Swallowable wireless capsule endoscopy: progress and technical challenges

Active distance control in multi-capsule endoscopy via closed loop electromagnetic force between capsules

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.

A review of modeling and control of remote-controlled capsule endoscopes

INTRODUCTION

The significance of this review lies in addressing the limitations of passive locomotion in capsule endoscopes, hindering their widespread use in medical applications. The research focuses on evaluating existing miniature in vivo remote-controlled capsule endoscopes, examining their locomotion designs, and working theories to pave the way for overcoming challenges and enhancing their applicability in diagnostic and treatment settings.

AREAS COVERED

This paper explores control methods and dynamic system modeling in the context of self-propelled remote-controlled capsule endoscopes with a two-mass arrangement. The literature search, conducted at Queen Mary University of London Library from 2000 to 2022, utilized a systematic approach starting with the broad keyword 'Capsule Endoscope' and progressively narrowing down to specific aspects such as 'Capsule Endoscope Control' and 'Self-propelled Capsule Endoscope' using various criteria.

EXPERT OPINION

Efficiently driving and controlling remote-controlled capsule endoscopes have the potential to overcome the current limitations in medical technology, offering a viable solution for diagnosing and treating gastrointestinal diseases. Successful control of the remote-controlled capsule endoscope, as demonstrated in this review paper, will lead to a step change in medical engineering, establishing the remote-controlled capsule endoscope as a swift standard in the field.

Single-Image-Based 3D Reconstruction of Endoscopic Images

A wireless capsule endoscope (WCE) is a medical device designed for the examination of the human gastrointestinal (GI) tract. Three-dimensional models based on WCE images can assist in diagnostics by effectively detecting pathology. These 3D models provide gastroenterologists with improved visualization, particularly in areas of specific interest. However, the constraints of WCE, such as lack of controllability, and requiring expensive equipment for operation, which is often unavailable, pose significant challenges when it comes to conducting comprehensive experiments aimed at evaluating the quality of 3D reconstruction from WCE images. In this paper, we employ a single-image-based 3D reconstruction method on an artificial colon captured with an endoscope that behaves like WCE. The shape from shading (SFS) algorithm can reconstruct the 3D shape using a single image. Therefore, it has been employed to reconstruct the 3D shapes of the colon images. The camera of the endoscope has also been subjected to comprehensive geometric and radiometric calibration. Experiments are conducted on well-defined primitive objects to assess the method's robustness and accuracy. This evaluation involves comparing the reconstructed 3D shapes of primitives with ground truth data, quantified through measurements of root-mean-square error and maximum error. Afterward, the same methodology is applied to recover the geometry of the colon. The results demonstrate that our approach is capable of reconstructing the geometry of the colon captured with a camera with an unknown imaging pipeline and significant noise in the images. The same procedure is applied on WCE images for the purpose of 3D reconstruction. Preliminary results are subsequently generated to illustrate the applicability of our method for reconstructing 3D models from WCE images.

Magnetically Driven Biopsy Capsule Robot with Spring Mechanism

In recent years, capsule endoscopes (CEs) have appeared as an advanced technology for the diagnosis of gastrointestinal diseases. However, only capturing the images limits the advanced diagnostic procedures and so on in CE's applications. Herein, considering other extended functions like tissue sampling, a novel wireless biopsy CE has been presented employing active locomotion. Two permanent magnets (PMs) have been placed into the robots, which control the actuation of the capsule robot (CR) and biopsy mechanism by employing an external electromagnetic actuation (EMA) system. A spring has been attached to the biopsy mechanism to retract the biopsy tool after tissue collection. A camera module has also been attached to the front side of the CR to detect the target point and observe the biopsy process on the lesion. A prototype of CR was fabricated with a diameter of 12 mm and a length of 32 mm. A spring mechanism with a biopsy needle was placed inside the CR and sprang out around 5 mm. An in vitro experiment was conducted, which demonstrated the precise control translation (2 mm/s and 3 mm/s in the x and y directions, respectively) and desired extrusion of the biopsy mechanism (~5 mm) for sampling the tissue. A needle-based biopsy capsule robot (NBBCR) has been designed to perform the desired controlled locomotion and biopsy function by external force. This proposed active locomoted untethered NBBCR can be wirelessly controlled to perform extended function precisely, advancing the intestinal CE technique for clinical applications.

