Untethered Robotic Motion and Rotating Blade Mechanism for Actively Locomotive Biopsy Capsule Endoscope
Untethered Robotic Motion and Rotating Blade Mechanism for Actively Locomotive Biopsy Capsule Endoscope
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DOI：
10.1109/access.2019.2927894
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发表时间：
2019-01-01
期刊：
影响因子：
3.9
通讯作者：
Kim, Chang-Sei
中科院分区：
文献类型：
--
作者：
Hoang, Manh Cuong;Viet Ha Le;Kim, Chang-Sei
胶囊内镜（CE）是一种方便、有前途的胃肠内镜诊断方法。然而，由于内部功率限制和微尺寸操作机制的限制，具有主动瞄准运动的多功能应用仍然具有挑战性。活检是肠CE最苛刻的功能之一，成功的发展可以显著提高肠道诊断的准确性和舒适性。在本文中，我们提出了一种新型的主动机车机器人活检胶囊内窥镜，该内窥镜采用外部驱动电磁驱动（EMA）系统和无电池无线旋转叶片机构。来自EMA系统的外部磁场控制着运动和活检操作，因此，所提出的机制不消耗CE的内部功率。我们将提出的活检模块原型化，并将其集成到一个主动机车胶囊内窥镜中。通过仿真对该模块进行了设计和磁响应分析。我们用活检胶囊内窥镜进行了体外和离体实验，以证明其可行性。综上所述，原型机器人活检胶囊内窥镜能够成功完成小肠内胶囊的必要运动，并以足够的力量在目标病变处进行活检。活检组织的数量足以进行组织学检查。
Capsule endoscopy (CE) is a convenient and promising alternative endoscopic method for the gastrointestinal diagnostics on clinical sites; however, multifunctional utilization with active targeting locomotion is still challenging due to internal power limitations and micro-size manipulation mechanisms. The biopsy is one of the most demanding functions of intestinal CE, and successful developments could significantly improve the intestinal diagnostics for precise decisions and comfortable usage. In this paper, we present a novel active locomotive robotic biopsy capsule endoscope using an externally driven electromagnetic actuation (EMA) system and a battery-free wireless rotating blade mechanism. The external magnetic field from the EMA system controls both locomotion and biopsy operation, and thus, the proposed mechanism does not consume the internal power of the CE. We prototyped the proposed biopsy module and integrated it into an active locomotive capsule endoscope. Simulations were conducted to design the module and analyze the magnetic responses. We performed experiments with the biopsy capsule endoscope both in vitro and ex vivo to demonstrate its feasibility. In conclusion, the prototyped robotic biopsy capsule endoscope could successfully perform the necessary movements for the capsule in the small intestine and perform a biopsy at the target lesion with sufficient force. The amount of biopsy tissue was sufficient for a histological examination.