Method for navigation and control of a magnetically guided capsule endoscope in the human stomach

Abstract

The use of flexible endoscopes is the standard screening method for the upper gastrointestinal tract today. Disadvantages for the patient, due to the insertion process and often applied sedation, can be overcome with wireless capsule endoscopy (WCE). But WCE is not suited for the stomach as it can not guarantee a complete screening having no active guidance. With the magnetically guided capsule endoscopy (MGCE) a novel minimal invasive screening method for the gastrointestinal tract is being developed. With its current focus on the human stomach comes the need for a navigation and control method that is specialized for this application and its constraints. We present a new method for screening a waterfilled stomach with 10 functions for basic capsule movements, special maneuvers and mode-changes. Its evaluation was done in a clinical study consisting of 53 patient and volunteer cases. The individual evaluation of each function included a statistical analysis and an operators' survey. The functions proved sufficient to reach all parts of the stomach and to acquire close-up views of the mucosa.

Optical Filter for Providing the Required Illumination to Enable Narrow Band Imaging

“…Available MDs are equipped with white light-emitting diodes (LEDs), which have very limited spectral power at 415 nm (blue) and 540 nm (green). For NBI technique, the MD must be immobilized [3][4][5]. …”

Experimental Investigation of the Spiral Structure of a Magnetic Capsule Endoscope

“…For example, in the early period, Phee et al proposed a robot imitating inchworm locomotion [13], and Quirini et al and Gábor et al separately presented legged and swimming microrobots [9][10]. Recently, some scholars presented investigation systems generating external driving magnetic fields using a permanent magnet or electromagnet.…”

“…Carpi et al reported that the capsule was magnetically steered via a robotic magnetic navigation system (Niobe, Stereotaxis, Inc, USA) in the GI tract of a pig [12]. Keller and Swain et al reported magnetical guidance of a WCE in the human oesophagus and stomach [13,14]; similarly, Ciuti et al reported a method for the magnetic steering and locomotion of a WCE [15]. Arthur et al presented the 5-DOF manipulation of a magnetic capsule in fluid using a single permanent magnet [16,17].…”

5-DOF Manipulation of an Untethered Magnetic Device in Fluid using a Single Permanent Magnet

“…Note the large distance between the actuator magnet and the capsule. pus and Siemens, consisting of 12 electromagnets through which a patient is positioned, for the control of a magnetic capsule endoscope in a fluid-distended stomach [16]. 6-DOF electromagnetic control of an untethered device containing two permanent magnets has been demonstrated in [25].…”