Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing, and Retrieving Untethered Microgrippers

Abstract

This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (μ-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the μ-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling μ-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy.

Biomedical Applications of Untethered Mobile Milli/Microrobots

“…These preliminary biopsy capsules have common drawbacks of inaccurate targeting of a certain area and inability of conducting biopsy for multiple times. On the other hand, in their soft capsule millirobot, Yim et al [12] could release hundreds of untethered microgrippers that could grab tissue stochastically by self-folding due to the increased body temperature, and retrieve the microgrippers with their grabbed tissues inside stomach ex vivo for further genetic analysis. Next, inside the eye, Ullrich et al tried to puncture a blood vessel close to the retina using the rotational motion of a magnetic millirobot with a sharp tip [103].…”

Sangrado del intestino delgado: enfoque y tratamiento

“…Se han desarrollado software para disminuir el tiempo de examen. El primer programa diseñado para optimizar la interpretación de los hallazgos fue el "indicador de rojos", que es un sistema que identifica los sitios con aumento de píxeles en escala de rojos, cuyo objetivo es facilitar la detección de sangrado (42). Aun así, todavía hay una alta tasa de falsos positivos y negativos.…”

A System-on-Chip Solution for a Low Power Active Capsule Endoscope with Therapeutic Capabilities for Clip Application in the Gastrointestinal Tract

“…At research level it is possible to find several capsules claiming outstanding performances in diagnosis [8][9][10][11][12][13][14]. There are also few devices focused on providing simple therapeutic capabilities [15][16][17][18][19].…”