A Robotic Biopsy Device for Capsule Endoscopy

Abstract

This paper introduces a robotic biopsy device for capsule endoscopes. The proposed device consists of three modules for the complete process of biopsy, which includes monitoring the intestinal wall by a tissue monitoring module (TMM), aligning onto a polyp by an anchor module (AM), and sampling of the polyp tissue by a biopsy module (BM). The TMM utilizes a trigonal mirror as well as an on-board camera; since the TMM continuously takes images through lateral apertures, an operator such as a medical doctor is able to anchor the capsule endoscope onto the polyp and biopsy it with the visual feedback in real-time. When the operator finds a polyp using the TMM and the frontal camera of a capsule endoscope, then the AM is used to approach the polyp for biopsy. When the AM is in use, outriggers are extruded by shape-memory-alloy (SMA) springs, which results in the swelling of capsule endoscope body. In addition, an alignment module, which is a part of the AM, rotates the body of the capsule endoscope such that the biopsy razor can be aligned onto the polyp. Then, the BM excises a part of the polyp and seals the aperture, and the capsule endoscope continues exploring the intestine. The concept and working principles of the proposed device are introduced in this paper and are verified by a prototype that successfully integrates the three modules.

Optimizing lesion detection in small-bowel capsule endoscopy: from present problems to future solutions

“…These new capsules would allow not only recognizing a small-bowel lesion, but also, in a near future, collection of tissue samples and/or targeted delivery of drugs (TABLE 5) [13,[149][150][151][152][153][154][155][156][157][158][159][160][161][162][163][164].…”

An Effective Localization Method for Robotic Endoscopic Capsules Using Multiple Positron Emission Markers

“…WCE technology has been gaining substantial research attention recently, seen by the impressive number of studies on different aspects of WCE that have been published worldwide over the past ten years [3]. Current ongoing research studies are focusing on upgrading the endoscopic capsule to a more powerful medical device that can carry out both diagnostic and therapeutic capabilities [4], [5] such as biopsy [6], microsurgery, and targeted drug delivery [7]- [9].…”

Electromagnetic field intensity triggered micro-biopsy device for active locomotive capsule endoscope

“…The above two biopsy devices have small dimensions, and can be integrated into CEs; however, they could not generate a sufficient reaction force for an effective extraction process from their biopsy mechanisms acting on the tissue and intestinal wall and also it is not clear whether they could collect sufficient volume of tissue for histological analysis. Kong et al, also proposed an anchoring biopsy module, which was introduced with complete visual guidance [8] . The anchoring biopsy module solved the restriction of the reaction force, but the challenge of its huge size of capsule endoscope (40 mm x 15 mm) and high power consumption remains.…”