Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Aspiration Biopsy

Donghoon Son1, M. Doga Dogan2, Metin Sitti3

  • 1Carnegie Mellon University
  • 2Bogazici University
  • 3Max-Planck Institute for Intelligent Systems

Details

11:45 - 11:50 | Tue 30 May | Room 4911/4912 | TUB10.4

Session: Medical Robots and Systems 1

Abstract

This paper presents a magnetically actuated soft capsule endoscope for fine-needle aspiration biopsy (B-MASCE) in the upper gastrointestinal tract. A thin and hollow needle is attached to the capsule, which can penetrate deeply into tissues to obtain subsurface biopsy sample. The design utilizes a soft elastomer body as a compliant mechanism to guide the needle. An internal permanent magnet provides a means for both actuation and tracking. The capsule is designed to roll towards its target and then deploy the biopsy needle in a precise location selected as the target area. B-MASCE is controlled by multiple custom-designed electromagnets while its position and orientation are tracked by a magnetic sensor array. In in vitro trials, B-MASCE demonstrated rolling locomotion and biopsy of a swine tissue model positioned inside an anatomical human stomach model. It was confirmed after the experiment that a tissue sample was retained inside the needle.