Endoscope Capsules: The Present Situation and Future Outlooks

This paper presents new perspectives on photonic technologies for capsule endoscopy. It first presents a review of conventional endoscopy (upper endoscopy and colonoscopy), followed by capsule endoscopy (CE), as well as their techniques, advantages, and drawbacks. The technologies for CEs presented in this paper include integration with the existing endoscopic systems that are commercially available. Such technologies include narrow-band imaging (NBI), photodynamic therapy (PDT), confocal laser endomicroscopy (CLE), optical coherence tomography (OCT), and spectroscopy in order to improve the performance of the gastrointestinal (GI) tract examination. In the context of NBI, two optical filters were designed and fabricated for integration into endoscopic capsules, allowing for the visualization of light centered at the 415 nm and 540 nm wavelengths. These optical filters are based on the principle of Fabry-Perot and were made of thin films of titanium dioxide (TiO2) and silicon dioxide (SiO2). Moreover, strategies and solutions for the adaptation of ECs for PDT are also discussed.

The intersection of video capsule endoscopy and artificial intelligence: addressing unique challenges using machine learning

Introduction

Technical burdens and time-intensive review processes limit the practical utility of video capsule endoscopy (VCE). Artificial intelligence (AI) is poised to address these limitations, but the intersection of AI and VCE reveals challenges that must first be overcome. We identified five challenges to address. Challenge #1: VCE data are stochastic and contains significant artifact. Challenge #2: VCE interpretation is cost-intensive. Challenge #3: VCE data are inherently imbalanced. Challenge #4: Existing VCE AIMLT are computationally cumbersome. Challenge #5: Clinicians are hesitant to accept AIMLT that cannot explain their process.

Methods

An anatomic landmark detection model was used to test the application of convolutional neural networks (CNNs) to the task of classifying VCE data. We also created a tool that assists in expert annotation of VCE data. We then created more elaborate models using different approaches including a multi-frame approach, a CNN based on graph representation, and a few-shot approach based on meta-learning.

Results

When used on full-length VCE footage, CNNs accurately identified anatomic landmarks (99.1%), with gradient weighted-class activation mapping showing the parts of each frame that the CNN used to make its decision. The graph CNN with weakly supervised learning (accuracy 89.9%, sensitivity of 91.1%), the few-shot model (accuracy 90.8%, precision 91.4%, sensitivity 90.9%), and the multi-frame model (accuracy 97.5%, precision 91.5%, sensitivity 94.8%) performed well.

Discussion

Each of these five challenges is addressed, in part, by one of our AI-based models. Our goal of producing high performance using lightweight models that aim to improve clinician confidence was achieved.

Computer vision-based solutions to overcome the limitations of wireless capsule endoscopy

Endoscopic investigation plays a critical role in the diagnosis of gastrointestinal (GI) diseases. Since 2001, Wireless Capsule Endoscopy (WCE) has been available for small bowel exploration and is in continuous development. Over the last decade, WCE has achieved impressive improvements in areas such as miniaturisation, image quality and battery life. As a result, WCE is currently a very useful alternative to wired enteroscopy in the investigation of various small bowel abnormalities and has the potential to become the leading screening technique for the entire gastrointestinal tract. However, commercial solutions still have several limitations, namely incomplete examination and limited diagnostic capacity. These deficiencies are related to technical issues, such as image quality, motion estimation and power consumption management. Computational methods, based on image processing and analysis, can help to overcome these challenges and reduce both the time required by reviewers and human interpretation errors. Research groups have proposed a series of methods including algorithms for locating the capsule or lesion, assessing intestinal motility and improving image quality.In this work, we provide a critical review of computational vision-based methods for WCE image analysis aimed at overcoming the technological challenges of capsules. This article also reviews several representative public datasets used to evaluate the performance of WCE techniques and methods. Finally, some promising solutions of computational methods based on the analysis of multiple-camera endoscopic images are presented.

An intelligent intestinal bleeding diagnosis and treatment capsule system based on color recognition

To our best knowledge, there are no non-invasive and painless means for the diagnosis and treatment of intestinal bleeding as of now, especially the segment of intestine that cannot be reached by endoscopy. We proposed an intelligent intestinal bleeding diagnosis and treatment capsule (IBDTC) system for the first time to diagnose and treat intestinal bleeding with low power consumption, estimated to be about 2.16mW. A hue-saturation-light (HSL) color space method was applied to diagnose bleeding according to H (hue) values of the film dyed by blood. A MEMS-based micro-igniter works as the critical component of the micro-thruster that houses the propellant (74.6% potassium nitrate, 11.9% sulfur, 13.5% charcoal) and the detonating agent (dinitrodiazophenol), to help release drug. Bleeding detection and ignition tests were performed to justify its feasibility and reliability. Results demonstrated that the bleeding diagnosis module of the IBDTC can effectively detect bleeding and the micro-igniter can successfully ignite the propellant. Owing to its simplicity and intelligence, the IBDTC system will pave a way for future accurate treatment of small intestinal bleeding with no injury, no pain, no complicated supporting equipment, no need for in vitro operation and positioning.

