual feedback in real-time. When the operator finds a polyp using the TMM and the frontal camera of a capsule endoscope, then the AM is used to approach the polyp for biopsy. When the AM is in use, outriggers are extruded by shape-memory-alloy (SMA) springs, which results in the swelling of capsule endoscope body. In addition, an alignment module, which is a part of the AM, rotates the body of the capsule endoscope such that the biopsy razor can be aligned onto the polyp. Then, the BM excises a part of the polyp and seals the aperture, and the capsule endoscope continues exploring the intestine. The concept and working principles of the proposed device are introduced in this paper and are verified by a prototype that successfully integrates the three modules.
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Affiliation(s)
- Kyoungchul Kong
- Department of Mechanical Engineering, Sogang University, Seoul, Korea 121-742
| | - Sehyuk Yim
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15289
| | - Sunhee Choi
- Samsung Engineering Co. Ltd. Seoul, Korea 134-090
| | - Doyoung Jeon
- Department of Mechanical Engineering, Sogang University, Seoul, Korea 121-742
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Lien GS, Liu CW, Jiang JA, Chuang CL, Teng MT. Magnetic control system targeted for capsule endoscopic operations in the stomach--design, fabrication, and in vitro and ex vivo evaluations. IEEE Trans Biomed Eng 2012; 59:2068-79. [PMID: 22581127 DOI: 10.1109/tbme.2012.2198061] [Citation(s) in RCA: 78] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
This paper presents a novel solution of a hand-held external controller to a miniaturized capsule endoscope in the gastrointestinal (GI) tract. Traditional capsule endoscopes move passively by peristaltic wave generated in the GI tract and the gravity, which makes it impossible for endoscopists to manipulate the capsule endoscope to the diagnostic disease areas. In this study, the main objective is to present an endoscopic capsule and a magnetic field navigator (MFN) that allows endoscopists to remotely control the locomotion and viewing angle of an endoscopic capsule. The attractive merits of this study are that the maneuvering of the endoscopic capsule can be achieved by the external MFN with effectiveness, low cost, and operation safety, both from a theoretical and an experimental point of view. In order to study the magnetic interactions between the endoscopic capsule and the external MFN, a magnetic-analysis model is established for computer-based finite-element simulations. In addition, experiments are conducted to show the control effectiveness of the MFN to the endoscopic capsule. Finally, several prototype endoscopic capsules and a prototype MFN are fabricated, and their actual capabilities are experimentally assessed via in vitro and ex vivo tests using a stomach model and a resected porcine stomach, respectively. Both in vitro and ex vivo test results demonstrate great potential and practicability of achieving high-precision rotation and controllable movement of the capsule using the developed MFN.
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Affiliation(s)
- Gi-Shih Lien
- Department of Internal Medicine, Wan Fang Hospital, Taipei Medical University, Taipei 116, Taiwan.
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41
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Arcese L, Fruchard M, Ferreira A. Endovascular Magnetically Guided Robots: Navigation Modeling and Optimization. IEEE Trans Biomed Eng 2012; 59:977-87. [DOI: 10.1109/tbme.2011.2181508] [Citation(s) in RCA: 67] [Impact Index Per Article: 5.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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42
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Yim S, Sitti M. Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope. IEEE T ROBOT 2012. [DOI: 10.1109/tro.2011.2163861] [Citation(s) in RCA: 238] [Impact Index Per Article: 19.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
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43
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Carpi F, Kastelein N, Talcott M, Pappone C. Magnetically controllable gastrointestinal steering of video capsules. IEEE Trans Biomed Eng 2010; 58:231-4. [PMID: 20952324 DOI: 10.1109/tbme.2010.2087332] [Citation(s) in RCA: 144] [Impact Index Per Article: 10.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022]
Abstract
Wireless capsule endoscopy (WCE) allows for comfortable video explorations of the gastrointestinal (GI) tract, with special indication for the small bowel. In the other segments of the GI tract also accessible to probe gastroscopy and colonscopy, WCE still exhibits poorer diagnostic efficacy. Its main drawback is the impossibility of controlling the capsule movement, which is randomly driven by peristalsis and gravity. To solve this problem, magnetic maneuvering has recently become a thrust research area. Here, we report the first demonstration of accurate robotic steering and noninvasive 3-D localization of a magnetically enabled sample of the most common video capsule (PillCam, Given Imaging Ltd, Israel) within each of the main regions of the GI tract (esophagus, stomach, small bowel, and colon) in vivo, in a domestic pig model. Moreover, we demonstrate how this is readily achievable with a robotic magnetic navigation system (Niobe, Stereotaxis, Inc, USA) already used for cardiovascular clinical procedures. The capsule was freely and safely moved with omnidirectional steering accuracy of 1°, and was tracked in real time through fluoroscopic imaging, which also allowed for 3-D localization with an error of 1 mm. The accuracy of steering and localization enabled by the Stereotaxis system and its clinical accessibility world wide may allow for immediate and broad usage in this new application. This anticipates magnetically steerable WCE as a near-term reality. The instrumentation should be used with the next generations of video capsules, intrinsically magnetic and capable of real-time optical-image visualization, which are expected to reach the market soon.
