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Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures

Published online by Cambridge University Press:  26 October 2009

Gastone Ciuti ,
Pietro Valdastri ,
Arianna Menciassi  and
Paolo Dario
Gastone Ciuti
Affiliation:
Scuola Superiore Sant'Anna – CRIM Lab, Pisa, Italy
Pietro Valdastri*
Affiliation:
Scuola Superiore Sant'Anna – CRIM Lab, Pisa, Italy
Arianna Menciassi
Affiliation:
Scuola Superiore Sant'Anna – CRIM Lab, Pisa, Italy IIT, Italian Institute of Technology Network, Genova, Italy
Paolo Dario
Affiliation:
Scuola Superiore Sant'Anna – CRIM Lab, Pisa, Italy IIT, Italian Institute of Technology Network, Genova, Italy
*
*Corresponding author. E-mail: pietro@sssup.it
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Summary

This paper describes a novel approach to capsular endoscopy that takes advantage of active magnetic locomotion in the gastrointestinal tract guided by an anthropomorphic robotic arm. Simulations were performed to select the design parameters allowing an effective and reliable magnetic link between the robot end-effector (endowed with a permanent magnet) and the capsular device (endowed with small permanent magnets). In order to actively monitor the robotic endoluminal system and to efficiently perform diagnostic and surgical medical procedures, a feedback control based on inertial sensing was also implemented. The proposed platform demonstrated to be a reliable solution to move and steer a capsular device in a slightly insufflated gastrointestinal lumen.

Keywords

Robotic platformLocomotion and steering by magnetic forcesEndoluminal surgeryCapsular endoscopy
Type
Article
Information
Robotica , Volume 28 , Special Issue 2: Surgical Robotics: System Development, Application Study and Performance Analysis , March 2010 , pp. 199 - 207
Copyright
Copyright © Cambridge University Press 2009

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