Feasibility proof of a legged locomotion capsule for the GI tract

Quirini, M.; Menciassi, Arianna; Scapellato, S.; Dario, P.; Rieber, Fabian; Ho, Chi‐Nghia; Schostek, Sebastian; Schurr, M. O.

doi:10.1016/j.gie.2007.11.052

Cited by 100 publications

(87 citation statements)

References 13 publications

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“…With special reference to our previous legged capsule prototypes, the 4-leg capsule [16] speed was 3 cm/min, the 8-leg capsule [21] speed was 4 cm/min, and the 12-leg capsule [22] speed was 5 cm/min, while the hybrid capsule achieved a speed of 8 cm/min in the in vivo trials.…”

Section: Discussionmentioning

confidence: 95%

“…Several devices with embedded actuators and mechanisms have been proposed, providing satisfactory locomotion performance inside hollow cavities [16]- [20]. In particular, studies on legged capsules for LGI endoscopy have demonstrated that two independent leg sets promote effective motion in the gut [21], and that the maximization of the number of legs could enhance tissue distension in collapsed cavities [22]. The main drawback of this approach is related to power supply and space constraints.…”

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confidence: 99%

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Design, Fabrication, and Testing of a Capsule With Hybrid Locomotion for Gastrointestinal Tract Exploration

Simi

Valdastri

Quaglia

et al. 2010

IEEE/ASME Trans. Mechatron.

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137

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Abstract-This paper describes a novel solution for the active locomotion of a miniaturized endoscopic capsule in the gastrointestinal (GI) tract. The authors present the design, development, and testing of a wireless endocapsule with hybrid locomotion, where hybrid locomotion is defined as the combination between internal actuation mechanisms and external magnetic dragging. The capsule incorporates an internal actuating legged mechanism, which modifies the capsule profile, and small permanent magnets, which interact with an external magnetic field, thus imparting a dragging motion to the device. The legged mechanism is actuated whenever the capsule gets lodged in collapsed areas of the GI tract. This allows modification of the capsule profile and enables magnetic dragging to become feasible and effective once again. A key component of the endoscopic pill is the internal mechanism, endowed with a miniaturized brushless motor and featuring compact design, and adequate mechanical performance. The internal mechanism is able to generate a substantial force, which allows the legs to open against the intestinal tissue that has collapsed around the capsule body. An accurate simulation of the performance of the miniaturized motor under magnetic fields was carried out in order to define the best configuration of the internal permanent magnets (which are located very close to the motor) and the best tradeoff operating distance for the external magnet, which is responsible for magnetically dragging the capsule. Finally, a hybrid capsule was developed generating 3.8 N at the tip of the legged mechanism and a magnetic link force up to 135 mN. The hybrid capsule and its wireless control were extensively tested in vitro, ex vivo, and in vivo, thus confirming fulfilment of the design specifications and demonstrating a good ability to manage collapsed areas of the intestinal tract.

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Section: Discussionmentioning

confidence: 95%

mentioning

confidence: 99%

Design, Fabrication, and Testing of a Capsule With Hybrid Locomotion for Gastrointestinal Tract Exploration

Simi

Valdastri

Quaglia

et al. 2010

IEEE/ASME Trans. Mechatron.

Self Cite

137

View full text Add to dashboard Cite

show abstract

“…a) E-mail: hideohta@true.ocn.ne.jp DOI: 10.1587/transcom.E98.B.526 extracorporeal magnetic control [1]- [7] and the second is wireless (radio) control [8]- [10]. The former utilizes the interactive forces between a small magnet in or over the capsule endoscope and the magnetic field generated extracorporeally.…”

Section: Introductionmentioning

confidence: 99%

Innovations Leading Capsule Endoscopy into the New Frontier: Screening and Therapy at Home

Ohta

2015

IEICE Trans. Commun.

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SUMMARYThis paper proposed patient friendly capsule endoscopy (CE) for not only screening but also treatment. Two different types of CEs with an Internet utility were investigated. The first type used magnetic navigation in the stomach and colon for screening. Magnetic navigation enabled the capsule to explore the whole of the gastrointestinal tract with less risk of missing lesions and complete the screening within the battery life. The system's design was patiently friendly as it allowed the subjects to leave the hospital after the capsule had been navigated in the stomach. The second investigated two different therapeutic robotic endoscopes. Both prototypes were driven by DC motors and controlled remotely via the internet. In addition, they were equipped with therapeutic tools and each prototype's ability with the tools was assessed. The investigation showed it was possible to remotely control both prototypes and operate therapeutic tools via the Internet. The investigation identified areas for improvement, such as size, connection speed, security of data, and the holding the capsule's position during treatment, In conclusion, both methods have the potential to make capsule endoscopy a very patient friendly procedure that can be carried out anywhere.

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“…It is driven by friction between the inner intestinal tract wall and the robot shell. An eight-legged capsule robot [3,4] was designed and tested by M. Quirini. Its leg motion is driven by micro direct current motors.…”

Section: Introductionmentioning

confidence: 99%

A Study on Anchoring Ability of Three-Leg Micro Intestinal Robot

Wang¹,

Yan²

2012

ENG

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This paper proposes an anchoring and extending micro intestinal robot for medical inspection and surgery propose. The three-leg anchoring method is discussed in detail, and micro robot phantom model is used to test anchoring related parameters for mechanical design. A prototype is designed and fabricated base on the experiment results and is tested in in-vitro experiment. The prototype is locomotive in a pig small intestine under a diameter limitation.

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Feasibility proof of a legged locomotion capsule for the GI tract

Cited by 100 publications

References 13 publications

Design, Fabrication, and Testing of a Capsule With Hybrid Locomotion for Gastrointestinal Tract Exploration

Design, Fabrication, and Testing of a Capsule With Hybrid Locomotion for Gastrointestinal Tract Exploration

Innovations Leading Capsule Endoscopy into the New Frontier: Screening and Therapy at Home

A Study on Anchoring Ability of Three-Leg Micro Intestinal Robot

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