Abstract
Instruments for GI diagnostics are increasingly moving toward robotic capsule endoscopes because of their locomotion capabilities. This paper presents a wirelessly powered robotic capsule endoscope that can actively move in the small bowel exploiting the expanding–extending principle. After analyzing the demands of the locomotion, a novel radial motion mechanism with a large expanding/retracting radial ratio was designed, as was an axial motion mechanism with a compact structure. A control system with a special position detector to let the micro-motors avoiding stall state was developed to enhance the stability of the mechanism and reduce the robot’s power requirements. The wireless power system enabled the robot to inspect the full length of the intestinal tract. The assembled micro-robot was 14 mm in diameter and 45 mm in length. The maximum anchoring diameter was 32 mm, and the axial telescopic length was 9.5 mm. The test results proved the feasibility of the robot.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Valdastri, P., Simi, M., and Webster III, R. J., “Advanced Technologies for Gastrointestinal Endoscopy,” Annual Review of Biomedical Engineering, Vol. 14, pp. 397–429, 2012.
Cuschieri, A. and Melzer, A., “The Impact of Technologies on Minimally Invasive Therapy,” Surgical Endoscopy, Vol. 11, No. 2, pp. 91–92, 1997.
Menciassi, A., Quirini, M., and Dario, P., “Microrobotics for Future Gastrointestinal Endoscopy,” Minimally Invasive Therapy & Allied Technologies, Vol. 16, No. 2, pp. 91–100, 2007.
Moglia, A., Menciassi, A., Schurr, M. O., and Dario, P., “Wireless Capsule Endoscopy: From Diagnostic Devices to Multipurpose Robotic Systems,” Biomedical Microdevices, Vol. 9, No. 2, pp. 235–243, 2007.
Iddan, G., Meron, G., Glukhovsky, A., and Swain, P., “Wireless Capsule Endoscopy,” Nature, Vol. 405, No. 6785, pp. 417–417, 2000.
Meltzer, A. C., Ali, M. A., Kresiberg, R.B., Patel, G., Smith, J. P., et al., “Video Capsule Endoscopy in the Emergency Department: A Prospective Study of Acute Upper Gastrointestinal Hemorrhage,” Annals of Emergency Medicine, Vol. 61, No. 4, pp. 438–443, 2013.
Ciuti, G., Menciassi, A., and Dario, P., “Capsule Endoscopy: From Current Achievements to Open Challenges,” IEEE Reviews in Biomedical Engineering, Vol. 4, pp. 59–72, 2011.
Zhou, H., Alici, G., Than, T. D., and Li, W., “Modeling and Experimental Characterization of Propulsion of a Spiral-Type Microrobot for Medical Use in Gastrointestinal Tract,” IEEE Transactions on Biomedical Engineering, Vol. 60, No. 6, pp. 1751–1759, 2013.
Yim, S. and Sitti, M., “Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope,” IEEE Transactions on Robotics, Vol. 28, No. 1, pp. 183–194, 2012.
Lee, J. S., Kim, B., and Hong, Y. S., “A Flexible Chain-based Screw Propeller For Capsule Endoscopes,” Int. J. Precis. Eng. Manuf., Vol. 10, No. 4, pp. 27–34, 2009.
Hong, Y. S., Kim, J. Y., Kwon, Y. C., and Song, S. Y., “Preliminary Study of a Twistable Thread Module on a Capsule Endoscope in a Spiral Motion,” Int. J. Precis. Eng. Manuf., Vol. 12, No. 3, pp. 461–468, 2011.
Chen, W., Yan, G., Wang, Z., Jiang, P., and Liu, H., “A Wireless Capsule Robot with Spiral Legs for Human Intestine,” The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 10, No. 2, pp. 147–161, 2014.
Park, H. J., Kim, D., and Kim, B., “A Robotic Colonoscope with Long Stroke and Reliable Leg Clamping,” Int. J. Precis. Eng. Manuf., Vol. 13, No. 8, pp. 1461–1466, 2012.
Lin, W., Shi, Y., Jia, Z., and Yan, G., “Design of a Wireless Anchoring and Extending Micro Robot System for Gastrointestinal Tract,” The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 9, No. 2, pp. 167–179, 2013.
Ito, T., Kito, Y., Ishimori, S., Phunopas, A., and Hayashi, T., “Capsule Micromechanism Driven by Impulse,” Micromechanics and Microactuators, pp. 11–22, 2012.
Gao, P., Yan, G., Wang, Z., Wang, K., Jiang, P., and Zhou, Y., “A Robotic Endoscope based on Minimally Invasive Locomotion and Wireless Techniques for Human Colon,” The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 7, No. 3, pp. 256–267, 2011.
Valdastri, P., Webster, R. J., Quaglia, C., Quirini, M., Menciassi, A., and Dario, P., “A new mechanism for mesoscale legged locomotion in compliant tubular environments,” IEEE Transactions on Robotics, Vol. 25, No. 5, pp. 1047–1057, 2009.
Wang, K., Yan, G., Jiang, P., and Ye, D., “A Wireless Robotic Endoscope for Gastrointestine,” IEEE Transactions on Robotics, Vol. 24, No. 1, pp. 206–210, 2008.
Quirini, M., Menciassi, A., Scapellato, S., Stefanini, C., and Dario, P., “Design and Fabrication of a Motor Legged Capsule for the Active Exploration of the Gastrointestinal Tract,” IEEE/ASME Transactions on Mechatronics, Vol. 13, No. 2, pp. 169–179, 2008.
Terry, B. S., Lyle, A. B., Schoen, J. A., and Rentschler, M. E., “Preliminary Mechanical Characterization of the Small Bowel for in Vivo Robotic Mobility,” Journal of Biomechanical Engineering, Vol. 133, No. 9, Paper No. 091010, 2011.
Lyle, A. B., Luftig, J. T., and Rentschler, M. E., “A Tribological Investigation of the Small Bowel Lumen Surface,” Tribology International, Vol. 62, pp. 171–176, 2013.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
He, S., Yan, GZ., Ke, Q. et al. A wirelessly powered expanding-extending robotic capsule endoscope for human intestine. Int. J. Precis. Eng. Manuf. 16, 1075–1084 (2015). https://doi.org/10.1007/s12541-015-0139-5
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12541-015-0139-5