Design of a magnetic actuation system for a microbiota-collection ingestible capsule

Finocchiaro, Martina; Giosuè, Cristina; Drago, Gaspare; Cibella, Fabio; Menciassi, Arianna; Sprovieri, Mario; Ciuti, Gastone

doi:10.1109/icra48506.2021.9561142

Cited by 14 publications

(14 citation statements)

References 12 publications

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“…However, this mechanism occupies a large space and is difficult to be integrated into the current commercial capsule endoscope. Similarly, the MTS structure was used for sampling bacteria from GI tract [112]. However, due to the opposite magnetic moment directions of the two magnets of each MTS, the directions of the magnetic force or magnetic torque acting on the IPMs are not consistent, which weakens the ability of the capsule robot for magnetic locomotion.…”

Section: A Biopsymentioning

confidence: 99%

Magnetically Actuated Capsule Robots: A Review

2022

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Capsule endoscopy is a procedure that uses a tiny wireless camera inside a capsule endoscope to take pictures of patient's gastrointestinal tract for diagnosis. Gastrointestinal examination has been revolutionized by capsule endoscope for its simplicity and non-invasiveness. However, at this stage, the capsule endoscope has weak controllable locomotion capability, and does not have extended functions such as biopsy, localization, and therapeutics, which has become the main obstacle to expanding its application. Using an external magnetic field to actuate the capsule endoscope has the advantages of simple response structure inside the capsule and remote energy supply, which can expand the above-mentioned functions of the capsule endoscope and develop into a multifunctional capsule robot. This paper analyzes two types of magnetic actuation systems for magnetically actuated capsule robots, discusses the research on the functions of magnetically actuated capsule robots in active locomotion, anchoring, biopsy, localization, therapeutics, wireless power supply, and multi-capsule robot collaboration, and points out the existing problems and future development directions of magnetically actuated capsule robots.INDEX TERMS Gastrointestinal tract, magnetically actuated, capsule endoscopy, capsule robot. FIGURE 1. A Schematic of the GI tract.

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Section: A Biopsymentioning

confidence: 99%

Magnetically Actuated Capsule Robots: A Review

2022

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“…Shape memory spring [15,16], foam or even hydrogel [17] have been considered to actuate and target the sampling task in the small intestine. To optimize the precision and localization of the sample in such passive capsules, magnetic actuation systems have been developed in [18,19]. In 2017, a research team from the laboratory TIMC-IMAG (Grenoble, France) developed a microbiota sampling capsule [20].…”

Section: Capsules Used For Microbiota Samplingmentioning

confidence: 99%

Microbiota Sampling Capsule: Design, Prototyping and Assessment of a Sealing Solution Based on a Bistable Mechanism

Salem

Aiche

Haddab

et al. 2022

Journal of Medical Devices

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The diagnosis and the treatment of gastrointestinal pathologies have experienced significant development in recent years with the invention of endoscopic capsules which facilitate the access to different sections of the gastrointestinal tract. At a research level, the concept of capsules has been used to perform several functions such as gastrointestinal tract inspection and drug delivery. Despite that, microbiota sampling still requires surgery in order to collect intestinal liquid samples. In this paper, we propose a microbiota sampling device that navigates through the gastrointestinal tract, takes a sample of the intestinal liquid and protects it from any contamination as the device navigates out of the human body. We use a bistable structure to close the capsule after sampling actuated by a foam. The device is safe for the human body and eco friendly, as it does not contain electronic components, batteries and does not require any external intervention. To manufacture the microbiota sampling capsule, we use additive manufacturing. This technology allows fast prototyping cycle at a relatively low cost. It also offers the use of biocompatible material in advanced stages of development.

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“…Controlled mechanisms overcame the challenges of upstream and downstream contamination and only opened at the targetsite to avoid cross contamination from other regions of the gut by using a range of actuation systems like magnets, motors and shape memory alloy (SMA) materials [20]- [23]. However, most of these proposed designs were based on arbitrary collection of surrounding fluid which does not capture the full microbiome as significant populations of microorganisms live on the gut lining (wall) [5] and the sampling mechanism needs to scrape or brush the intestinal wall to capture a full microbiome sample [24], [25]. The sampling location as well as the procedure used to collect the microbiota has critical implications on the quality of the information retrieved from sampling devices as the microbiome composition varies both longitudinally (e.g., duodenum, jejunum and ileum) and axially (e.g., lumen, epithelium, mucosa, submucosa) [26].…”

Section: Introductionmentioning

confidence: 99%

“…Recently, a magnetic actuation system was proposed to collect the microbiota from gut lining by brushing the mucosa layer but intestinal trials are yet to be realised [24].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of a Robotic Capsule for in vivo Sampling of Gut Microbiota

Rehan

Al‐Bahadly

Thomas

et al. 2022

IEEE Robot. Autom. Lett.

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Human gut microbiota can provide comprehensive information about the health of a host but the tools to collect microbiome samples are not currently available. A standalone wireless robotic capsule that has been developed in this study, collects the microbiota both from lumen (capsule surrounding) and intestinal wall (mucosa layer) for the first time. First, a two-way shape memory alloy (SMA) spring actuation system was developed by tackling the high-drain current requirement of SMAs. The actuator can produce a 800 mN force that was sufficient to collect samples. Second, successful encapsulation of the collected sample to avoid contamination was realised by testing 3 main sealing materials. Third, the robotic capsule was tested in a gut simulator that mimics in-vivo environment to ensure successful and safe travel of the capsule along the gastrointestinal tract. Finally an in vitro experimental setup that keeps an intestine alive for 6 hours was used to optimise the sample collection. The capsule collected 128 µL and 107 µL samples (which are sufficient quantities for microbiome analysis) from duodenual and ileal tissues of a sheep. The proposed robotic capsule has a potential to become a vital apparatus for clinicians to sample human and animal gut in the future.

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Design of a magnetic actuation system for a microbiota-collection ingestible capsule

Cited by 14 publications

References 12 publications

Magnetically Actuated Capsule Robots: A Review

Magnetically Actuated Capsule Robots: A Review

Microbiota Sampling Capsule: Design, Prototyping and Assessment of a Sealing Solution Based on a Bistable Mechanism

Development of a Robotic Capsule for in vivo Sampling of Gut Microbiota

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