2 The Current Main Types of CapsuleEndoscopy

Gastric diseases are great burden not only in China but also worldwide. Capsule endoscopy is a noninvasive tool in the exploration of the entire gastrointestinal tract. However, conventional capsule endoscopies have shown that observation of the stomach is highly variable because of the impossibility of thorough exploration of the gastric cavity with a passive power. The steerable capsules with external magnetic field may be the most viable approaches for active control, and several explorations have showed promising benefits. We have developed a novel magnetic-controlled capsule endoscopy system (MCE) with magnetic field generated by an external industry robot (provided by Ankon Technologies Inc.), which has been demonstrated to be safe and feasible in the examination of human stomach. For the main diagnostic outcomes, MCE and gastroscopy had very similar results (the overall agreement was more than 90 %). The acceptability of MCE was much higher than gastroscopy, and most patients could tolerate ingestion of the large amount of water. This comparative study showed that MCE is a promising alternative for noninvasive screening of gastric diseases.

[1]  B. Hannaford,et al.  Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation , 1999, IEEE Transactions on Biomedical Engineering.

[2]  S. Hirose Snake, walking and group robots for super mechano-system , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[3]  D. Pioletti,et al.  Non-linear viscoelastic laws for soft biological tissues , 2000 .

[4]  Gill A. Pratt,et al.  Legged robots at MIT: what's new since Raibert? , 2000, IEEE Robotics Autom. Mag..

[5]  P. Swain,et al.  Wireless capsule endoscopy. , 2002, The Israel Medical Association journal : IMAJ.

[6]  J. Haselbach,et al.  Short-term oral toxicity study of FAVOR PAC in rats. , 2000, Regulatory toxicology and pharmacology : RTP.

[7]  A. Cohen,et al.  Predicting which patients can undergo upper endoscopy comfortably without conscious sedation. , 2002, Gastrointestinal endoscopy.

[8]  E. Tanaka,et al.  Biomechanical response of retrodiscal tissue in the temporomandibular joint under compression. , 2002, Journal of oral and maxillofacial surgery : official journal of the American Association of Oral and Maxillofacial Surgeons.

[9]  G. Costamagna,et al.  A prospective trial comparing small bowel radiographs and video capsule endoscopy for suspected small bowel disease. , 2002, Gastroenterology.

[10]  A. Munakata,et al.  New method for the determination of fecal consistency and its optimal value in the general population , 2002, Journal of gastroenterology and hepatology.

[11]  Byungkyu Kim,et al.  A ciliary motion based 8-legged walking micro robot using cast IPMC actuators , 2002, Proceedings of 2002 International Symposium on Micromechatronics and Human Science.

[12]  G. Capurso,et al.  Role of small bowel investigation in iron deficiency anaemia after negative endoscopic/histologic evaluation of the upper and lower gastrointestinal tract. , 2003, Digestive and liver disease : official journal of the Italian Society of Gastroenterology and the Italian Association for the Study of the Liver.

[13]  R. Eliakim,et al.  A novel diagnostic tool for detecting oesophageal pathology: the PillCam oesophageal video capsule , 2004, Alimentary pharmacology & therapeutics.

[14]  A. Hara,et al.  Small bowel: preliminary comparison of capsule endoscopy with barium study and CT. , 2004, Radiology.

[15]  H. Schild,et al.  Comparison of capsule endoscopy and magnetic resonance imaging for the detection of polyps of the small intestine in patients with familial adenomatous polyposis or with Peutz-Jeghers' syndrome. , 2004, Endoscopy.

[16]  J. Leighton,et al.  Safety of capsule endoscopy in patients with pacemakers. , 2004, Gastrointestinal endoscopy.

[17]  Jong-Oh Park,et al.  Inchworm-Like Microrobot for Capsule Endoscope , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[18]  D. Cave Reading wireless video capsule endoscopy. , 2004, Gastrointestinal endoscopy clinics of North America.

[19]  P. Dario,et al.  Locomotion of a legged capsule in the gastrointestinal tract: theoretical study and preliminary technological results , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[20]  E. Rondonotti,et al.  Outcome of patients with obscure gastrointestinal bleeding after capsule endoscopy: report of 100 consecutive cases. , 2004, Gastroenterology.

