An endoscopic capsule robot: a meso-scale engineering case study

Abstract

A number of unique challenges arise in fabricating and assembling complex mechanisms at the meso-scale (hundreds of microns to centimetres). In general, for a complex multi-part mechanism at this length scale, no single machining technique can produce all the necessary parts-or often even a single individual part. Towards developing a comprehensive set of 'best practices' for combining multiple precision micromachining operations at the meso-scale, we present a case study on fabricating and assembling an endoscopic capsule robot. Existing passive imaging capsules have proven exceptionally useful in the diagnosis of the gastrointestinal tract, and robotic capsules promise to enhance their diagnostic capabilities and enable non-invasive treatment delivery. In this case study, we describe the fabrication of a robotic capsule (2.6 cm 3 in volume) containing a complex mechanism consisting of 72 components, each of which requires a variety of meso-or even micro-scale features. We describe the manufacturing processes used to produce these components and features (combinations of high precision, multiply refixtured computer numerical control processes, sink and wire electro discharge machining , laser cutting, etc). These results contribute to the emerging framework of best practices in meso-scale design and manufacture, illustrating ways to effectively combine several processes to produce a complex meso-scale device.

Experimental investigation of intestinal frictional resistance in the starting process of the capsule robot

“…Missed diagnosis and ileus will occur possibly during an 8-h inspection [7]. To improve the situation, many researchers are engaging in developing an active CE, which can be called capsule robot, using various driving mechanisms [8][9][10][11][12][13][14][15][16]. Before a practicable solution can be devised, the frictional characteristics between the capsule robot and the intestine need to be researched.…”

Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

“…During an 8-h inspection, problems of missed diagnosis and ileus are possible [3]. To improve the situation, active CE equipment with a self-actuation mechanism, which is called capsule robot, is currently under development in several laboratories [4][5][6][7][8][9]. Before a practicable solution can be devised, the frictional resistance of the intestine needs to be researched.…”

Intra-operative monocular 3D reconstruction for image-guided navigation in active locomotion capsule endoscopy

“…With regards to the first method, different mechanisms have been developed by exploiting paddles and linear actuators [17], or motorized legs [18]- [22]. Although internal locomotion would grant significant advantages, such as the potential to locally manipulate tissue away from the camera, a critical drawback is that it is power intensive, thus making long operation times unfeasible.…”