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Affiliation(s)
- Federico Carpi
- University of Pisa, School of Engineering, Pisa 56100, Italy.
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44
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Gao M, Hu C, Chen Z, Zhang H, Liu S. Design and fabrication of a magnetic propulsion system for self-propelled capsule endoscope. IEEE Trans Biomed Eng 2010; 57:2891-902. [PMID: 20542758 DOI: 10.1109/tbme.2010.2051947] [Citation(s) in RCA: 79] [Impact Index Per Article: 5.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
Abstract
This paper investigates design, modeling, simulation, and control issues related to self-propelled endoscopic capsule navigated inside the human body through external magnetic fields. A novel magnetic propulsion system is proposed and fabricated, which has great potential of being used in the field of noninvasive gastrointestinal endoscopy. Magnetic-analysis model is established and finite-element simulations as well as orthogonal design are performed for obtaining optimized mechanical and control parameters for generating appropriate external magnetic field. Simulated intestinal tract experiments are conducted, demonstrating controllable movement of the capsule under the developed magnetic propulsion system.
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Affiliation(s)
- Mingyuan Gao
- School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China.
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Wang X, Meng MQH. An experimental study of resistant properties of the small intestine for an active capsule endoscope. Proc Inst Mech Eng H 2010; 224:107-18. [PMID: 20225462 DOI: 10.1243/09544119jeim540] [Citation(s) in RCA: 46] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/19/2022]
Abstract
Use of the capsule endoscope (CE) in clinical examinations is limited by its passive movement resulting from the natural peristalsis of the gastrointestinal (GI) tract. Therefore, a locomotion mechanism is desirable for the next generation of capsule endoscope. Understanding the resistant properties of the small intestine is essential for designing a wireless magnetic actuation mechanism. In this paper, in vitro experiments were carried out to investigate the resistant force of the small intestine using 15 specially designed capsule prototypes and analysed the effect of the capsule dimension and moving speed. Segments of porcine small intestine were employed as a conservative model for the human intestine. When the capsules under experiment were moving at a speed of 0.5 mm/s, a resistant force of 20 to 100 mN were measured for the capsule diameter in the range of 8 to 13 mm. The force increased with moving speed. The intrinsic cause of the resistant force of the small intestine is discussed based on an analysis of the experimental data. It is believed that the viscoelastic properties of the tissue play an important role in the resistant characteristics of the small intestine.
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Affiliation(s)
- X Wang
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China.
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47
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Simi M, Valdastri P, Quaglia C, Menciassi A, Dario P. Design, Fabrication, and Testing of a Capsule With Hybrid Locomotion for Gastrointestinal Tract Exploration. IEEE/ASME TRANSACTIONS ON MECHATRONICS 2010; 15:170-180. [DOI: 10.1109/tmech.2010.2041244] [Citation(s) in RCA: 48] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/30/2023]
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48
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Wang X, Meng MQH, Chen X. A locomotion mechanism with external magnetic guidance for active capsule endoscope. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2010; 2010:4375-4378. [PMID: 21096455 DOI: 10.1109/iembs.2010.5627100] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/30/2023]
Abstract
Gastrointestinal (GI) disorder is one of the most common diseases in human body. The swallowable wireless capsule endoscopy has been proved to be a convenient, painless and effective way to examine the whole GI tract. However, lack of motion control makes the movement of the capsule substantially random, resulting in missing diagnosis. In this paper, a locomotion mechanism is developed for the next-generation active capsule endoscope. An internal actuator integrated on-board the capsule is designed to provide driving force and improve the dexterity. A small permanent magnet enclosed inside the capsule interacts with an external magnetic field to control the capsule's orientation and offer extra driving force. This mechanism avoids sophisticated and bulky control system and reduces power consumption inside the capsule. Ex-vivo experimental results showed that it can make a controllable movement inside the porcine large intestine. The mechanism also has the potential to be a platform for further development, such as devices of operations, spraying medicine, biopsy etc.
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Affiliation(s)
- Xiaona Wang
- Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, N. T., Hong Kong.
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