Design and Control of a Magnetically-Actuated Capsule Robot With Biopsy Function

Ye, Dongxu1; Xue, Junnan1; Yuan, Sishen2; Zhang, Fan1; Song, Shuang1; Wang, Jiaole1; Meng, Max Q-H2,3,4

2022-09-01

10.1109/TBME.2022.3157451

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING   Impact Factor & Quartile

0018-9294

1558-2531

Objective: Wireless capsule endoscopy has been well used for gastrointestinal (GI) tract diagnosis. However, it can only obtain images and cannot take samples of GI tract tissues. In this study, we designed a magnetically-actuated biopsy capsule (MABC) robot for GI tract diagnosis. Methods: The proposed robot can achieve locomotion and biopsy functions under the control of external electromagnetic actuation (EMA) system. Two types of active locomotion can be achieved, plane motion refers to the robot rolling on the surface of the GI tract with a rotating uniform magnetic field. 3D motion refers to the robot moving in 3D space under the control of the EMA system. After reaching the target position, the biopsy needle can be sprung out for sampling and then retracted under a gradient magnetic field. Results: A pill-shaped robot prototype (phi 15 mmx32 mm) has been fabricated and tested with phantom experiments. The average motion control error is 0.32 mm in vertical direction, 3.3 mm in horizontal direction, and the maximumsampling error is about 5.0 mm. The average volume of the sampled tissue is about 0.35 mm(3). Conclusion: We designed a MABC robot and proposed a control framework which enables planar and 3D spatial locomotion and biopsy sampling. Significance: The untethered MABC robot can be remotely controlled to achieve accurate sampling in multiple directions without internal power sources, paving the way towards precision sampling techniques for GI diseases in clinical procedures.

Wireless capsule endoscope active locomotion biopsy

SCI ; EI

English

Others

National Key R&D Program of China[2019YFB1312400] ; National Natural Science Foundation of China[62173110] ; Guangdong Basic and Applied Basic Research Foundation[2021A1515011964]

Engineering

Engineering, Biomedical

WOS:000842063900023

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20221111798483

Biopsy ; Endoscopy ; Machine design ; Magnetic fields ; Magnetic resonance imaging ; Needles ; Tissue

Biological Materials and Tissue Engineering:461.2 ; Medicine and Pharmacology:461.6 ; Mechanical Design:601 ; Magnetism: Basic Concepts and Phenomena:701.2 ; Robotics:731.5 ; Imaging Techniques:746

ENGINEERING

Web of Science

1.Harbin Inst Technol Shenzhen, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
2.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China
3.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen, Guangdong, Peoples R China
4.Chinese Univ Hong Kong, Shenzhen Res Inst, Hong Kong, Peoples R China

Ye, Dongxu,Xue, Junnan,Yuan, Sishen,et al. Design and Control of a Magnetically-Actuated Capsule Robot With Biopsy Function[J]. IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING,2022,69(9):2905-2915.

Ye, Dongxu.,Xue, Junnan.,Yuan, Sishen.,Zhang, Fan.,Song, Shuang.,...&Meng, Max Q-H.(2022).Design and Control of a Magnetically-Actuated Capsule Robot With Biopsy Function.IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING,69(9),2905-2915.

Ye, Dongxu,et al."Design and Control of a Magnetically-Actuated Capsule Robot With Biopsy Function".IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING 69.9(2022):2905-2915.