Robot-Aided Magnetic Navigation System for Wireless Capsule Manipulation

Magnetic navigation systems (MNSs) have been developed to use in the diagnosis of gastrointestinal problems. However, most conventional magnetic navigation systems are expensive and have structural problems because of their large weights and volumes. Therefore, this paper proposes C-Mag, a novel compact MNS composed of two electromagnets and a robotic arm. The two electromagnets generate a planar magnetic field, and the robotic arm rotates and translates the electromagnets to manipulate the magnetic capsule in a large 3-dimensional (3-D) space. The C-Mag design considers the payload of the robotic arm and the capacity of the power supply unit. Under these limited conditions, the C-Mag was optimized to generate the maximum magnetic field considering several major factors. Finally, the C-Mag was constructed, and the maximum magnetic field that could be generated in one direction was 18.65 mT in the downward direction. Additionally, the maximum rotating magnetic field was 13.21 mT, which was used to manipulate the capsule. The performance was verified by measuring the generated magnetic field, and it matched well with the simulated result. Additionally, the path-following experiment of the magnetic capsule showed that the proposed C-Mag can effectively manipulate the magnetic capsule in 3-D space using the robotic arm. This study is expected to contribute to the further development of magnetic navigation systems to treat gastrointestinal problems.

A self-powered ingestible wireless biosensing system for real-time in situ monitoring of gastrointestinal tract metabolites

Information related to the diverse and dynamic metabolite composition of the small intestine is crucial for the diagnosis and treatment of various diseases. However, our current understanding of the physiochemical dynamics of metabolic processes within the small intestine is limited due to the lack of in situ access to the intestinal environment. Here, we report a demonstration of a battery-free ingestible biosensing system for monitoring metabolites in the small intestine. As a proof of concept, we monitor the intestinal glucose dynamics on a porcine model. Battery-free operation is achieved through a self-powered glucose biofuel cell/biosensor integrated into a circuit that performs energy harvesting, biosensing, and wireless telemetry via a power-to-frequency conversion scheme using magnetic human body communication. Such long-term biochemical analysis could potentially provide critical information regarding the complex and dynamic small intestine metabolic profiles.

Direct visualizing of paracetamol immediate release tablet disintegration in vivo and in vitro

The purpose of the present study was to study tablet disintegration by direct visualization, in vivo and in vitro. Based on literature data, a standard conventional paracetamol (CP) tablet, Panodil®, and a rapidly absorbed paracetamol (RP) tablet, Panodil® Zapp, were chosen as model systems to study tablet disintegration in the human stomach. Based on the obtained in vivo results, an in vitro disintegration method was designed to reproduce the visualized disintegration process occurring in the human stomach. For the clinical study, CP and RP tablets fastened to digital endoscopic camera capsules were administered to fasted human volunteers (n=4). The disintegration time and process were visualized by the real time video recordings, using the endoscopic camera capsule. The average disintegration time was found to be 26 ± 13 min and 10 ± 7 min, for CP (n=4) and RP (n=4) tablets, respectively. It was possible to reproduce the in vivo disintegration data in vitro using a USP 2 dissolution apparatus with 250 mL of viscous Fasted State Simulated Gastric Fluid (vFaSSGF*), simulating the rheological profile of human fasted state gastric fluid following administration of a glass of water. The viscosity of the simulated fasted state gastric fluid was found to have a large impact on the disintegration time of the tested immediate release tablets. Therefore, it is recommended to mimic gastric fluid viscosity during in vitro tablet disintegration studies.

Design and Control of a Magnetically-Actuated Capsule Robot with Biopsy Function

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.

Clinical impact of wireless capsule endoscopy for small bowel investigation (Review)

Wireless capsule endoscopy is currently considered the gold standard in the investigation of the small bowel. It is both practical for physicians and easily accepted by patients. Prior to its development, two types of imaging investigations of the small bowel were available: radiologic and endoscopic. The first category is less invasive and comfortable for patients; it presents the ensemble of the small bowel, but it may imply radiation exposure. Images are constructed based on signals emitted by various equipment and require special interpretation. Endoscopic techniques provide real-time colored images acquired by miniature cameras from inside the small bowel, require interpretation only from a medical point of view, may allow the possibility to perform biopsies, but the investigation only covers a part of the small bowel and are more difficult to accept by patients. Wireless capsule endoscopy is the current solution that overcomes a part of the previous drawbacks: it covers the entire small bowel, it provides real-time images acquired by cameras, it is painless for patients, and it represents an abundant source of information for physicians. Yet, it lacks motion control and the possibility to perform biopsies or administer drugs. However, significant effort has been oriented in these directions by technical and medical teams, and more advanced capsules will surely be available in the following years.