[21]  R. Jimenez,et al.  Effects of capsule endoscopy on cardiac pacemakers. , 2005, Endoscopy.

[22]  A. Hara,et al.  A Meta-Analysis of the Yield of Capsule Endoscopy Compared to Other Diagnostic Modalities in Patients with Obscure Gastrointestinal Bleeding , 2005, The American Journal of Gastroenterology.

[23]  J. Leighton,et al.  Safety of Wireless Capsule Endoscopy in Patients with Implantable Cardiac Defibrillators , 2005, The American Journal of Gastroenterology.

[24]  D. Faigel,et al.  ASGE guideline: guidelines for credentialing and granting privileges for capsule endoscopy. , 2005, Gastrointestinal endoscopy.

[25]  D. Faigel,et al.  A Prospective Study of the Diagnostic Accuracy of PillCam ESO Esophageal Capsule Endoscopy Versus Conventional Upper Endoscopy in Patients With Chronic Gastroesophageal Reflux Diseases , 2005, Journal of clinical gastroenterology.

[26]  G Yan,et al.  A micro creeping robot for colonoscopy based on the earthworm , 2005, Journal of medical engineering & technology.

[27]  R. Rabinovitz,et al.  A simplified ingestion procedure for esophageal capsule endoscopy: initial evaluation in healthy volunteers. , 2006, Endoscopy.

[28]  Y. Kopelman,et al.  Evaluation of the PillCam Colon capsule in the detection of colonic pathology: results of the first multicenter, prospective, comparative study. , 2006, Endoscopy.

[29]  Jean-François Rey,et al.  Olympus Capsule Endoscope for Small and Large Bowel Exploration , 2006 .

[30]  J. Dent,et al.  The Montreal Definition and Classification of Gastroesophageal Reflux Disease: A Global Evidence-Based Consensus , 2006, The American Journal of Gastroenterology.

[31]  J. A. Leighton,et al.  The yield of capsule endoscopy in patients with abdominal pain or diarrhea. , 2006, Endoscopy.

[32]  김병규,et al.  A Paddling Based Locomotive Mechanism for Capsule Endoscopes , 2006 .

[33]  W. Leung,et al.  Long Term Follow-Up of Patients with Obscure Gastrointestinal Bleeding After Negative Capsule Endoscopy , 2006 .

[34]  Z. Ge,et al.  The role of capsule endoscopy combined with double-balloon enteroscopy in diagnosis of small bowel diseases. , 2007, Chinese medical journal.

[35]  Federico Carpi,et al.  Controlled Navigation of Endoscopic Capsules: Concept and Preliminary Experimental Investigations , 2007, IEEE Transactions on Biomedical Engineering.

[36]  C. Gheorghe,et al.  Olympus capsule endoscopy for small bowel examination. , 2007, Journal of gastrointestinal and liver diseases : JGLD.

[37]  Jiwoon Kwon,et al.  Evaluation of the critical stroke of an earthworm-like robot for capsule endoscopes , 2007, Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine.

[38]  E. Yoon,et al.  Micro Capsule Endoscope for Gastro Intestinal Tract , 2007, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[39]  S. Dubner,et al.  Electromagnetic Interference from Wireless Video‐Capsule Endoscopy on Implantable Cardioverter‐Defibrillators , 2007, Pacing and clinical electrophysiology : PACE.

[40]  H. Ogata,et al.  Clinical impact of a newly developed capsule endoscope: usefulness of a real-time image viewer for gastric transit abnormality , 2008, Journal of Gastroenterology.

[41]  M.Q.-H. Meng,et al.  A Magnetic Stereo-Actuation Mechanism for Active Capsule Endoscope , 2007, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[42]  R. Jakobs,et al.  Capsule endoscopy and cardiac pacemakers: investigation for possible interference. , 2007, Endoscopy.

[43]  You-Ming Li,et al.  OMOM capsule endoscopy in diagnosis of small bowel disease , 2008, Journal of Zhejiang University SCIENCE B.

