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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...
Autores principales: | , , , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7020148/ https://www.ncbi.nlm.nih.gov/pubmed/31963402 http://dx.doi.org/10.3390/mi11010098 |
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author | Hoang, Manh Cuong Le, Viet Ha Nguyen, Kim Tien Nguyen, Van Du Kim, Jayoung Choi, Eunpyo Bang, Seungmin Kang, Byungjeon Park, Jong-Oh Kim, Chang-Sei |
author_facet | Hoang, Manh Cuong Le, Viet Ha Nguyen, Kim Tien Nguyen, Van Du Kim, Jayoung Choi, Eunpyo Bang, Seungmin Kang, Byungjeon Park, Jong-Oh Kim, Chang-Sei |
author_sort | Hoang, Manh Cuong |
collection | PubMed |
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. |
format | Online Article Text |
id | pubmed-7020148 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-70201482020-03-09 A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch Hoang, Manh Cuong Le, Viet Ha Nguyen, Kim Tien Nguyen, Van Du Kim, Jayoung Choi, Eunpyo Bang, Seungmin Kang, Byungjeon Park, Jong-Oh Kim, Chang-Sei Micromachines (Basel) Article 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. MDPI 2020-01-17 /pmc/articles/PMC7020148/ /pubmed/31963402 http://dx.doi.org/10.3390/mi11010098 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Hoang, Manh Cuong Le, Viet Ha Nguyen, Kim Tien Nguyen, Van Du Kim, Jayoung Choi, Eunpyo Bang, Seungmin Kang, Byungjeon Park, Jong-Oh Kim, Chang-Sei A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch |
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 | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7020148/ https://www.ncbi.nlm.nih.gov/pubmed/31963402 http://dx.doi.org/10.3390/mi11010098 |
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