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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...

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Autores principales: 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
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
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.
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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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