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Surgical evaluation of a novel tethered robotic capsule endoscope using micro-patterned treads

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Abstract

Background

The state-of-the-art technology for gastrointestinal (GI) tract exploration is a capsule endoscope (CE). Capsule endoscopes are pill-sized devices that provide visual feedback of the GI tract as they move passively through the patient. These passive devices could benefit from a mobility system enabling maneuverability and controllability. Potential benefits of a tethered robotic capsule endoscope (tRCE) include faster travel speeds, reaction force generation for biopsy, and decreased capsule retention.

Methods

In this work, a tethered CE is developed with an active locomotion system for mobility within a collapsed lumen. Micro-patterned polydimethylsiloxane (PDMS) treads are implemented onto a custom capsule housing as a mobility method. The tRCE housing contains a direct current (DC) motor and gear train to drive the treads, a video camera for visual feedback, and two light sources (infrared and visible) for illumination.

Results

The device was placed within the insufflated abdomen of a live anesthetized pig to evaluate mobility performance on a planar tissue surface, as well as within the cecum to evaluate mobility performance in a collapsed lumen. The tRCE was capable of forward and reverse mobility for both planar and collapsed lumen tissue environments. Also, using an onboard visual system, the tRCE was capable of demonstrating visual feedback within an insufflated, anesthetized porcine abdomen.

Conclusion

Proof-of-concept in vivo tRCE mobility using micro-patterned PDMS treads was shown. This suggests that a similar method could be implemented in future smaller, faster, and untethered RCEs.

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Acknowledgments

The authors acknowledge the Colorado Nanofabrication Lab (CNL), a member of the National Nanotechnology Infrastructure Network, which is supported by the National Science Foundation (grant ECS-0335765). This publication was made possible in part by funds from the University of Colorado Innovative Seed Grant Program, the University of Colorado Undergraduate Research Opportunities Program (UROP), and the University of Colorado Discovery Learning Apprenticeship (DLA) program. This work was also funded in part by a Junior Faculty Pilot Award from the Colorado Clinical and Translational Sciences Institute (CCTSI) and supported by NIH/NCRR Colorado CTSI Grant Number UL1 RR025780. Levin Sliker is a National Science Foundation (NSF) Graduate Research Fellow.

Disclosures

Drs. Schoen and Rentschler, Mr. Sliker, and Ms. Kern have no conflicts of interest or financial ties to disclose.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Drive, Boulder, CO, 80309-0427, USA

    Levin J. Sliker, Madalyn D. Kern & Mark E. Rentschler

  2. Department of Surgery, University of Colorado Hospital, 12631 E 14th Avenue, Aurora, CO, 80045, USA

    Jonathan A. Schoen

Authors
  1. Levin J. Sliker
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  2. Madalyn D. Kern
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  3. Jonathan A. Schoen
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  4. Mark E. Rentschler
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Correspondence to Levin J. Sliker.

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Sliker, L.J., Kern, M.D., Schoen, J.A. et al. Surgical evaluation of a novel tethered robotic capsule endoscope using micro-patterned treads. Surg Endosc 26, 2862–2869 (2012). https://doi.org/10.1007/s00464-012-2271-y

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  • DOI: https://doi.org/10.1007/s00464-012-2271-y

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