Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers.
Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers.
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DOI：
10.1109/tbme.2013.2283369
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发表时间：
2014-02
期刊：
影响因子：
--
通讯作者：
Sitti M
中科院分区：
文献类型：
--
作者：
Yim S;Gultepe E;Gracias DH;Sitti M
本文提出了一种新的无线活检方法，其中磁驱动无系绳软胶囊内窥镜在胃内所需位置携带和释放大量热敏、无系绳微夹钳（μ夹钳），并在它们自折叠并抓取组织样本后将其回收。我们描述了μ夹具释放和回收机制的工作原理和分析模型，并在离体实验中评估了所提出的活检方法。这种分层方法将厘米级无束缚磁性胶囊内窥镜的先进导航技术与高度并行、自主、亚毫米级组织采样 μ 夹具相结合，为胃肠道胶囊活检提供了多功能策略。
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.