Capsule Endoscopy for Gastric Evaluation

Wireless capsule endoscopy was first developed to observe the small intestine. A small capsule can be swallowed and images of gastrointestinal tract are taken with natural movement of peristalsis. Application of capsule endoscopy for observing the stomach has also received much attention as a useful alternative to esophagogastroduodenoscopy, but anatomical characteristics of the stomach have demanded technical obstacles that need to be tackled: clear visualization and active movements that could be controlled. Different methods of controlling the capsule within stomach have been studied and magnetic manipulation is the only system that is currently used in clinical settings. Magnets within the capsule can be controlled with a hand-held magnet paddle, robotic arm, and electromagnetic coil system. Studies on healthy volunteers and patients with upper gastrointestinal symptoms have shown that it is a safe and effective alternative method of observing the stomach. This work reviews different magnetic locomotion systems that have been used for observation of the stomach as an emerging new application of wireless capsule endoscopy.

3D-semantic segmentation and classification of stomach infections using uncertainty aware deep neural networks

Wireless capsule endoscopy (WCE) might move through human body and captures the small bowel and captures the video and require the analysis of all frames of video due to which the diagnosis of gastrointestinal infections by the physician is a tedious task. This tiresome assignment has fuelled the researcher’s efforts to present an automated technique for gastrointestinal infections detection. The segmentation of stomach infections is a challenging task because the lesion region having low contrast and irregular shape and size. To handle this challenging task, in this research work a new deep semantic segmentation model is suggested for 3D-segmentation of the different types of stomach infections. In the segmentation model, deep labv3 is employed as a backbone of the ResNet-50 model. The model is trained with ground-masks and accurately performs pixel-wise classification in the testing phase. Similarity among the different types of stomach lesions accurate classification is a difficult task, which is addressed in this reported research by extracting deep features from global input images using a pre-trained ResNet-50 model. Furthermore, the latest advances in the estimation of uncertainty and model interpretability in the classification of different types of stomach infections is presented. The classification results estimate uncertainty related to the vital features in input and show how uncertainty and interpretability might be modeled in ResNet-50 for the classification of the different types of stomach infections. The proposed model achieved up to 90% prediction scores to authenticate the method performance.

Wireless Power Transfer Techniques for Implantable Medical Devices: A Review

Wireless power transfer (WPT) systems have become increasingly suitable solutions for the electrical powering of advanced multifunctional micro-electronic devices such as those found in current biomedical implants. The design and implementation of high power transfer efficiency WPT systems are, however, challenging. The size of the WPT system, the separation distance between the outside environment and location of the implanted medical device inside the body, the operating frequency and tissue safety due to power dissipation are key parameters to consider in the design of WPT systems. This article provides a systematic review of the wide range of WPT systems that have been investigated over the last two decades to improve overall system performance. The various strategies implemented to transfer wireless power in implantable medical devices (IMDs) were reviewed, which includes capacitive coupling, inductive coupling, magnetic resonance coupling and, more recently, acoustic and optical powering methods. The strengths and limitations of all these techniques are benchmarked against each other and particular emphasis is placed on comparing the implanted receiver size, the WPT distance, power transfer efficiency and tissue safety presented by the resulting systems. Necessary improvements and trends of each WPT techniques are also indicated per specific IMD.

Ingestible Sensors and Sensing Systems for Minimally Invasive Diagnosis and Monitoring: The Next Frontier in Minimally Invasive Screening

Ingestible electronic systems that are capable of embedded sensing, particularly within the gastrointestinal (GI) tract and its accessory organs, have the potential to screen for diseases that are difficult if not impossible to detect at an early stage using other means. Furthermore, these devices have the potential to (1) reduce labor and facility costs for a variety of procedures, (2) promote research for discovering new biomarker targets for associated pathologies, (3) promote the development of autonomous or semiautonomous diagnostic aids for consumers, and (4) provide a foundation for epithelially targeted therapeutic interventions. These technological advances have the potential to make disease surveillance and treatment far more effective for a variety of conditions, allowing patients to lead longer and more productive lives. This review will examine the conventional techniques, as well as ingestible sensors and sensing systems that are currently under development for use in disease screening and diagnosis for GI disorders. Design considerations, fabrication, and applications will be discussed.

Compact wide-angle capsule endoscopic lens design

Capsule endoscopes require a high-quality imaging system in terms of the wide field of view (FOV), image brightness, and resolution to provide accurate diagnostic information. However, because of the wide-angle lens design, the first element of the lens inevitably becomes larger in diameter, making it difficult to reduce the overall size of the lens. In this study, the compact wide-angle lens for a capsule endoscope is reported. The proposed system allows the first element to be compact in diameter and increases image quality by utilizing all aspheric surfaces for optical aberration control. The specification of the proposed capsule endoscope lens shows the wide FOV of 160 deg, F-number 2.8, and total track length of 5 mm. In the overall FOV, relative illumination is still over 60%. To achieve a high image quality in the proposed system, the modulation transfer function is over 30% at 180 lp/mm for a${1920} \times {1080}$1920×1080 1/6 inch CMOS image sensor in a pixel size of 1.4 µm.

