Inchworm-Like Microrobot for Capsule Endoscope (original) (raw)
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An earthworm-like locomotive mechanism for capsule endoscopes
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
A wireless capsule endoscope, M2A, has been developed to replace the conventional endoscope. However, the commercialized capsule endoscope moves passively by peristaltic waves and gravity, which has some limitations for doctors to diagnose more thoroughly and actively. In order to solve this problem, a locomotive mechanism is proposed for a wireless capsule endoscope. Based on the tests of various actuators, a piezo actuator is selected as a micro actuator for the capsule endoscope. Piezo actuators are known to have limited displacement with high voltage supply. In order to overcome the limitation of common Piezo actuator, the impact based piezo actuator is developed to realize long stroke up to 11 mm. Moreover, clampers mimicked the claw of insects are employed. A prototype of the earthworm-like locomotive mechanism integrated with an impact based piezo actuator and engraved clampers is developed. It has 15 mm in diameter and 30 mm under retraction stage and 41 mm under elongation stage in total length. Hollow space is allocated to comprise essential endoscope components such as a camera, communication module, battery, and bio sensors. For the feasibility test of proposed locomotive mechanism, a series of experiments was carried out including in-vitro tests. Based on results of the experiments, we conclude that the proposed locomotive mechanism is effective to be used for micro capsule endoscopes.
Locomotive Microrobot for Capsule Endoscopes
The journal of Korea …, 2009
For diagnoses of digestive organs, capsule endoscopes are widely used and offer valuable information without patient's discomfort. A general capsule endoscope which consists of image sensing module, telemetry module and battery is able to move along gastro-intestinal tracts passively only through peristaltic waves. Thus, it is likely to have some limitations for doctor to acquire images from the desired organs and to diagnose them effectively. As solutions to these problems, a locomotive function of capsule endoscopes has being developed. We have proposed a capsule-type microrobot with synchronized multiple legs. However, the proposed capsular microrobot also has some limitations, such as low speed in advancement, inconvenience to controlling the microrobot, lack of an image module, and deficiency in a steering module. In this paper, we will describe the limitations of the locomotive microrobot and propose solutions to the drawbacks. The solutions are applied to the capsular microrobot and evaluated by in-vitro tests. Based on the experimental results, we conclude that the proposed solutions are effective and appropriate for the locomotive microrobot to explore inside intestinal tracts.
Paddling based Microrobot for Capsule Endoscopes
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
Recently, the capsule endoscope can be widely used for the diagnosis of digestive organs. It is passively moved by the peristaltic waves of gastro-intestinal tract and thus has some limitations for doctor to get the image of the organ and to diagnose more thoroughly. As a solution of these problems, therefore, a locomotive mechanism of capsule endoscopes has being developed. Our proposed capsule-type microrobot has synchronized multiple legs that are actuated by a linear actuator and two mobile cylinders inside of the capsule. By the novel kinematic relation between the legs and the mobile cylinders, the microrobot can easily move forward in the gastro-intestine. For the feasibility test of the proposed locomotive mechanism, a series of experiments were carried out including in-vitro and in-vivo tests. Based on the experimental results, we conclude that the proposed locomotive mechanism is not only easy to be used for micro capsule endoscopes but also effective to move inside of intestinal tract.
A miniature manipulator for integration in a self-propelling endoscope
Sensors and Actuators A-physical, 2001
This paper presents a miniature robotic manipulator that will be integrated into a selfpropelling endoscope. The endoscope is meant to inspect and intervene in the human colon through which it moves by inch worm motion. The manipulator is used to orient camera and tools and has two bending degrees-of-freedom (± 40°). It consists of two modules driven by an electromagnetic motor with worm gear reduction. Each module is 12 mm in diameter and 20 mm long. The total arm with integrated camera is 40 mm long. Also a miniaturised version has been built, having a diameter of 8.5 mm and one degree-of-freedom.
IEEE/ASME Transactions on Mechatronics, 2005
Endoscopes are medical devices to diagnose various kinds of diseases throughout the whole gastrointestinal tracks. Generally, they are divided into conventional push-type endoscopes and more recently developed wireless capsule-type endoscopes. The conventional endoscopes cannot reach the small intestines and generate pain and discomfort to patients due to the stiffness of their body. Such disadvantages do not exist in wireless capsule-type endoscopes. However, commercialized capsule-type endoscopes move passively by peristaltic waves (and the gravity), which makes it impossible for doctors to diagnose the areas of his or her interest more thoroughly and actively. To address this problem of passivity, a locomotive mechanism is proposed for wireless capsule-type endoscopes. Prototypes with micro brushless dc motors, ionic polymer metal composite actuator, and shape memory alloy (SMA) wires are designed and fabricated for preliminary tests. Based on the tests, spring-type SMA actuators are selected to be microactuators for capsule endoscopes. Thus, two-way linear actuators using a pair of SMA springs are developed based on a static analysis on them. Moreover, a simple and effective clamping device is developed based on biomimetic approach. A prototype endoscope with four pairs of SMA springs and four clampers was developed. It has 13 mm in diameter and 33 mm in total length, with a hollow space of 7.6 mm in diameter to house other parts that are needed for endoscopy such as a camera, an RF module, sensors, e.g., for endoscopic ultrasound, and a battery. A sequential control of the four actuators improves the efficiency of locomotion up to four times. To validate the performance of the proposed locomotive mechanism, a series of experiments were carried out including in-vitro tests. The results of the experiments indicate that the proposed locomotion mechanism is effective to be used for micro capsule-type endoscopes.
