Miniaturized biopsy module using gripper tool for active locomotive capsule endoscope

Le, Viet Ha; Nguyen, Van Du; Lee, Cheong; Go, Gwangjun; Park, Jong-Oh; Park, Sukho

doi:10.1016/j.mechatronics.2017.04.011

Cited by 33 publications

(22 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…1 In the past two decades, impressive technological advances have occurred in CE systems to make them much more powerful devices with several additional functionalities, such as active locomotion, [2][3][4][5][6] drug delivery, [7][8][9][10][11] and biopsy. [12][13][14][15][16][17][18][19] Legged capsule robots (CRs), as one of these technologies, have been of interest to many researchers because of their ability to reliably dilate the intestine and stably anchor at a specific site. Expanding the intestinal tract can help reach the folds of the intestine to decrease leak detection, while anchoring can help the capsule not pass too quickly through a suspected area and thus improve the diagnostic accuracy.…”

Section: Introductionmentioning

confidence: 99%

Preliminary study of a novel capsule robot with spring-connected legs

Sun

Xin

et al. 2022

Advances in Mechanical Engineering

View full text Add to dashboard Cite

This paper proposes a novel capsule robot (CR) with spring-connected legs for potential usage in the gastrointestinal (GI) tract. The proposed CR has a set of six legs and is actuated by a micromotor through internal mechanisms. Every two adjacent legs are connected by a spring. The leg opening-folding movement, together with the spring stretching-contraction motion, may be employed to distend the GI tract, carry out drug delivery or perform biopsy. The relationship between the driving force required by the spring set and the spring length was carefully calculated and simulated. This relationship was also measured by an NI data acquisition system. The calculated and measured data showed good accordance with each other. In addition, the driving force from the micromotor was calculated. Both the calculations and the CR experiments demonstrated that the internal motor could provide sufficient force on the springs.

show abstract

Section: Introductionmentioning

confidence: 99%

Preliminary study of a novel capsule robot with spring-connected legs

Sun

Xin

et al. 2022

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…In contrast, magnetostatic drive method has been studied extensively due to it's advantages of lower cost, simpler operations and less harm to human body [12][13][14][15][16][17][18][19][20][21][22]. In our previous study [22], a magnetostatic drive method for magnetic spiral-type WCE has been proposed.…”

Section: Introductionmentioning

confidence: 99%

Research on Coaxial Control of Magnetic Spiral-Type Capsule Endoscope

Zhong

Zhang

et al. 2020

IEEE Access

View full text Add to dashboard Cite

In this paper, a novel method of controlling the wireless capsule endoscope (WCE) is proposed. The WCE is coated with a magnetic shell wounded by a spiral structure. The external permanent magnet (EPM) provides coaxial control to the magnetic spiral-type WCE. According to this control method, the maximum and minimum control distances between the EPM and WCE are theoretically analyzed and simulated by electromagnetic software, and the corresponding measured values are 276.3 mm, 87.1 mm, respectively. In experiments, the WCE's stable translational velocity can reach 32.9 mm/s. It indicates that this method is of good control performances and has great potential to be used in the future real clinical applications.

show abstract

“…The modules could collect tissue; however, the former mechanism yielded a low rate of retrieval and the latter with soft linkages was limited by locomotion (rolling only) and the working environment (limited in intestine). Previously, Le et al proposed several biopsy tools triggered by external magnetic fields (EMF) for a commercial WCE platform [26], [37]; however, the problems of energy usage for triggering and stabilizing the camera view during biopsy operation are still challenging. A capsule robot employing electric micro-actuators and being powered wirelessly could be another promising approach [38].…”

Section: Introductionmentioning

confidence: 99%

Untethered Robotic Motion and Rotating Blade Mechanism for Actively Locomotive Biopsy Capsule Endoscope

Hoang

Kim

et al. 2019

IEEE Access

Self Cite

View full text Add to dashboard Cite

Capsule endoscopy (CE) is a convenient and promising alternative endoscopic method for the gastrointestinal diagnostics on clinical sites; however, multifunctional utilization with active targeting locomotion is still challenging due to internal power limitations and micro-size manipulation mechanisms. The biopsy is one of the most demanding functions of intestinal CE, and successful developments could significantly improve the intestinal diagnostics for precise decisions and comfortable usage. In this paper, we present a novel active locomotive robotic biopsy capsule endoscope using an externally driven electromagnetic actuation (EMA) system and a battery-free wireless rotating blade mechanism. The external magnetic field from the EMA system controls both locomotion and biopsy operation, and thus, the proposed mechanism does not consume the internal power of the CE. We prototyped the proposed biopsy module and integrated it into an active locomotive capsule endoscope. Simulations were conducted to design the module and analyze the magnetic responses. We performed experiments with the biopsy capsule endoscope both in vitro and ex vivo to demonstrate its feasibility. In conclusion, the prototyped robotic biopsy capsule endoscope could successfully perform the necessary movements for the capsule in the small intestine and perform a biopsy at the target lesion with sufficient force. The amount of biopsy tissue was sufficient for a histological examination. INDEX TERMS Biopsy capsule endoscope, wireless capsule endoscope, electromagnetic actuation system, intestinal diagnosis.

show abstract

Miniaturized biopsy module using gripper tool for active locomotive capsule endoscope

Cited by 33 publications

References 16 publications

Preliminary study of a novel capsule robot with spring-connected legs

Preliminary study of a novel capsule robot with spring-connected legs

Research on Coaxial Control of Magnetic Spiral-Type Capsule Endoscope

Untethered Robotic Motion and Rotating Blade Mechanism for Actively Locomotive Biopsy Capsule Endoscope

Contact Info

Product

Resources

About