Investigation of Current Control for a New Bi-directional Linear Capsule Robot

In this paper, a bi-directional linear capsule robot (capsulbot) for potential applications in Gastrointestinal (GI) tract inside human body is studied. Compared with the conventional endoscope limited by its poor locomotion and steering capabilities, active locomotion actuator will play an important role in the diagnosis of narrow organ tract of the human body in the future. This paper studies a new simple-structured actuator that can realize bi-directional linear motion by properly controlling the supplied current profile. It is demonstrated that the linear motion of the new capsulbot is affected by three main factors: current waveform, current duty ratio, and current amplitude. The optimized current profile that can maximize the capsulbot displacement is verified experimentally on a prototype capsulbot.

Numerical and Experimental Simulations of the Wireless Energy Transmission and Harvesting by a Camera Pill

This paper investigates the energy transmitted to and harvested by a camera pill traveling along the gastrointestinal (GI) tract. It focuses on the transmitted electromagnetic (EM) energy in the frequency range of 0.18 to 2450 MHz and compares it to the mechanical energy due to the motion of the pill and the force exerted from the intestine in its peristalsis onto the pill, and the electrochemical energy due to the change of pH along the path of the pill. A comprehensive multilayer EM power transmission model is constructed and implemented in a numerical code, including power attenuation through each layer and multireflections at material interfaces. Computer simulations of EM power transmission through a multilayer abdomen to a pill traveling in the intestine are presented for the human abdominal cavity as well as phantom organs and phantom environments, coupled with corresponding experimental studies using these phantom components and environments. Two types of phantom abdomen are investigated: a ballistic gel and a multilayer duck breast. Phantom small intestine involves gelatin gel layers with embedded phantom chyme. Due to limitations related to the energy safety limit of skin exposure and energy losses in the transmission through the abdomen and intestines, inductive range frequencies are recommended which may yield energy harvesting of 10–50 mWh during 8 h of pill journey, complemented by about 10 mWh of mechanical energy and 10 mWh of electrochemical energy harvesting, in addition to about 330 mWh typically stored in the coin batteries of a camera pill.

A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots

Since the development of capsule endoscopy technology, medical device companies and research groups have made significant progress to turn passive capsule endoscopes into robotic active capsule endoscopes. However, the use of robotic capsules in endoscopy still has some challenges. One such challenge is the precise localization of the actively controlled robot in real-time. In this paper, we propose a non-rigid map fusion based direct simultaneous localization and mapping method for endoscopic capsule robots. The proposed method achieves high accuracy for extensive evaluations of pose estimation and map reconstruction performed on a non-rigid, realistic surgical EsophagoGastroDuodenoscopy Simulator and outperforms state-of-the art methods.

Validation of SmartPill® wireless motility capsule for gastrointestinal transit time: Intra-subject variability, software accuracy and comparison with video capsule endoscopy

BACKGROUND

There is interest in ultimately combining endoscopy and motility assessments. Gastric emptying (GET), small bowel (SBTT), colon (CTT) and whole gut transit (WGTT) times are conveniently obtained by SmartPill^® wireless motility capsule (WMC) that records luminal pH, temperature and pressure. Reproducibility within same subjects and accuracy of software derived times (MotiliGI^® ) were investigated for diagnostic application. GET and SBTT were separately measured using video capsule endoscopy (VCE). The aim of this investigation was to assess same subject reproducibility of WMC, accuracy of software derived transit times and relate to Pillcam^® SB (small bowel) VCE motility data.

METHODS

Seventy three healthy adults ingested a 260 kcal mixed meal followed by WMC tests. Food intake was permitted after 6 hours. Regional transit data was obtained for GET, SBTT and CTT, the sum yielding WGTT. Nineteen subjects repeated WMC tests 2 or 4 weeks later; a separate 70 underwent VCE while fasted.

KEY RESULTS

Visually derived data from WMC yielded GET 3.46±0.27, SBTT 5.15±0.21, CTT 20.76±1.19 and WGTT 29.53±1.28 hours (mean±SEM). Pearson's correlation coefficients (r) against software derived results were: GET 0.78 (P<.0001), SBTT 0.28 (P<.05), CTT 0.96 (P<.0001), WGTT 0.99 (P<.0001). VCE yielded lower GET (0.71±0.08 hours) and SBTT (4.15±0.13 hours).

CONCLUSIONS AND INFERENCES

GET, SBTT, CTT and WGTT obtained by WMC are commensurate with literature values, including by other methods. Visually and software derived transit times have strongest correlations for CTT and WGTT. WMC yields longer GET and SBTT than VCE, perhaps due to meal related effects on motility.

