A robotic endoscope based on minimally invasive locomotion and wireless techniques for human colon.
ABSTRACT BACKGROUND: Traditional endoscopy may cause tissue trauma and discomfort to patients because of the use of relatively long and semi-rigid scopes. METHODS: A wireless robotic endoscope has been designed based on minimally invasive locomotion and wireless techniques for energy, monitoring, and telecontrol. RESULTS: The robotic endoscope can move forward or backward effectively in a smooth synthetic glass tube. The increase of the tube dip angle reduces the relative speed. The robot moves with lower efficiency because of the viscoelasticity of intestinal tissue in in vitro pig colon. The wireless power system can continuously and stably provide a minimum 378 mW energy, which exceeds the maximum system consumption. The video system realizes wireless image transmission at 30 frames per second. Doctors control the robot remotely using a communication frequency of 433 MHz. CONCLUSIONS: The prototype robot shows the possibility of clinical application, but needs further improvement and testing. Copyright © 2011 John Wiley & Sons, Ltd.
- Expert Review of Medical Devices 07/2013; 10(4):433-6. · 2.43 Impact Factor
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ABSTRACT: Abstract Multiple research groups are currently attempting to develop less-invasive robotic capsule endoscopes (RCEs) with better outcomes for enteroscopic procedures. Understanding the biomechanical response of the bowel to RCE is crucial for optimizing the design of these devices. For this reason, this study aims to develop an analytical model to predict the anchoring force of the model when travelling through the intestine. Previous work has developed, characterized and tested the frictional characteristics of the intestine with microgroove structures that had different surface contours. This work tested basic anchoring force characteristics with custom-built testers and clamping mechanism dummies to analyse the robot clamping movement (which is vital to improving movement efficiency). Balloon-shaped and leg-based clamping mechanisms were developed, which were found to have variable anchoring forces from 0.01 N to 1.2 N. After analysing the experimental results it was found that: (a) robot weight does not play a major role in anchoring force; (b) an increase in anchoring force corresponded to an increase in diameter of the clamping mechanism; and (c) textured contact surfaces effectively increased friction. These results could be explained by the biomechanical response of the intestine, friction and mucoadhesion characteristics of the small intestine material. With these factors considered, a model was developed for determining anchoring force in the small intestine.Journal of Medical Engineering & Technology 07/2013; 37(5):334-341.