[44]  M. Riccioni,et al.  Small-bowel neoplasms in patients undergoing video capsule endoscopy: a multicenter European study , 2008, Endoscopy.

[45]  P. Dario,et al.  Feasibility proof of a legged locomotion capsule for the GI tract. , 2008, Gastrointestinal endoscopy.

[46]  C. Fraser,et al.  Safety, Reliability and Limitations of the Given Patency Capsule in Patients at Risk of Capsule Retention: A 3-Year Technical Review , 2008, Digestive Diseases and Sciences.

[47]  D. Morgan,et al.  Agile patency system eliminates risk of capsule retention in patients with known intestinal strictures who undergo capsule endoscopy. , 2007, Gastrointestinal endoscopy.

[48]  R. Eliakim,et al.  Detecting esophageal disease with second-generation capsule endoscopy: initial evaluation of the PillCam ESO 2 , 2008, Endoscopy.

[49]  D. Faigel,et al.  A multicenter randomized comparison of the Endocapsule and the Pillcam SB. , 2008, Gastrointestinal endoscopy.

[50]  Y. Niv Efficiency of bowel preparation for capsule endoscopy examination: a meta-analysis. , 2008, World journal of gastroenterology.

[51]  Ananya Das,et al.  Double-balloon enteroscopy and capsule endoscopy have comparable diagnostic yield in small-bowel disease: a meta-analysis. , 2008, Clinical gastroenterology and hepatology : the official clinical practice journal of the American Gastroenterological Association.

[52]  Federico Carpi,et al.  Magnetic robotic manoeuvring of gastrointestinal video capsules: preliminary phantom tests. , 2008, Biomedicine & pharmacotherapy = Biomedecine & pharmacotherapie.

[53]  Guozheng Yan,et al.  An Earthworm-Like Robotic Endoscope System for Human Intestine: Design, Analysis, and Experiment , 2008, Annals of Biomedical Engineering.

[54]  P. Swain,et al.  In-Vivo Remote Manipulation of Modified Capsule Endoscopes Using An External Magnetic Field , 2008 .

[55]  Z. Liao,et al.  Meta-analysis of capsule endoscopy in patients diagnosed or suspected with esophageal varices. , 2009, World journal of gastroenterology.

[56]  P. Malfertheiner,et al.  Incidence of bleeding lesions within reach of conventional upper and lower endoscopes in patients undergoing double‐balloon enteroscopy for obscure gastrointestinal bleeding , 2009, Alimentary pharmacology & therapeutics.

[57]  S. Song,et al.  First clinical trial of the "MiRo" capsule endoscope by using a novel transmission technology: electric-field propagation. , 2009, Gastrointestinal endoscopy.

[58]  P. Dario,et al.  Capsule endoscopy: progress update and challenges ahead , 2009, Nature Reviews Gastroenterology &Hepatology.

[59]  Z. Liao,et al.  Reduction of capture rate in the stomach increases the complete examination rate of capsule endoscopy: a prospective randomized controlled trial. , 2008, Gastrointestinal endoscopy.

[60]  R. Jakobs,et al.  Do endoscopy capsules interfere with implantable cardioverter-defibrillators? , 2009, Endoscopy.

[61]  J. Everhart,et al.  Burden of digestive diseases in the United States part I: overall and upper gastrointestinal diseases. , 2009, Gastroenterology.

[62]  Z. Liao,et al.  Advances in complete small-bowel examination by capsule endoscopy , 2010 .

[63]  K. Higuchi,et al.  In vivo trial of a driving system for a self-propelling capsule endoscope using a magnetic field (with video). , 2010, Gastrointestinal endoscopy.

[64]  J. Qian,et al.  [The diagnosis of Crohn's disease of the small bowel: comparing CT enterography, capsule endoscopy, small-bowel follow through and ileocolonoscopy]. , 2010, Zhonghua nei ke za zhi.

[65]  J. Rey,et al.  European Society of Gastrointestinal Endoscopy (ESGE): Recommendations (2009) on clinical use of video capsule endoscopy to investigate small-bowel, esophageal and colonic diseases , 2010, Endoscopy.

