Wireless Insufflation of the Gastrointestinal Tract

Gorlewicz, Jenna L.; Battaglia, Santina; Smith, Byron F.; Ciuti, Gastone; Gerding, Jason S.; Menciassi, Arianna; Obstein, Keith L.; Valdastri, Pietro; Webster, Robert J.

doi:10.1109/tbme.2012.2230631

Cited by 39 publications

(25 citation statements)

References 23 publications

(29 reference statements)

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“…Integrating the methods proposed in this work in a platform such as the one reported in (Valdastri, Ciuti, Verbeni, Menciassi, Dario, Arezzo & Morino 2012) would enable "closed-loop control" of magnetic locomotion, by adjusting in real time the external source of the magnetic field to optimize the coupling with the capsule at any given point in time. Insufflation techniques such as the one proposed by the authors in (Valdastri, Ciuti, Verbeni, Menciassi, Dario, Arezzo & Morino 2012, Gorlewicz et al 2013 would then prevent the magnetic capsule from becoming stuck along the way during the endoscopic examination.…”

Section: Discussionmentioning

confidence: 99%

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

et al. 2014

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Abstract. Active locomotion of wireless capsule endoscopes has the potential improve the diagnostic yield of this painless technique for the diagnosis of gastrointestinal tract disease. In order to design effective locomotion mechanisms, a quantitative measure of the propelling force required to effectively move a capsule inside the gastrointestinal tract is necessary.In this study, we introduce a novel wireless platform that is able to measure the force opposing capsule motion, without perturbing the physiologic conditions with physical connections to the outside of the gastrointestinal tract. The platform takes advantage of a wireless capsule that is magnetically coupled with an external permanent magnet. A secondary contribution of this manuscript is to present a real-time method to estimate the axial magnetic force acting on a wireless capsule manipulated by an external magnetic field. In addition to the intermagnetic force, the platform provides real-time measurements of the capsule position, velocity, and acceleration.The platform was assessed with benchtop trials within a workspace that extends 15 cm from each side of the external permanent magnet, showing average error in estimating the force and the position of less than 0.1 N and 10 mm, respectively. The platform was also able to estimate the dynamic behavior of a known resistant force with an error of 5.45%. Finally, an in vivo experiment on a porcine colon model validated the feasibility of measuring the resistant force in opposition to magnetic propulsion of a wireless capsule.

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Section: Discussionmentioning

confidence: 99%

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

et al. 2014

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“…In another medical application, Wireless Capsule Endoscopy (WCE), magnetic coupling has been used to remotely actuate different mechanisms embedded in prototypes of robotic capsules. It is envisaged that such mechanisms can enhance the existing WCE's capability as a complementary diagnostic medical tool [5] and may allow medical practitioners to perform more complex procedures such as biopsy [2,6] and wireless insufflation [7].…”

Section: Introductionmentioning

confidence: 99%

“…For example, a ring-shaped IPM to control the trajectory of a CE was used in [8,9], ring-shaped IPMs to deploy legs as a locomotion system for a CE were used in [10,11], cylindrical IPMs for biopsy purposes were used in [2,6] and two spherical IPMs to achieve wireless insufflation were employed in [7]. Furthermore, two cylindrical IPMs to release drug from a chamber in a prototype of CE were reported in [12,13].…”

Section: Introductionmentioning

confidence: 99%

Size Optimization of a Magnetic System for Drug Delivery With Capsule Robots

Munoz

Alici

et al. 2016

IEEE Trans. Magn.

