Chromoendoscopy in magnetically guided capsule endoscopy

Mewes, Philip; Foertsch, Stefan; Juloski, Aleksandar; Angelopoulou, Elli; Goelder, Stefan; Guldi, Dirk M.; Hornegger, Joachim; Messmann, Helmut

doi:10.1186/1475-925x-12-52

Cited by 7 publications

(3 citation statements)

References 34 publications

(3 reference statements)

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“…The Magnetecs system has been used to steer a magnetic cardiac catheter in in vivo porcine experiments (Gang et al, 2011). The Olympus-Siemens system has been used in in vivo porcine experiments and human clinical trials (Rey et al, 2010(Rey et al, , 2012Mewes et al, 2013). Six-DOF electromagnetic control of an untethered device containing two non-collocated permanent magnets has been demonstrated in Berkelman and Dzadovsky (2013).…”

Section: Introductionmentioning

confidence: 99%

Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy

Mahoney

Abbott

2015

The International Journal of Robotics Research

164

116

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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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“…Early cancer detection mainly depends on radiographic imaging. The current examination methods of stomachs mainly consist of CT [ 2 - 5 ], magnetic resonance imaging (MRI) [ 4 , 6 ], endoscopy [ 7 , 8 ] and gas-barium double contrast X-ray gastrointestinalgraphy [ 9 , 10 ]. The image resolution of these devices is on the millimeter-scale.…”

Section: Introductionmentioning

confidence: 99%

Investigation of gastric cancers in nude mice using X-ray in-line phase contrast imaging

Zhu

Luo

2014

BioMedical Engineering OnLine

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BackgroundThis paper is to report the new imaging of gastric cancers without the use of imaging agents. Both gastric normal regions and gastric cancer regions can be distinguished by using the principal component analysis (PCA) based on the gray level co-occurrence matrix (GLCM).MethodsHuman gastric cancer BGC823 cells were implanted into the stomachs of nude mice. Then, 3, 5, 7, 9 or 11 days after cancer cells implantation, the nude mice were sacrificed and their stomachs were removed. X-ray in-line phase contrast imaging (XILPCI), an X-ray phase contrast imaging method, has greater soft tissue contrast than traditional absorption radiography and generates higher-resolution images. The gastric specimens were imaged by an XILPCIs’ charge coupled device (CCD) of 9 μm image resolution. The PCA of the projective images’ region of interests (ROIs) based on GLCM were extracted to discriminate gastric normal regions and gastric cancer regions. Different stages of gastric cancers were classified by using support vector machines (SVMs).ResultsThe X-ray in-line phase contrast images of nude mice gastric specimens clearly show the gastric architectures and the details of the early gastric cancers. The phase contrast computed tomography (CT) images of nude mice gastric cancer specimens are better than the traditional absorption CT images without the use of imaging agents. The results of the PCA of the texture parameters based on GLCM of normal regions is (F1 + F2) > 8.5, but those of cancer regions is (F1 + F2) < 8.5. The classification accuracy is 83.3% that classifying gastric specimens into different stages using SVMs.ConclusionsThis is a very preliminary feasibility study. With further researches, XILPCI could become a noninvasive method for future the early detection of gastric cancers or medical researches.

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“…The esophagogastric junction examination mainly depends on these methods such as CT 8 9 10 11 , magnetic resonance imaging (MRI) 10 12 , endoscopy 13 and gas-barium doublecontrast X-ray gastrointestinalgraphy 14 .…”

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Microdissection of Human Esophagogastric Junction Wall with Phase-contrast X-ray CT Imaging

Zhang

Zhou

Tian

et al. 2015

Sci Rep

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Phase-contrast x-ray imaging using an x-ray interferometer has great potential to reveal the structures inside soft tissues, because the sensitivity of this method to hydrogen, carbon, nitrogen, and oxygen is about 1000 times higher than that of the absorption-contrast x-ray method. In this study, we used phase-contrast X-ray CT to investigate human resected esophagogastric junction. This technology revealed the three-layer structure of the esophagogastric junction wall-mucous, submucosa and muscular layers. The mucous and muscular layers were clearly separated by a loose submucosa layer with a honeycomb appearance. The shape of the mucous and muscular layers was intact. The boundary between the mucous and submucosa layers was distinct, as was the border of the muscular and submucosa layers. The surface of the esophagogastric junction was displayed clearly through 3D reconstruction. The technology might be helpful in the diagnosis of esophagogastric junction lesion, especially for the early adenocarcinoma.The esophagogastric junction (OGJ) is located between the oesophagus and the stomach. It is a highly specialized anatomical region that is often difficult to understand 1 . The esophagogastric junction is important that backflow of stomach secretions into the oesophagus is controlled at the OGJ opening only transiently to allow passage of the swallowed food into the stomach. The diaphragmatic hiatus, through which the oesophagus passes at the OGJ, has a role in this valvular mechanism 2,3 . Its dynamic action is dependant upon the intrinsic and extrinsic effects of its own anatomical structure and its position with respect to the surrounding organs in this region of the body 4 .Several structures are important in maintaining a barrier at the OGJ. The lower oesophageal sphincter (LOS) forms part of the OGJ structure. The intrinsic muscles of the distal oesophagus and the sling fibers of the proximal stomach make up the internal mechanism structures of the LOS. The muscles of the diaphragm hat connect to the OGJ make up the crural diaphragm and this constitutes the external LOS mechanism structures. The tissue that connects the distal oesophagus to the crural diaphragm is known as the phreno-oesophageal ligament 5 .The OGJ can be distinguished from the body of the oesophagus by its behavior pattern. There is an increase in the tone of the circular muscle in this region. The sphincter relaxes in response to a swallow and this usually precedes the arrival of a contraction wave travelling down the oesophagus. This phase of relaxation is followed by a short-lasting elevation of pressure above resting values. In recent years

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Chromoendoscopy in magnetically guided capsule endoscopy

Cited by 7 publications

References 34 publications

Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy

Investigation of gastric cancers in nude mice using X-ray in-line phase contrast imaging

Microdissection of Human Esophagogastric Junction Wall with Phase-contrast X-ray CT Imaging

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