Integration of Low-Power ASIC and MEMS Sensors for Monitoring Gastrointestinal Tract Using a Wireless Capsule System

This paper presents a wireless capsule microsystem to detect and monitor the pH, pressure, and temperature of the gastrointestinal tract in real time. This research contributes to the integration of sensors (microfabricated capacitive pH, capacitive pressure, and resistive temperature sensors), frequency modulation and pulse width modulation based interface IC circuits, microcontroller, and transceiver with meandered conformal antenna for the development of a capsule system. The challenges associated with the system miniaturization, higher sensitivity and resolution of sensors, and lower power consumption of interface circuits are addressed. The layout, PCB design, and packaging of a miniaturized wireless capsule, having diameter of 13 mm and length of 28 mm, have successfully been implemented. A data receiver and recorder system is also designed to receive physiological data from the wireless capsule and to send it to a computer for real-time display and recording. Experiments are performed in vitro using a stomach model and minced pork as tissue simulating material. The real-time measurements also validate the suitability of sensors, interface circuits, and meandered antenna for wireless capsule applications.

Performance evaluation of power transmission coils for powering endoscopic wireless capsules

This paper presents an analysis of H-field generated by a simple solenoid, pair of solenoids, pair of double-layer solenoids, segmented-solenoid, and Helmholtz power transmission coils (PTCs) to power an endoscopic wireless capsule (WC). The H-fields were computed using finite element analysis based on partial differential equations. Three parameters were considered in the analysis: i) the maximum level of H-field (Hmax) to which the patient's body would be exposed, ii) the minimum level of H-field (Hmin) effective for power transmission, and iii) uniformity of H-field. We validated our analysis by comparing the computed data with data measured from a fabricated Helmholtz PTC. This analysis disclosed that at the same excitation power, all the PTCs are able to transfer same amount of minimum usable power since they generated almost equal value of Hmin. The level of electromagnetic exposure and power transfer stability across all the PTCs would vary significantly which is mainly due to the different level of Hmax and H-field uniformity. The segmented solenoid PTC would cause the lowest exposure and this PTC can transfer the maximum amount of power. The Helmholtz PTC would be able to transfer the most stable power with a moderate level of exposure.

Automated Adaptive Brightness in Wireless Capsule Endoscopy Using Image Segmentation and Sigmoid Function

Wireless capsule endoscopy (WCE) plays an important role in the diagnosis of gastrointestinal (GI) diseases by capturing images of human small intestine. Accurate diagnosis of endoscopic images depends heavily on the quality of captured images. Along with image and frame rate, brightness of the image is an important parameter that influences the image quality which leads to the design of an efficient illumination system. Such design involves the choice and placement of proper light source and its ability to illuminate GI surface with proper brightness. Light emitting diodes (LEDs) are normally used as sources where modulated pulses are used to control LED's brightness. In practice, instances like under- and over-illumination are very common in WCE, where the former provides dark images and the later provides bright images with high power consumption. In this paper, we propose a low-power and efficient illumination system that is based on an automated brightness algorithm. The scheme is adaptive in nature, i.e., the brightness level is controlled automatically in real-time while the images are being captured. The captured images are segmented into four equal regions and the brightness level of each region is calculated. Then an adaptive sigmoid function is used to find the optimized brightness level and accordingly a new value of duty cycle of the modulated pulse is generated to capture future images. The algorithm is fully implemented in a capsule prototype and tested with endoscopic images. Commercial capsules like Pillcam and Mirocam were also used in the experiment. The results show that the proposed algorithm works well in controlling the brightness level accordingly to the environmental condition, and as a result, good quality images are captured with an average of 40% brightness level that saves power consumption of the capsule.

Meandered conformal antenna for ISM-band ingestible capsule communication systems

The wireless capsule has been used to measure physiological parameters in the gastrointestinal tract where communication from in-body to external receiver is necessary using a miniaturized antenna with high gain and onmidirectional radiation pattern. This paper presents a meandered conformal antenna with center frequency of 433 MHz for a wireless link between an in-body capsule system and an ex-body receiver system. The antenna is wrapped around the wireless capsule, which provides extra space for other circuits and sensors inside the capsule as well as allows it having larger dimensions compared to inner antennas. This paper analyses return loss, radiation pattern, antenna gain, and propagation loss using pork as the gastrointestinal tissue simulating medium. From the radiation pattern and return loss results, the antenna shows an omni-directional radiation pattern and an ultrawide bandwidth of 124.4 MHz (371.6 to 496 MHz) for VSWR <; 2. Experimental results shows that the path loss is 17.24 dB for an in-body propagation distance of 140 mm.

