Electromagnetic Motion Control for Wireless Endoscope Capusles

无线内窥镜胶囊的电磁运动控制

• 批准号: 8824477
• 负责人: Peter Berkelman
• 金额: $ 7.05万
• 依托单位: UNIVERSITY OF HAWAII AT MANOA
• 依托单位国家: 美国
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-09-30 至 2016-07-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/8824477
• 关键词: Anatomic Models; Anatomy; Animal Model; Animals; Articular Range of Motion; Back; Biopsy; Catheters; Communication; Data; Development; Devices; Diagnosis; Dimensions; Drug Delivery Systems; Effectiveness; Electromagnetics; Electronics; Endoscopes; Endoscopy; FDA approved; Feedback; Friction; Gastrointestinal tract structure; Healthcare; Image; Imagery; Implant; Intervention; Intestines; Laboratories; Lighting; Liquid substance; Location; Magnetism; Medical; Medical Device; Methods; Miniaturization; Modeling; Motion; Patients; Performance; Pharmaceutical Preparations; Positioning Attribute; Procedures; Process; Property; Radio; Research; Resistance; Risk; Robot; Rotation; Sampling; Site; Solutions; Specimen; Staging; System; Testing; Time; Tissues; Torque; Translations; Tube; Validation; Wireless Technology; Work; arm; capsule; design; electric impedance; experience; feeding; grasp; handheld mobile device; haptics; improved; in vivo; innovation; meetings; new technology; novel; novel diagnostics; operation; physical model; preclinical study; pressure; programs; public health relevance; sensor; visual feedback

DESCRIPTION (provided by applicant): A central issue in healthcare is the difficulty to access specific sites inside the body for diagnosis or intervention with minimal invasiveness and risk to the patient. The ideal solution to this problem would be miniature self-mobile devices which can move to specific sites to capture images, deliver medication, or perform interventional procedures. Advances in miniaturization have produced commercially available, FDA approved, wireless endoscope capsules containing cameras, illumination, electronics, and radio data communications, which can record imagery of the gastrointestinal tract as they pass through by the digestive process, however these cannot as yet be controlled to move actively to specific sites with a given orientation. We propose the development and demonstration of a capsule endoscope with omnidirectional self-propulsion capabilities inside the gastrointestinal tract, using external electromagnetic coils and sensors to generate finely controlled forces and torques on the capsule, and detect its position and orientation. This research will take advantage of our laboratory experience in magnetic levitation with control of translation and rotation of permanent magnet platforms, in any direction and orientation, over large motion ranges in translation and unlimited rotation ranges. Although magnetic actuation for medical applications is a rapidly advancing research topic, existing approaches for endoscope capsule propulsion have severe limitations in manipulability and/or motion range, and typically cannot control position and orientation independently to position and point a miniature camera or to grasp tissue at a desired location. The novel and innovative features of the proposed methods are that translation and rotation can be controlled independently in all directions in force, position, or impedance, force and torque feedback can be provided to a teleoperation console during operation, and no robot arm or other cumbersome hardware is needed other than compact arrays of electromagnetic coils and sensors. The specific aims of this work are to (1) design and fabricate an electromagnetic endoscope propulsion system to maximize its operation range, capsule maneuverability, and positioning accuracy inside the gastrointestinal tract, (2) formulate and implement capsule propulsion control and navigation methods with a user teleoperation interface, and (3) test and validate the system operation using anatomical models and animal specimens. These proposed capsule endoscope propulsion methods can potentially provide novel diagnostic capabilities in healthcare, such as controlled imaging, biopsy, and other sensing in desired locations and orientations, and interventional therapy such as targeted drug delivery or tissue cutting in otherwise inaccessible anatomy.

描述(由申请人提供)：医疗保健中的一个中心问题是很难进入体内的特定部位进行诊断或干预，而对患者的侵入性和风险最小。这个问题的理想解决方案是微型的自我移动设备，它可以移动到特定的地点来捕获图像、输送药物或执行介入程序。在小型化方面的进步已经产生了商业化的、FDA批准的无线内窥镜胶囊，其中包含相机、照明、电子和无线电数据通信，当胃肠道通过消化过程时，它可以记录胃肠道的图像，然而这些还不能被控制为以给定的方向主动移动到特定的位置。我们建议开发和演示一种在胃肠道内具有全方位自推进能力的胶囊内窥镜，利用外部电磁线圈和传感器在胶囊上产生精确可控的力和力矩，并检测其位置和方向。这项研究将利用我们在磁悬浮方面的实验室经验，通过控制永磁体平台在任何方向和方向上的平移和旋转，在平移和无限旋转范围内的大运动范围。尽管医疗应用的磁致动是一个快速发展的研究课题，但现有的内窥镜胶囊推进方法在可操作性和/或运动范围方面具有严重的限制，并且通常不能独立地控制位置和方向来定位和对准微型相机或在所需位置抓取组织。该方法的新颖和创新之处在于，平移和旋转可以在力、位置或阻抗的各个方向上独立控制，在操作过程中可以向遥操作控制台提供力和力矩反馈，除了紧凑的电磁线圈和传感器阵列外，不需要机械臂或其他繁琐的硬件。这项工作的具体目标是：(1)设计和制造电磁内窥镜推进系统，以最大限度地提高其在胃肠道内的工作范围、胶囊的可操作性和定位精度；(2)利用用户遥操作界面来制定和实施胶囊推进控制和导航方法；(3)使用解剖模型和动物标本来测试和验证系统的操作。这些建议的胶囊内窥镜推进方法可能在医疗保健领域提供新的诊断能力，例如受控成像、活组织检查和所需位置和方向的其他传感，以及介入性治疗，如靶向药物输送或以其他方式无法接触到的解剖结构的组织切割。