Design, fabrication and control of a magnetic capsule-robot for the human esophagus

Hosseini, Saman; Mehrtash, Moein; Khamesee, Mir Behrad

doi:10.1007/s00542-011-1231-0

Cited by 30 publications

(18 citation statements)

References 23 publications

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“…Consequently, his follow-up work describes a capsule (5 9 12 mm 2 ) aimed at treatments of the esophagus. 111 Their field generator is based on earlier work on magnetic levitation systems. 112,113 Numerical optimization of electromagnetic end-effectors and permanent magnetic assemblies for capsule maneuvering is a field of active research.…”

Section: B1 Magnetically Guided Capsule Gastroscopymentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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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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Section: B1 Magnetically Guided Capsule Gastroscopymentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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“…Different tasks that cannot be performed using traditional technologies, such as targeted drug delivery and the clearing of clogged blood vessels, may be accomplished by navigating microrobots through complex structures (e.g., blood vessels) [3,4].…”

Section: Research Context and Problem Statementmentioning

confidence: 99%

“…Current microrobots allow navigating or transmitting information through complex, narrow structures, e.g., blood vessels [1,3,4].…”

Section: Microrobots In Medicinementioning

confidence: 99%

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MRI-based communication for untethered intelligent medical microrobots

Sharafi

Olamaei

2015

J Micro-Bio Robot

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“…Such systems are employed for cell/scaffold micromanipulations (1) , cell injections (2) , microsurgery (3) , and micro-drug delivery (4) . Untethered microrobotic systems are one of the most widely developing groups of microrobotic systems that have been extensively explored for biological and biomedical micromanipulations in recent decades.…”

Section: Introductionmentioning

confidence: 99%

Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

Mehrtash

Khamesee

2013

JAMDSM

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This paper introduces a novel micro-domain force estimation method for applications in a magnetic-haptic micromanipulation platform (MHMP). The MHMP employs the magnetic levitation technology in micro-domain worlds for ultra-high precision micromanipulation. In the MHMP, a microrobot that consists of a magnetic head and a body that includes electronic parts and an end-effector is manipulated by regulating an external magnetic field. The MHMP has been equipped with a haptic technology to allow a human operator to feel micro-domain environments and to intervene in dexterous tasks due to the poor knowledge from micro-worlds. To preserve a high feeling of a micro-domain environment for a human operator, the applied force/torque from the environment to the microrobot are required to be directly measured by specific sensors. Due to the size restriction, attaching force sensors to our microrobot is impractical. Therefore, we use a combination of Hall-effect sensor in the structure of the MHMP to estimate a single-axis force, eliminating the need for sensors on the microrobot. The Hall-sensors measure the magnetic flux and determine the location of the horizontally zero magnetic field gradient, B max location. It was realized that the applied force from the environment to the microrobot is linearly proportional to the distance of the microrobot from the B max location. The magnetic force which is equal to the environment force is calibrated using a cantilever deflection. The developed micro-domain force estimation method is verified experimentally, and it was demonstrated that this method has promising potential in estimating the environmental force applied to the microrobot in a non-contact way.

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Design, fabrication and control of a magnetic capsule-robot for the human esophagus

Cited by 30 publications

References 23 publications

Magnetically guided capsule endoscopy

Magnetically guided capsule endoscopy

MRI-based communication for untethered intelligent medical microrobots

Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

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