A Self-Propelled Inflatable Earthworm-Like Endoscope Actuated by Single Supply Line
IEEE Transactions on Biomedical Engineering, 2000
Design of a self-propelling endoscope has been of interest for decades, as it allows for simplified medical examination techniques and improved patient comfort, together with advanced analysis capacity. In this paper, we describe the development of a fully automatic, multiple-balloon system achieving peristaltic locomotion, controlled by a single supply channel. The system employs the nonlinear pressure-radius characteristics of elastic balloons to simultaneously control numerous balloons with a constant inlet pressure. The balloons are connected in series and the flow is controlled by small orifices, which delay the flow between them. The proposed multiple-balloon system requires no moving parts, no electronics, and relies on dynamics of the fluid flow between serially interconnected inflatable balloons. The entire system is made of disposable silicone and is plastic-modeled by injection molding. Additionally, the cost of such a system is expected to be low and suitable for numerous biomedical applications as it can be easily scaled down due to the need for only one supply line. Mathematical modeling, and simulation and experimental results of a system prototype are presented in this paper. Experimental results in the straight cylinder show close correlation to simulated system. His research interests include the area of medical robotics, medical imaging, and medical devices. He is currently involved in a multiarm robotic system for haptic telesurgery and robotic endoscope for neurosurgery. Noam Hassidov received the B.Arch. degree in architecture and the M.Sc. degree in industrial design from the Technion-Israel Institute of Technology, Haifa, Israel, in 2001 and 2008, respectively. He was a Researcher with the Alfred Mann Institute for Biomedical Development, Technion, where he was engaged in developing medical devices. He is currently the Chief Executive Officer of Motus GI Medical Technologies Ltd., Nazareth, Israel, a startup company. His research interests include the area of man-machine interface, camera array for minimally invasive surgery, and medical devices. Mr. Hassidov received the Reiskin Award for internal design and the Ackerstein Award for computer modeling in 1998, and the Carplous Prize for outstanding Master's research in 2009. Merav Senesh received the B.Sc. degree in biomedical engineering and the M.Sc. degree in mechanical engineering from the Technion-Israel Institute of Technology, Haifa, Israel, in 2006 and 2008, respectively. She was involved in skin movement artifact modeling and compensation in marker-based human motion estimation for biomechanics studies. During 2008, she was with the Alfred Mann Institute for Biomedical Development, Technion, where she is currently a Mechanical Engineer. Ms. Senesh was a recipient of the Gutwirth Excellence Scholarship and the Diane and Leonard Sherman Interdisciplinary Graduate School Fellowship. Moshe Shoham (M'89) received the B.Sc. degree in aeronautical engineering in 1978, and the M.Sc. and D.Sc. degrees in mechanical engineering in 1982 and 1986, respectively.
Conceptual design of micro-hydraulics system for active and biopsy capsule endoscope robot
5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014
Capsule endoscope is commercial design product used as a medical device for endoscopy test in the small intestine preferably. This paper presented a novel conceptual design and power mechanism in order to perform a capsule endoscope robot with micro-hydraulic biopsy tools system. The capsule endoscope presented can moves as active device, powered externally by an electromagnetic actuation system (EMA). The EMA system can be frequency adjust to activate the micro-hydraulic pump as the main power generator to perform the micro-actuator and/or micro-biopsy tool. The conceptual design is focused in two capsule containers; these are proposed to be able to obtain additional space for the biopsy tools. Preliminary test of the micro-pump power by EMA system are presented for future application of capsule endoscope with active motion maneuvers and micro-biopsy tools operation in real-time.
Design and rolling locomotion of a magnetically actuated soft capsule endoscope
2012
Abstract This paper proposes a magnetically actuated soft capsule endoscope (MASCE) as a tetherless miniature mobile robot platform for diagnostic and therapeutic medical applications inside the stomach. Two embedded internal permanent magnets and a large external magnet are used to actuate the robot remotely. The proposed MASCE has three novel features. First, its outside body is made of soft elastomer-based compliant structures.
A self-propelling endoscopic system
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
The existing colonoscope requires a dexterous skill of surgeon to perform the insertion in entire colon. The procedure is painful to the patient. Therefore, biomedical and robotic researchers are developing a locomotive colonoscope that can travel safely in colon In this paper, we describe a new design and concept of semi-autonomous micro robot for colonoscopy. The micro robot comprises the actuation system, bow-shaped flexible supporters to keep the space between colon wall and the actuator, camera and LED for diagnosis and steering system to pass through the acute angle in colon. We suggest two actuating methods. One is based on the reaction force, and the other is impact force. For the performance test, the preliminary experiments are carried out in rigid pipe to validate the concept.
Design of miniature parallel manipulators for integration in a self-propelling endoscope
Sensors and Actuators A-physical, 2000
This paper presents two designs for a miniature robotic manipulator that has to be integrated into a self-propelling endoscope. The endoscope is meant to inspect and intervene in the human colon through which it moves by inchworm locomotion. Both manipulator Ž . designs are based on a 3-degree-of-freedom dof Stewart platform, either driven by hydraulic pistons or by electromagnetic motors. The hydraulic manipulator is 12 mm in diameter and 30 mm long. It has a stroke of 10 mm and tilts 30-358. The system is designed to be used at pressures up to 10 bar at which each piston generates a force of 7 N. Piezoelectric and electromagnetic valves are developed that will be integrated into the manipulator. The electrical platform has three telescopic legs driven by a motor-spindle combination. This manipulator has a length and diameter of respectively 50 and 15 mm, and generates speeds up to 5 mmrs and forces up to 1.2 N per leg. q