Localization strategies for robotic endoscopic capsules: a review

Bianchi, Federico; Masaracchia, Antonino; Barjuei, Erfan Shojaei; Menciassi, Arianna; Arezzo, Alberto; Koulaouzidis, Anastasios; Stoyanov, Danail; Dario, P.; Ciuti, Gastone

doi:10.1080/17434440.2019.1608182

Cited by 87 publications

(51 citation statements)

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“…in 2012 [ 325 ] as a trade‐off between capsule and traditional colonoscopy combining the benefits of low‐invasive propulsion (through “front‐wheel” locomotion) with the multifunctional tether for treatment; was the capsule n.0 and the forerunner of a significant number of derived improvements, new implementations and allied magnetically guided endoscopic devices. Indeed, the system has been improved in the subsequent years, for instance, in terms of modelling, [ 326,327 ] tracking and localization, [ 328–330 ] and control, [ 331–333 ] toward autonomous locomotion strategies [ 334 ] and other applications. [ 335 ] In the recent years, a derived novel soft‐tethered magnetically guided colonoscope was designed within a European H2020 project, called “Endoscopic versatile robotic guidance, diagnosis and therapy of magnetic‐driven soft‐tethered endoluminal robots (Endoo project),” coordinated by Scuola Superiore Sant'Anna (Pisa, Italy).…”

Section: Biomedical Magnetic‐driven Robotsmentioning

confidence: 99%

Magnetic Actuation Methods in Bio/Soft Robotics

Ebrahimi

Cappelleri

et al. 2020

Adv Funct Materials

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174

104

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In recent years, magnetism has gained an enormous amount of interest among researchers for actuating different sizes and types of bio/soft robots, which can be via an electromagnetic‐coil system, or a system of moving permanent magnets. Different actuation strategies are used in robots with magnetic actuation having a number of advantages in possible realization of microscale robots such as bioinspired microrobots, tetherless microrobots, cellular microrobots, or even normal size soft robots such as electromagnetic soft robots and medical robots. This review provides a summary of recent research in magnetically actuated bio/soft robots, discussing fabrication processes and actuation methods together with relevant applications in biomedical area and discusses future prospects of this way of actuation for possible improvements in performance of different types of bio/soft robots.

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Section: Biomedical Magnetic‐driven Robotsmentioning

confidence: 99%

Magnetic Actuation Methods in Bio/Soft Robotics

Ebrahimi

Cappelleri

et al. 2020

Adv Funct Materials

Self Cite

174

104

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“…The first way is when we put the magnetic sources in the capsule and the sensing modules outside the patient's body, And the second way is by putting the sensing module in the capsule and the magnetic sources outside of the patient's body [22].…”

Section: Figure-4 the Block Diagram Of The Proposed Systemmentioning

confidence: 99%

Untitled

2020

AJLS

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Among the photosensitizers used in Photodynamic therapy (PDT) technique for cancer treatment, it is found out that the Methylene blue and glycoconjugates chlorine are the best ones for this purpose. In this paper, it is suggested to use Active Capsule Wireless Endoscopy Robot instead of the traditional endoscope. The capsule has many valuable features. It uses LEDs as a source of light in the PDT to kill the colon cancer cells. So, the doctor can make use of the advantage of applying the LED light locally at the tumor which was previously injected by the photosensitizers, the light activates these photosensitizers and a photochemical reaction starts that makes the colon cancer cells die. The light with effective wavelength and power density, energy level and controlled LED light intensity will be applied. Active locomotion capsule endoscopy with an electromagnetic actuation system that can achieve a 3-D locomotion and guidance within the digestive system. The paper also discussed how to manage the required power in the capsule for all parts, LEDs, camera, transceiver, and locomotion.

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“…In order to overcome the limitation of passive motion of the wireless capsule endoscope, one kind of capsule endoscope with active motion, called a magnetic drive capsule endoscope, has been developed by researchers in the past few years [ 8 , 9 , 10 , 11 ]. Based on the traditional capsule endoscope structure, a permanent magnet is embedded in the capsule.…”

Section: Introductionmentioning

confidence: 99%

The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases

et al. 2020

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Intestinal-related diseases all around the world are increasing nowadays, and gradually become stubborn diseases threatening human health, and even lives. Diagnosis methods have attracted more and more attention. This article concerns a non-invasive way, a novel micro-robot, to diagnose intestinal diseases. This proposed micro-robot is a swallowable device, 14 mm in diameter, like a capsule. In order to make it possible for the micro-robot to move forward, backward, or anchor itself at a suspicious lesion point in the intestine with different lumen diameter sections, two key mechanisms have been proposed. One is an expanding mechanism with two-layer folded legs for anchoring. The designed expanding mechanism could realize a large variable diameter ratio, upwards of 3.43. In addition, a pair of specific annular gears instead of a traditional pinion drive is devised not only saving limited space, but also reducing energy loss. The other mechanism is a telescoping mechanism, possessing a self-locking lead screw nut system, which is used to obtain axial motion of the micro-robot. Then, the kinematics and dynamics of the micro-robot are analyzed. After that, the following experiments, including force tests and locomotion tests, are constructed. A good match is found between the theoretical results and the experimental data. Finally, in vitro experiments are performed with a prototype to verify the safety and reliability of the proposed micro-robot in porcine intestine.

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Localization strategies for robotic endoscopic capsules: a review

Cited by 87 publications

References 50 publications

Magnetic Actuation Methods in Bio/Soft Robotics

Magnetic Actuation Methods in Bio/Soft Robotics

Untitled

The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases

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