Feasibility proof of a legged locomotion capsule for the GI tract
Feasibility proof of a legged locomotion capsule for the GI tract
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DOI：
10.1016/j.gie.2007.11.052
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发表时间：
2008-06-01
影响因子：
7.7
通讯作者：
Schurr, Marc Oliver
中科院分区：
文献类型：
--
作者：
Quirini, Marco;Menciassi, Arianna;Schurr, Marc Oliver
背景：结肠镜和胃镜是消化道恶性疾病最重要的筛查手段。一个主要的限制是缺乏患者的依从性来一个灵活的内窥镜检查，特别是在无症状的条件下。目的：新一代的内窥镜胶囊的可行性证明的基础上，一种新型的推进机制，具有机电腿。设计：遥控内窥镜8腿胶囊。设置：Scuola Classiore Sant'安娜，比萨，意大利，和novineon Healthcare Technology Partners GmbH，Tubingen，德国。主要结果测量：成功的运动在下胃肠道（LGI）模型和在猪colon.Results：测试会议被组织成重复的体外试验和体内试验。进行重复测试以在标准化条件下的各种小系列个体实验中收集可重复的数据，从而定义最佳运动参数。在猪结肠进行体内试验：胶囊，经肛门插入，在口腔方向向上行进15厘米，在约5分钟，对pastosis.Limitations：胶囊的当前版本的旅行曲线反弹从墙壁和以下一步一步的弯曲肠的方向。指导机制尚未implemented.Conclusions：本研究显示了系统的发展和医疗评估的成像胶囊与自推进能力。在离体模模型中成功证明了完整的结肠通道。在体内试验中实现了净运动，从而证明了腿运动作为LGI中自移动内窥镜装置问题的可能解决方案的可行性。
Background: A colonoscopy and a gastroscopy are the most important screening measures for malignant diseases in the GI tract. One of the main limitations is the lack of patient adherence to come in for a flexible endoscopy, especially in asymptomatic conditions.Objective: The feasibility proof of a new generation of endoscopic capsules based on a novel propelling mechanism that features electromechanical legs.Design: Teleoperated endoscopic 8-legged capsule.Setting: Scuola Superiore Sant'Anna, Pisa, Italy, and novineon Healthcare Technology Partners GmbH, Tubingen, Germany.Main Outcome Measurements: Successful locomotion in a lower-GI tract (LGI) phantom model and in a porcine colon.Results: The testing session was organized into repetitive ex vivo trials and in vivo tests. The repetitive tests were performed for collecting reproducible data in various small series of individual experiments in standardized conditions, thus defining the best locomotion parameters. In vivo tests were performed in a porcine colon: the capsule, inserted transanally, traveled upward in the oral direction for 15 cm in about 5 minutes, against peristalsis.Limitations: The current version of the capsule travels curves by bouncing back from the wall and following step by step the direction of the curved bowel. Steering mechanisms are not yet implemented.Conclusions: This study shows the systematic development and medical assessment of an imaging capsule with self-propelling abilities. A full colonic passage was successfully demonstrated in the ex vivo phantom model. A net movement in in vivo tests has been achieved, thus giving a feasibility proof of the legged locomotion as a possible solution to the problem of self-locomoting endoscopic devices in the LGI.