Work

Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing, and Retrieving Untethered Microgrippers

Year: 2013

Type: article

Abstract: 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 (μ-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 μ-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 μ-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy.

Source: IEEE Transactions on Biomedical Engineering

DOI: 10.1109/tbme.2013.2283369

Authors: Sehyuk Yim, Evin Gultepe, David H. Gracias, Metin Sitti

Institutions: Carnegie Mellon University, Johns Hopkins University

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Institutes of Health, National Institute of Nursing Research

Awards: Minimally Invasive Micro-Nanoscale Tools and Devices for Medicine, G647048132, NRI: Personal Pill Sized Soft Medical Robots for the Gastrointestinal Tract, G9000274289