Design of a video capsule endoscopy system with low-power ASIC for monitoring gastrointestinal tract

In recent years, wireless capsule endoscopy (WCE) has been a state-of-the-art tool to examine disorders of the human gastrointestinal tract painlessly. However, system miniaturization, enhancement of the image-data transfer rate and power consumption reduction for the capsule are still key challenges. In this paper, a video capsule endoscopy system with a low-power controlling and processing application-specific integrated circuit (ASIC) is designed and fabricated. In the design, these challenges are resolved by employing a microimage sensor, a novel radio frequency transmitter with an on-off keying modulation rate of 20 Mbps, and an ASIC structure that includes a clock management module, a power-efficient image compression module and a power management unit. An ASIC-based prototype capsule, which measures Φ11 mm × 25 mm, has been developed here. Test results show that the designed ASIC consumes much less power than most of the other WCE systems and that its total power consumption per frame is the least. The image compression module can realize high near-lossless compression rate (3.69) and high image quality (46.2 dB). The proposed system supports multi-spectral imaging, including white light imaging and autofluorescence imaging, at a maximum frame rate of 24 fps and with a resolution of 400 × 400. Tests and in vivo trials in pigs have proved the feasibility of the entire system, but further improvements in capsule control and compression performance inside the ASIC are needed in the future.

A UWB wireless capsule endoscopy device

Wireless capsule endoscopy (WCE) presents many advantages over traditional wired endoscopic methods. The performance of WCE devices can be improved using high-frequency communication systems such as Impulse Radio-Ultra-Wideband (IR-UWB) to enable a high data rate transmission with low-power consumption. This paper presents the hardware implementation and experimental evaluation of a WCE device that uses IR-UWB signals in the frequency range of 3.5 GHz to 4.5 GHz to transmit image data from inside the body to a receiver placed outside the body. Key components of the IR-UWB transmitter, such as the narrow pulse generator and up-conversion based RF section are described in detail. This design employs a narrowband receiver in the WCE device to receive a control signal externally in order to control and improve the data transmission from the device in the body. The design and performance of a wideband implantable antenna that operates in the aforementioned frequency range is also described. The operation of the WCE device is demonstrated through a proof-of-concept experiment using meat.

Biomedical Applications of Untethered Mobile Milli/Microrobots

Untethered robots miniaturized to the length scale of millimeter and below attract growing attention for the prospect of transforming many aspects of health care and bioengineering. As the robot size goes down to the order of a single cell, previously inaccessible body sites would become available for high-resolution in situ and in vivo manipulations. This unprecedented direct access would enable an extensive range of minimally invasive medical operations. Here, we provide a comprehensive review of the current advances in biome dical untethered mobile milli/microrobots. We put a special emphasis on the potential impacts of biomedical microrobots in the near future. Finally, we discuss the existing challenges and emerging concepts associated with designing such a miniaturized robot for operation inside a biological environment for biomedical applications.

Emerging Issues and Future Developments in Capsule Endoscopy

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.

Application of wireless power transmission systems in wireless capsule endoscopy: an overview

Wireless capsule endoscopy (WCE) is a promising technology for direct diagnosis of the entire small bowel to detect lethal diseases, including cancer and obscure gastrointestinal bleeding (OGIB). To improve the quality of diagnosis, some vital specifications of WCE such as image resolution, frame rate and working time need to be improved. Additionally, future multi-functioning robotic capsule endoscopy (RCE) units may utilize advanced features such as active system control over capsule motion, drug delivery systems, semi-surgical tools and biopsy. However, the inclusion of the above advanced features demands additional power that make conventional power source methods impractical. In this regards, wireless power transmission (WPT) system has received attention among researchers to overcome this problem. Systematic reviews on techniques of using WPT for WCE are limited, especially when involving the recent technological advancements. This paper aims to fill that gap by providing a systematic review with emphasis on the aspects related to the amount of transmitted power, the power transmission efficiency, the system stability and patient safety. It is noted that, thus far the development of WPT system for this WCE application is still in initial stage and there is room for improvements, especially involving system efficiency, stability, and the patient safety aspects.

Feasibility of capsule endoscopy for direct imaging of drug delivery systems in the fasted upper-gastrointestinal tract

PURPOSE

To develop a minimally-invasive method for direct visualization of drug delivery systems in the human stomach and to compare the obtained results with an established in vitro model. The method should provide the capsule rupture, dispersion characteristics, and knowledge regarding the surrounding physiological environment in the stomach.

METHODS

A capsule endoscopic method was developed. The disintegration time, dispersion characteristics and the impact of the physiological environment on different lipid based delivery systems in different gelatin capsules in the fasted stomach of nine healthy volunteers were visualized. Biorelevant dissolution studies using a USP II apparatus and a droplet size analysis of the released SNEDDS were performed.

