Advancing towards smart endoscopy with specific electronics to enable locomotion and focusing capabilities in a wireless endoscopic capsule robot
ABSTRACT The paper reports the electronics used in a new developed wireless endoscopic capsule provided with novel focus and locomotion features. The locomotion is enabled by using legs driven by 2 brushless DC (BLDC) micromotors. The focusing system is enabled by using a liquid lens with a variable focal. These functions are managed by an ASIC that has been developed to provide the specific innovative functions. The size of the ASIC is 3.0 mm Ã 2.7 mm in a 0.35 um high voltage CMOS technology. The ASIC is described in detail, as well as the performances when it is used with the final devices used in the capsule.
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Conference Proceeding: Design of a Pill-Sized 12-legged Endoscopic Capsule Robot[show abstract] [hide abstract]
ABSTRACT: In this paper we present the design of a swallowable (11mm diameter by 25mm long), 12-legged endoscopic capsule for locomotion in the lower gastro intestinal tract (large bowel). A novel slot-follower mechanism driven via lead-screw allows the capsule to be as small as current commercial pill-cameras, while simultaneously generating 2/3 N of force at each leg tip. Kinematic and static analyses of the lead screw and slot-follower mechanisms allow optimization of design parameters so that the capsule satisfies experimental and clinical design requirements for legged locomotion in the GI tract.Robotics and Automation, 2007 IEEE International Conference on; 05/2007
Article: Wireless capsule endoscopy.The Israel Medical Association journal: IMAJ 10/2002; 4(9):717-9. · 0.98 Impact Factor
Conference Proceeding: CMOS Optical Sensors for being incorporated in Endoscopic Capsule for Cancer Cells Detection[show abstract] [hide abstract]
ABSTRACT: This paper describes the design, fabrication and characterization of CMOS optical sensors for cancer detection based on autofluorescence emission spectra. These optical sensors were fabricated for being an integrated part of an endoscopic capsule used in diagnosis of gastrointestinal diseases. Cells and tissues show autofluorescence, in a part of the visible spectrum, when excited by ultraviolet or short-wavelength visible light. The emission spectrum of cancer tissue is different from the one of the healthy tissue, and, it is dependent on the cancer development stage. CMOS photodetectors can be used to measure that spectrum. Once they are small and easily integrated with readout electronics, they can be placed around all the surface of the endoscopic capsule. While, nowadays, a locomotion and stop mechanism is a challenge, this scheme can cover a large area of the gastrointestinal tract examination during the natural movement of the capsule. The complete system will innovate the way of physicians diagnose the gastrointestinal diseases.Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on; 07/2007