[66]  Yi-yang Zhang,et al.  Double-balloon endoscopy and capsule endoscopy for small intestinal bleeding , 2010 .

[67]  F. Liu,et al.  Alarm features and age for predicting upper gastrointestinal malignancy in Chinese patients with dyspepsia with high background prevalence of Helicobacter pylori infection and upper gastrointestinal malignancy: an endoscopic database review of 102 665 patients from 1996 to 2006 , 2010, Gut.

[68]  P. Dario,et al.  Robotic versus manual control in magnetic steering of an endoscopic capsule. , 2009, Endoscopy.

[69]  Martin P. Mintchev,et al.  Progress in self-stabilizing capsules for imaging of the large intestine , 2010, 2010 17th IEEE International Conference on Electronics, Circuits and Systems.

[70]  Y. Hao,et al.  A population-based survey of the epidemiology of symptom-defined gastroesophageal reflux disease: the Systematic Investigation of Gastrointestinal Diseases in China , 2010, BMC gastroenterology.

[71]  Z. Liao,et al.  Fields of applications, diagnostic yields and findings of OMOM capsule endoscopy in 2400 Chinese patients. , 2010, World journal of gastroenterology.

[72]  C. Mathers,et al.  Estimates of worldwide burden of cancer in 2008: GLOBOCAN 2008 , 2010, International journal of cancer.

[73]  Z. Liao,et al.  Completion rate and diagnostic yield of small-bowel capsule endoscopy: 1 vs. 2 frames per second , 2010, Endoscopy.

[74]  P. Swain,et al.  Remote magnetic manipulation of a wireless capsule endoscope in the esophagus and stomach of humans (with videos). , 2010, Gastrointestinal endoscopy.

[75]  D. Lieberman Progress and challenges in colorectal cancer screening and surveillance. , 2010, Gastroenterology.

[76]  S. Song,et al.  A Pilot Study of Sequential Capsule Endoscopy Using MiroCam and PillCam SB Devices with Different Transmission Technologies. , 2010, Gut and liver.

[77]  J. Rey,et al.  Feasibility of stomach exploration with a guided capsule endoscope. , 2010, Endoscopy.

[78]  E. Yoon,et al.  Active locomotion of a paddling-based capsule endoscope in an in vitro and in vivo experiment (with videos). , 2010, Gastrointestinal endoscopy.

[79]  Z. Liao,et al.  Indications and detection, completion, and retention rates of small-bowel capsule endoscopy: a systematic review. , 2010, Gastrointestinal endoscopy.

[80]  P. Swain,et al.  Inspection of the human stomach using remote-controlled capsule endoscopy: a feasibility study in healthy volunteers (with videos). , 2011, Gastrointestinal endoscopy.

[81]  C. Girelli,et al.  Development of a novel index to discriminate bulge from mass on small-bowel capsule endoscopy. , 2011, Gastrointestinal endoscopy.

[82]  Martin P. Mintchev,et al.  Self-Stabilizing Colonic Capsule Endoscopy: Pilot Study of Acute Canine Models , 2011, IEEE Transactions on Medical Imaging.

[83]  G. Domingues,et al.  Impact of prolonged 48-h wireless capsule esophageal pH monitoring on diagnosis of gastroesophageal reflux disease and evaluation of the relationship between symptoms and reflux episodes. , 2011, Arquivos de gastroenterologia.

[84]  M. Keuchel,et al.  Capsule endoscopy in patients with cardiac pacemakers and implantable cardioverter-defibrillators - a retrospective multicenter investigation. , 2011, Journal of gastrointestinal and liver diseases : JGLD.

[85]  N. Talley Epidemiology of Peptic Ulcer Disease: Endoscopic Results of the Systematic Investigation of Gastrointestinal Disease in China , 2011 .

[86]  J. Saurin,et al.  Prospective, randomized comparison of two small-bowel capsule endoscopy systems in patients with obscure GI bleeding. , 2011, Gastrointestinal endoscopy.

[87]  C. Mulder,et al.  Description of a novel grading system to assess the quality of bowel preparation in video capsule endoscopy , 2011, Endoscopy.

