Journal
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
Volume 61, Issue 2, Pages 513-521Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TBME.2013.2283369
Keywords
Biopsy; capsule endoscopy; medical robotics; microgrippers (mu-grippers); minimally invasive surgery
Categories
Funding
- National Institutes of Health [DP2-OD004346-01, R01-NR014083]
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This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (mu-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the mu-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling mu-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy.
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