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In this paper, we present a methodology for the size optimization of an external magnetic system made of arcshaped permanent magnets (ASMs). This magnetic system is able to remotely actuate a drug-release module embedded in a prototype of a capsule robot. The optimization of the magnetic system is carried out by using an accurate analytical model that is valid for any arbitrary dimensions of the ASMs. By using this analytical model, we perform parametric studies and conduct a statistical analysis [analysis of variance (ANOVA)] to investigate efficient ways to distribute the volume of the ASMs so that the dimensions and volume of the magnetic system are minimized while optimal flux densities and magnetic torques are obtained to actuate the drug delivery system (DDS). The ANOVA results, at 5% significance level, indicate that changes in the angular width followed by changes in the length of the ASMs have the highest impact on the magnetic linkage. Furthermore, our experimental results, which are in agreement with the analytical results, show that the size optimization of the magnetic system is effective for the actuation of the DDS in capsule robots. In this paper, we present a methodology for the size optimization of an external magnetic system made of arc-shaped permanent magnets (ASMs). This magnetic system is able to remotely actuate a drug release module embedded in a prototype of capsule robot. The optimization of the magnetic system is carried out by using an accurate analytical model that is valid for any arbitrary dimensions of the ASMs. By using this analytical model, we perform parametric studies and conduct a statistical analysis (ANOVA) to investigate efficient ways to distribute the volume of the ASMs so that the dimensions and volume of the magnetic system are minimized while optimal flux densities and magnetic torques are obtained to actuate the drug delivery system (DDS). The ANOVA results, at 5% significance level, indicate that changes in the angular width followed by changes in the length of the ASMs have the highest impact on the magnetic linkage. Furthermore, our experimental results, which are in agreement with the analytical results, show that the size optimization of the magnetic system is effective for the actuation of the DDS in capsule robots.Index Terms-Capsule robot, drug delivery, magnetic actuation, permanent magnets.

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“…For example, cylindrical magnets have been used to control the trajectory of a CE [10], to deploy legs to provide the locomotion of a CE [11,12], to perform biopsy procedures [13,14], and also to achieve wireless insufflation [15]. In addition, cylindrical magnets have been also used to release a drug from a chamber in a prototype of WCE [3].…”

Section: Introductionmentioning

confidence: 99%

“…In all those studies [3,[10][11][12][13][14][15], the maximum operating distance is 150 mm which is not large enough for a realistic WCE application. In order to overcome this problem, we propose a magnetomechanical system made of an array of multiple permanent magnets, which enhances the magnetic field when the operating distance is increased to a more realistic distance of 240 mm.…”

Section: Introductionmentioning

confidence: 99%

A Magnetically Actuated Drug Delivery System for Robotic Endoscopic Capsules

Munoz

Alici

2015

Journal of Medical Devices

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There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board components are still drawbacks of such systems. In this paper, we propose an innovative magnetic system that consists of an array of magnets, which activates a DDS, based on an overly miniaturized slider-crank mechanism. We use analytical models to compare the magnetic fields generated by cylindrical and arc-shaped magnets. Our experimental results, which are in agreement with the analytical results, show that an optimally configured array of the magnets enhances the magnetic field and also the driving magnetic torque and subsequently, it imposes a high enough force on the piston of the DDS to expel a required dose of a drug out of a reservoir. We conclude that the proposed magnetic field optimization method is effective in establishing an active DDS that is designed to deliver drug profiles with accurate control of the release rate, release amount, and number of doses. There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board components are still drawbacks of such systems. In this paper, we propose an innovative magnetic system that consists of an array of magnets, which activates a DDS, based on an overly miniaturized slider-crank mechanism. We use analytical models to compare the magnetic fields generated by cylindrical and arc-shaped magnets. Our experimental results, which are in agreement with the analytical results, show that an optimally configured array of the magnets enhances the magnetic field and also the driving magnetic torque and subsequently, it imposes a high enough force on the piston of the DDS to expel a required dose of a drug out of a reservoir. We conclude that the proposed magnetic field optimization method is effective in establishing an active DDS that is designed to deliver drug profiles with accurate control of the release rate, release amount, and number of doses.

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Wireless Insufflation of the Gastrointestinal Tract

Cited by 39 publications

References 23 publications

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

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

Size Optimization of a Magnetic System for Drug Delivery With Capsule Robots

A Magnetically Actuated Drug Delivery System for Robotic Endoscopic Capsules

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