A Platform for Gastric Cancer Screening in Low- and Middle-Income Countries

Caprara, Robert J.; Obstein, Keith L.; Scozzarro, Gabriel; Natali, Christian Di; Beccani, Marco; Morgan, Douglas R.; Valdastri, Pietro

doi:10.1109/tbme.2014.2386309

Cited by 32 publications

(26 citation statements)

References 25 publications

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“…53 Other recent developments in WCE technology include tele-operated, global access, and cloud-based architectures for screening and therapeutics. 54,55,56…”

Section: A2 Physiological Sensing and Therapeuticsmentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air-and fluid-filled lumina and cavities in the body for minimally invasive medicine.

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“…53 Other recent developments in WCE technology include tele-operated, global access, and cloud-based architectures for screening and therapeutics. 54,55,56…”

Section: A2 Physiological Sensing and Therapeuticsmentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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“…Given the soft nature of the bellows (Nitrile, E=3MPa), the pressure rating used to actuated the PBA is relatively low (<6 PSI) when compared to other pneumatic systems (HydroJet [7] actuating pressure: 100 PSI of pressurized water, STIFF FLOP [15] max actuating pressure: 20 PSI). Lower pressure removes the need for pneumatic control valves and a high-pressure source such a pressurized tank.…”

Section: B Actuation Systemmentioning

confidence: 99%

“…The tip position vector x and the rotation matrix R representing the tip orientation can be expressed as in (6)(7)(8), resulting in the configuration to task space mapping F T as:…”

Section: Kinematic Modelingmentioning

confidence: 99%

“…However, the current dimensions of this device would not allow its direct translation to EGD. The HydroJet concept has also been proposed as a disposable endoscopic device using four water jets to provide actuation force at the instrument tip, with direct application in EGD [7]. The device is primarily limited by its range of motion and lack of controlled retroflexion (i.e.…”

Section: Introductionmentioning

confidence: 99%

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A disposable continuum endoscope using piston-driven parallel bellow actuator

Garbin

Wang

Chandler

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

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Abstract-This paper presents a novel low cost disposable continuum endoscope based on a piston-driven parallel bellow actuator design. The parallel bellow actuator achieves motion by being pressurized via displacement-controlled pistons. The displacements are generated by rack-and-pinion mechanisms using inexpensive stepper motors. The design concept provides a potential alternative solution to upper gastrointestinal (UGI) diagnosis. The modularity and the use of inexpensive components allow for low fabrication costs and disposability. The use of robotic assistance could facilitate the development of an easier interface for the gastroenterologists, avoiding the nonintuitive manipulation mapping of the traditional UGI endoscopes. We adapt existing kinematic solutions of multi-backbone continuum robots to model continuum parallel bellow actuators. An actuation compensation strategy is presented and validated to address the pneumatic compressibility through the transmission lines. The design concept was prototyped and tested with a custom control platform. The experimental validation shows that the actuation compensation was demonstrated to significantly improve orientation control of the endoscope end-effector. This paper shows the feasibility of the proposed design and lays the foundation toward clinical scenarios.

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“…A low-cost platform for inexpensive gastric screening has previously been demonstrated using a water-jet-based mechanism. 5,6 A parallel line configuration with flexible tubes was embedded into a flexible body. This design results in some limitations such as an unstable platform and unchangeable stiffness.…”

Section: Introductionmentioning

confidence: 99%