Miniature Endoscopic Capsule Robot using Biomimetic Micro-Patterned Adhesives

Abstract

This paper presents a stopping and a locomotion mechanism to be used with an endoscopic microcapsule robot. In the diagnosis of gastrointestinal diseases, microcapsules have been developed recently as alternatives to conventional endoscopy. However, they have less accuracy and functionality in diagnosis as they lack the ability to control their position. We propose mechanisms to be used with such microcapsules that would enable them to anchor and crawl in any position inside the small intestines. The stopping mechanism, actuated by coil type shape memory alloys, makes use of dry and wet elastomer (PDMS) micro-patterned adhesives inspired by beetles to attach to the intestinal tract. The locomotion mechanism, inspired by the locomotion principles of inchworms, is a modular expansion of the stopping mechanism. Both the stopping and the crawling locomotion mechanisms have been built and successfully tested inside a flexible vinyl tube. Results showed stopping with high repeatability and 0.5 mm/sec locomotion speed. The stopping mechanism was also integrated to a tethered camera for testing.

Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity

“…The frictional resistance variation is irregular, and the stick-slip phenomenon disappears. At the moment, many capsule robots move in the intestine at a low velocity, such as the bionic driving [28], legged locomotion [29] and so on. The average velocity of the above capsule robots is smaller than 10 mm/s.…”

A survey on actuators-driven surgical robots

“…Since the passive capsule has many disadvantages such as uncontrollability and the risk of retention, the development of actively controlled capsules with locomotion systems is needed 218 . SMA is prominently exploited to design actuators for these active locomotion mechanisms as well as biopsy application 25,75,100,102,218 . A stopping mechanism actuated by SMA coil and the locomotion inspired by the inch-worm's locomotion principles was designed for a capsule endoscopic robot 100 .…”

“…SMA is prominently exploited to design actuators for these active locomotion mechanisms as well as biopsy application 25,75,100,102,218 . A stopping mechanism actuated by SMA coil and the locomotion inspired by the inch-worm's locomotion principles was designed for a capsule endoscopic robot 100 . The authors made use of dry and wet elastomer (PDMS) micro-patterned adhesives inspired by beetles to stick to GI tract after being pushed by SMA actuated mechanism (see Fig.…”

Augmented 3-D View for Laparoscopy Surgery

“…To overcome these drawbacks, other types of endoscopes/vision devices have been explored in the literature (some are now commercialized) such as stereoendoscopes [4], or a digital camera directly placed inside the abdominal cavity [6]. Other solutions, based on software approaches have been proposed as for instance augmented reality, where a virtual model of the operative site is projected on the real image [1], [3], [7], or virtual reality where a 3-D virtual environment of the surgical scene is displayed so that the surgeon can plan the surgery or be guided in real time [11], [10].…”