Surgical evaluation of a novel tethered robotic capsule endoscope using micro-patterned treads

Abstract

Proof-of-concept in vivo tRCE mobility using micro-patterned PDMS treads was shown. This suggests that a similar method could be implemented in future smaller, faster, and untethered RCEs.

Frictional resistance model for tissue-capsule endoscope sliding contact in the gastrointestinal tract

“…The major drawback of implementing locomotion for WCEs is the increase in complexity and size of the system. Several actuation methods for WCEs are under development, including legged [4], treaded [5], inchworm [6], magnetic [7][8][9] and hybrid [10] systems, all of which require dragging the capsule through the GI tract. A comprehensive discussion on capsule endoscope locomotion methods can be found in [11].…”

Small intestine mucosal adhesivity to in vivo capsule robot materials

“…Stainless steel, polycarbonate, and micropatterned PDMS are candidate materials for use in present or future robotic capsule endoscope designs and are therefore of interest to the authors. The micro-patterned PDMS is manufactured by the authors and is a drive component of a robotic capsule endoscope (Sliker et al, 2011) discussed in previous work (Sliker et al, 2010). The surface of the PDMS is covered with 70 mm tall, 140 mm diameter cylindrical pillars that are equally spaced at 245 mm center-tocenter distance.…”

“…Multiple research groups are investigating the feasibility of miniature, swallowable, in vivo, untethered robots that are capable of traversing the small intestine for the purpose of acquiring biometrics and performing simple surgical procedures (Glass et al, 2008;Woo et al, 2011;Sliker et al, 2011;Twomey, 2009;Quirini et al, 2008;Simi et al, 2010). This effort has been hindered, in part, by the lack of knowledge concerning the material properties of the intraluminal environment.…”

A wireless platform forin vivomeasurement of resistance properties of the gastrointestinal tract

“…It is desirable for the endoscopist to be able to maneuver the camera arbitrarily rather than relying on peristalsis to drive the capsule for adequate visualization of GI mucosa. For this reason, a relevant number of technical solutions have been recently proposed to provide active locomotion to WCE, including walking (Valdastri et al 2009) or crawling (Sliker et al 2012) capsules, remote magnetic manipulation (Ciuti et al 2010, Rey et al 2012, Keller et al 2011, and hybrid approaches , Yim & Sitti 2012.…”