[88]  P. Dario,et al.  Capsule Endoscopy: From Current Achievements to Open Challenges , 2011, IEEE Reviews in Biomedical Engineering.

[89]  C. Hawkey,et al.  Efficacy of New Playback Functions at Reducing Small-Bowel Wireless Capsule Endoscopy Reading Times , 2012, Digestive Diseases and Sciences.

[90]  F. Chan,et al.  Capsule Endoscopy or Angiography in Patients With Acute Overt Obscure Gastrointestinal Bleeding: A Prospective Randomized Study With Long-Term Follow-Up , 2012, American Journal of Gastroenterology.

[91]  Z. Liao,et al.  Feasibility and safety of magnetic-controlled capsule endoscopy system in examination of human stomach: a pilot study in healthy volunteers. , 2012, Journal of interventional gastroenterology.

[92]  R. S. Azzam,et al.  Comparative study of two modes of gastroesophageal reflux measuring: conventional esophageal pH monitoring and wireless pH monitoring. , 2012, Arquivos de gastroenterologia.

[93]  Y. Niv,et al.  The role of video capsule endoscopy in the diagnosis of celiac disease: a meta-analysis , 2012, European journal of gastroenterology & hepatology.

[94]  M. Keuchel,et al.  Capsule Endoscopy in Patients with Cardiac Pacemakers and Implantable Cardioverter Defibrillators: (Re)evaluation of the Current State in Germany, Austria, and Switzerland 2010 , 2011, Gastroenterology research and practice.

[95]  W. Ajiki,et al.  Cancer incidence and incidence rates in Japan in 2006: based on data from 15 population-based cancer registries in the monitoring of cancer incidence in Japan (MCIJ) project. , 2012, Japanese journal of clinical oncology.

[96]  S. Kudo,et al.  Blinded nonrandomized comparative study of gastric examination with a magnetically guided capsule endoscope and standard videoendoscope. , 2012, Gastrointestinal endoscopy.

[97]  M. Trauner,et al.  A randomized head-to-head study of small-bowel imaging comparing MiroCam and EndoCapsule , 2012, Endoscopy.

[98]  D. Rex,et al.  Multisociety sedation curriculum for gastrointestinal endoscopy. , 2012, Gastroenterology nursing : the official journal of the Society of Gastroenterology Nurses and Associates.

[99]  H. Tajiri,et al.  Colon capsule endoscopy: European Society of Gastrointestinal Endoscopy (ESGE) Guideline , 2012, Endoscopy.

[100]  Daniel C Barbosa,et al.  Automatic small bowel tumor diagnosis by using multi-scale wavelet-based analysis in wireless capsule endoscopy images , 2012, Biomedical engineering online.

[101]  H. Pak,et al.  Safety of Capsule Endoscopy Using Human Body Communication in Patients with Cardiac Devices , 2012, Digestive Diseases and Sciences.

[102]  M. Mintchev,et al.  Suture marker lesion detection in the colon by self-stabilizing and unmodified capsule endoscopes: pilot study in acute canine models. , 2013, Gastrointestinal endoscopy.

[103]  Jun-Nan Li,et al.  Clinical utility and tolerability of JSPH-1 wireless esophageal pH monitoring system , 2013, BMC Gastroenterology.

[104]  W. Stremmel,et al.  First clinical trial of a newly developed capsule endoscope with panoramic side view for small bowel: A pilot study , 2013, Journal of gastroenterology and hepatology.

[105]  S. Lo,et al.  A multicenter, prospective, randomized comparison of a novel signal transmission capsule endoscope to an existing capsule endoscope. , 2013, Gastrointestinal endoscopy.

[106]  U. Ghoshal Small bowel endoscopy in 2013: The reality and the potential , 2014, Nature Reviews Gastroenterology &Hepatology.

[107]  J. Saurin,et al.  Prospective randomized comparison between axial- and lateral-viewing capsule endoscopy systems in patients with obscure digestive bleeding , 2013, Endoscopy.

[108]  R. Kalidoss,et al.  Introduction to Analog and Digital Communication , 2016 .