A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch
Capsule endoscopes (CEs) have emerged as an advanced diagnostic technology for gastrointestinal diseases in recent decades. However, with regard to robotic motions, they require active movability and multi-functionalities for extensive, untethered, and precise clinical utilization. Herein, we presen...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-01-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/11/1/98 |
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| author | Manh Cuong Hoang Viet Ha Le Kim Tien Nguyen Van Du Nguyen Jayoung Kim Eunpyo Choi Seungmin Bang Byungjeon Kang Jong-Oh Park Chang-Sei Kim |
| author_facet | Manh Cuong Hoang Viet Ha Le Kim Tien Nguyen Van Du Nguyen Jayoung Kim Eunpyo Choi Seungmin Bang Byungjeon Kang Jong-Oh Park Chang-Sei Kim |
| author_sort | Manh Cuong Hoang |
| collection | DOAJ |
| description | Capsule endoscopes (CEs) have emerged as an advanced diagnostic technology for gastrointestinal diseases in recent decades. However, with regard to robotic motions, they require active movability and multi-functionalities for extensive, untethered, and precise clinical utilization. Herein, we present a novel wireless biopsy CE employing active five degree-of-freedom locomotion and a biopsy needle punching mechanism for the histological analysis of the intestinal tract. A medical biopsy punch is attached to a screw mechanism, which can be magnetically actuated to extrude and retract the biopsy tool, for tissue extraction. The external magnetic field from an electromagnetic actuation (EMA) system is utilized to actuate the screw mechanism and harvest biopsy tissue; therefore, the proposed system consumes no onboard energy of the CE. This design enables observation of the biopsy process through the capsule’s camera. A prototype with a diameter of 12 mm and length of 30 mm was fabricated with a medical biopsy punch having a diameter of 1.5 mm. Its performance was verified through numerical analysis, as well as in-vitro and ex-vivo experiments on porcine intestine. The CE could be moved to target lesions and obtain sufficient tissue samples for histological examination. The proposed biopsy CE mechanism utilizing punch biopsy and its wireless extraction–retraction technique can advance untethered intestinal endoscopic capsule technology at clinical sites. |
| first_indexed | 2024-04-13T16:53:58Z |
| format | Article |
| id | doaj.art-6d96c2f2b45342e49bf33fcae16bc29f |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-04-13T16:53:58Z |
| publishDate | 2020-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-6d96c2f2b45342e49bf33fcae16bc29f2022-12-22T02:38:52ZengMDPI AGMicromachines2072-666X2020-01-011119810.3390/mi11010098mi11010098A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy PunchManh Cuong Hoang0Viet Ha Le1Kim Tien Nguyen2Van Du Nguyen3Jayoung Kim4Eunpyo Choi5Seungmin Bang6Byungjeon Kang7Jong-Oh Park8Chang-Sei Kim9Department of Mechanical Engineering, Chonnam National University, Gwangju 61186, KoreaDepartment of Mechanical Engineering, Chonnam National University, Gwangju 61186, KoreaDepartment of Mechanical Engineering, Chonnam National University, Gwangju 61186, KoreaKorea Institute of Medical Microrobotics, Gwangju 61186, KoreaKorea Institute of Medical Microrobotics, Gwangju 61186, KoreaDepartment of Mechanical Engineering, Chonnam National University, Gwangju 61186, KoreaDivision of Gastroenterology, Department of Internal Medicine, Yonsei University College of Medicine, Seoul 120-752, KoreaKorea Institute of Medical Microrobotics, Gwangju 61186, KoreaDepartment of Mechanical Engineering, Chonnam National University, Gwangju 61186, KoreaDepartment of Mechanical Engineering, Chonnam National University, Gwangju 61186, KoreaCapsule endoscopes (CEs) have emerged as an advanced diagnostic technology for gastrointestinal diseases in recent decades. However, with regard to robotic motions, they require active movability and multi-functionalities for extensive, untethered, and precise clinical utilization. Herein, we present a novel wireless biopsy CE employing active five degree-of-freedom locomotion and a biopsy needle punching mechanism for the histological analysis of the intestinal tract. A medical biopsy punch is attached to a screw mechanism, which can be magnetically actuated to extrude and retract the biopsy tool, for tissue extraction. The external magnetic field from an electromagnetic actuation (EMA) system is utilized to actuate the screw mechanism and harvest biopsy tissue; therefore, the proposed system consumes no onboard energy of the CE. This design enables observation of the biopsy process through the capsule’s camera. A prototype with a diameter of 12 mm and length of 30 mm was fabricated with a medical biopsy punch having a diameter of 1.5 mm. Its performance was verified through numerical analysis, as well as in-vitro and ex-vivo experiments on porcine intestine. The CE could be moved to target lesions and obtain sufficient tissue samples for histological examination. The proposed biopsy CE mechanism utilizing punch biopsy and its wireless extraction–retraction technique can advance untethered intestinal endoscopic capsule technology at clinical sites.https://www.mdpi.com/2072-666X/11/1/98active locomotive capsule endoscopeintestinal diagnosisbiopsy punching needlebiopsy capsule endoscopeelectromagnetic actuation |
| spellingShingle | Manh Cuong Hoang Viet Ha Le Kim Tien Nguyen Van Du Nguyen Jayoung Kim Eunpyo Choi Seungmin Bang Byungjeon Kang Jong-Oh Park Chang-Sei Kim A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch Micromachines active locomotive capsule endoscope intestinal diagnosis biopsy punching needle biopsy capsule endoscope electromagnetic actuation |
| title | A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch |
| title_full | A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch |
| title_fullStr | A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch |
| title_full_unstemmed | A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch |
| title_short | A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch |
| title_sort | robotic biopsy endoscope with magnetic 5 dof locomotion and a retractable biopsy punch |
| topic | active locomotive capsule endoscope intestinal diagnosis biopsy punching needle biopsy capsule endoscope electromagnetic actuation |
| url | https://www.mdpi.com/2072-666X/11/1/98 |
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