RESULTS

Visualization of the behavior of both hard and soft gelatin capsules formulations was possible. The disintegration and dispersion of EP oil in a soft capsule and SNEDDS in a hard shell capsule were visualized. The in vitro release rates were different from the in vivo release rates of the soft capsule due to volume, fluid composition and motility differences but not for the hard capsule containing SNEDDS.

CONCLUSIONS

A minimally-invasive capsule endoscopic method was developed for direct visualizing of drug delivery systems in the human stomach and maybe later, in the duodenum.

An integrated system for wireless capsule endoscopy in a liquid-distended stomach

The design and development of a functional integrated system for gastroscopy is reported in this paper. The device takes advantage of four propellers enabling locomotion in a liquid environment and generating a maximum propulsive force of 25.5 mN. The capsule has been equipped with a miniaturized wireless vision system that acquires images with a frame rate of 30 fps (frames per second). The overall size of the capsule is 32 mm in length and 22 mm in diameter, with the possibility of decreasing the diameter to swallowable dimensions. The capsule is remotely controlled by the user who can intuitively drive the device by looking at the video streaming on the graphical interface. The average speed of the device is 1.5 cm/s that allows for a fine control of the capsule motion as demonstrated in experimental tasks consisting of passing through circular targets. The video system performances have been characterized by evaluating the contrast, the focus, and the capability of acquiring and perceiving different colors. The usability of the device has been tested on bench and on explanted tissues by three users in real time target-identification tasks, in order to assess the success of the integration process. The lifetime of the capsule with active motors and vision system is 13 min, that is, a timeframe consistent with traditional gastroscopic examinations.

Implantable and ingestible medical devices with wireless telemetry functionalities: a review of current status and challenges

Wireless medical telemetry permits the measurement of physiological signals at a distance through wireless technologies. One of the latest applications is in the field of implantable and ingestible medical devices (IIMDs) with integrated antennas for wireless radiofrequency (RF) communication (telemetry) with exterior monitoring/control equipment. Implantable medical devices (MDs) perform an expanding variety of diagnostic and therapeutic functions, while ingestible MDs receive significant attention in gastrointestinal endoscopy. Design of such wireless IIMD telemetry systems is highly intriguing and deals with issues related to: operation frequency selection, electronics and powering, antenna design and performance, and modeling of the wireless channel. In this paper, we attempt to comparatively review the current status and challenges of IIMDs with wireless telemetry functionalities. Full solutions of commercial IIMDs are also recorded. The objective is to provide a comprehensive reference for scientists and developers in the field, while indicating directions for future research.

Suture marker lesion detection in the colon by self-stabilizing and unmodified capsule endoscopes: pilot study in acute canine models

BACKGROUND

Capsule endoscopy is a noninvasive method for examining the small intestine. Recently, this method has been used to visualize the colon. However, the capsule often tumbles in the wider colon lumen, resulting in potentially missed pathology. In addition, the capsule does not have the ability to distend collapsed segments of the organ. Self-stabilizing capsule endoscopy is a new method of visualizing the colon without tumbling and with the ability to passively distend colon walls.

OBJECTIVE

To quantitatively compare the detection rate of intraluminal suture marker lesions for colonoscopy by using a custom-modified, self-stabilizing capsule endoscope (SCE); an unmodified capsule endoscope (CE) of the same brand; and a standard colonoscope.

DESIGN

Four mongrel dogs underwent laparotomy and the implantation of 5 to 8 suture markers to approximate colon lesions. Each dog had both capsule endoscopy and self-stabilizing capsule endoscopy, administered consecutively in random order. In each case, the capsule was inserted endoscopically into the proximal lumen of the colon followed by pharmacologically induced colon peristalsis to propel it distally through the colon. Blinded standard colonoscopy was performed by an experienced gastroenterologist after the capsule endoscopies.

SETTING

Experimental study in a live canine model.

SUBJECTS

Four dogs.

INTERVENTION

Laparotomy, capsule endoscopy, colonoscopy.

MAIN OUTCOME MEASUREMENTS

Comparison of the marker detection rate of the SCE to that of the unmodified MiroCam CE and a colonoscope.

RESULTS

The average percentages of the marker detection rate for unmodified capsule endoscopy, self-stabilizing capsule endoscopy, and colonoscopy, respectively, were 31.1%, 86%, and 100% (P < .01), with both self-stabilizing capsule endoscopy and colonoscopy performing significantly better than the unmodified capsule endoscopy.

LIMITATIONS

Acute canine model, suture markings poorly representative of epithelial polyps, limited number of animals.

CONCLUSION

The proposed self-stabilizing capsule endoscope delivered a significant improvement in detection rates of colon suture markings when compared with the unmodified capsule endoscope.