Design, fabrication and control of a magnetic capsule-robot for the human esophagus

Much research on the development of a robotic capsule and micro robot for the diagnosis of gastrointestinal diseases has been carried out. The powering of these micro systems is becoming very challenging as the implementation of such systems is limited due to the existence of on-board power supplies. This paper presents a micro robotic system based on magnetic principles. The goal is to build a system in which a capsule-robot can be manipulated wirelessly inside an enclosed environment such as human’s body. A prototype of capsule-robot is built and tested, that can be remotely operated with three DOF in an enclosed environment by transferring magnetic energy and electromagnetic waves. A magnetic drive unit generates magnetic energy for the manipulation. Experimental results show the capsule-robot is manipulated and moved through a desired trajectory in a viscous fluid. The capsule-robot can be potentially used for endoscopy and colonoscopy.

[1]  Aman Ali,et al.  Video capsule endoscopy: a voyage beyond the end of the scope. , 2004, Cleveland Clinic journal of medicine.

[2]  Mitch Leslie,et al.  Cutting the cord , 2008, Nature Electronics.

[3]  P. Dario,et al.  Recent Patents on Wireless Capsule Endoscopy , 2008 .

[4]  Byungkyu Kim,et al.  A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives , 2005, Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..

[5]  Robert Langer,et al.  In vivo release from a drug delivery MEMS device. , 2004, Journal of controlled release : official journal of the Controlled Release Society.

[6]  Ken Ishihara,et al.  Intelligent microrobot DDS (drug delivery system) measured and controlled by ultrasonics , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[7]  R. Shackman,et al.  BIOPSY , 1961 .

[8]  Masaki Nakano,et al.  Wireless micro swimming machine with magnetic thin film , 2004 .

[9]  P. Swain,et al.  A randomized trial comparing wireless capsule endoscopy with push enteroscopy for the detection of small-bowel lesions. , 2000, Gastroenterology.

[10]  Jong-Oh Park,et al.  Paddling based Microrobot for Capsule Endoscopes , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[11]  Mir Behrad Khamesee,et al.  Motion control of a large gap magnetic suspension system for microrobotic manipulation , 2007 .

[12]  N. Fukami,et al.  The small bowel as a source of gastrointestinal blood loss , 1999, Current gastroenterology reports.

[13]  G. Kassab,et al.  Biomechanics of the Gastrointestinal Tract , 2003 .

[14]  Jindong Tan,et al.  Dynamics Modeling and Analysis of a Swimming Microrobot for Controlled Drug Delivery , 2009, IEEE Trans Autom. Sci. Eng..

[15]  Mir Behrad Khamesee,et al.  Design and implementation of a magnetically suspended microrobotic pick-and-place system , 2006 .

[16]  Mir Behrad Khamesee,et al.  Magnetic telemanipulation device with mass uncertainty: Modeling, simulation and testing , 2010 .

[17]  Chengliang Liu,et al.  Intelligent drug delivery system using UML diagrams analysis , 2008 .

[18]  C. Graham,et al.  Introduction to Magnetic Materials , 1972 .

[19]  P A Voltairas,et al.  Hydrodynamics of magnetic drug targeting. , 2002, Journal of biomechanics.

[20]  J. Bergh,et al.  Is pharmacokinetically guided chemotherapy dosage a better way forward? , 2002, Annals of oncology : official journal of the European Society for Medical Oncology.

[21]  H. Bruinewoud,et al.  Ultrasound-induced drug release from polymer matrices : the glass transition temperature as a thermo-responsive switch , 2005 .

[22]  王林,et al.  myOptumHealth , 2011 .

[23]  A. Ernst,et al.  Real-time electromagnetic navigation bronchoscopy to peripheral lung lesions using overlaid CT images: the first human study. , 2006, Chest.

[24]  R Langer,et al.  Mechanical deformation of polymer matrix controlled release devices modulates drug release. , 1992, Journal of biomedical materials research.

[25]  E. Shameli,et al.  Modeling and Analysis of Eddy-Current Damping for High-Precision Magnetic Levitation of a Small Magnet , 2007, IEEE Transactions on Magnetics.

[26]  Arianna Menciassi,et al.  Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems , 2007, Biomedical microdevices.

[27]  Jong-Oh Park,et al.  Design and fabrication of a locomotive mechanism for capsule-type endoscopes using shape memory alloys (SMAs) , 2005 .

[28]  T. Shields,et al.  General Thoracic Surgery , 1972 .

[29]  L. Collins,et al.  Cutting the Cord , 2007 .

[30]  N. Rapoport,et al.  Acoustic activation of drug delivery from polymeric micelles: effect of pulsed ultrasound. , 2001, Journal of controlled release : official journal of the Controlled Release Society.

[31]  R Langer,et al.  Microchips as Controlled Drug-Delivery Devices. , 2000, Angewandte Chemie.

[32]  F. Herth,et al.  Electromagnetic Navigation during Flexible Bronchoscopy , 2003, Respiration.

[33]  Paolo Dario,et al.  Clamping Tools of a Capsule for Monitoring the Gastrointestinal Tract Problem Analysis and Preliminary Technological Activity , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[34]  D. Christensen,et al.  Factors affecting acoustically triggered release of drugs from polymeric micelles. , 2000, Journal of controlled release : official journal of the Controlled Release Society.

[35]  Mir Behrad Khamesee,et al.  Design and control of a microrobotic system using magnetic levitation , 2002 .

[36]  W. Pitt,et al.  Drug delivery in polymeric micelles: from in vitro to in vivo. , 2003, Journal of controlled release : official journal of the Controlled Release Society.

[37]  Shuxiang Guo,et al.  Development of a novel type of microrobot for biomedical application , 2008 .

[38]  Y. Metzger,et al.  Comparison of a new PillCam™ SB2 video capsule versus the standard PillCam™ SB for detection of small bowel disease , 2009 .

[39]  Hans Gregersen,et al.  Biomechanics of the Gastrointestinal Tract: New Perspectives in Motility Research and Diagnostics , 2010 .

[40]  C. Oldenburg,et al.  Numerical Simulation of Ferrofluid Flow for Subsurface Environmental Engineering Applications , 2000 .

[41]  Yan Guozheng,et al.  Power transmission for gastrointestinal microsystems using inductive coupling. , 2007, Physiological measurement.

[42]  B. Lewis,et al.  AGA technical review on the evaluation and management of occult and obscure gastrointestinal bleeding. , 2000, Gastroenterology.

[43]  M. Cima,et al.  Microchips as Controlled Drug‐Delivery Devices , 2000 .