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Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope Sehyuk Yim, Student Member, IEEE, and Metin Sitti, Senior Member, IEEE

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Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope Sehyuk Yim, Student Member, IEEE, and Metin Sitti, Senior Member, IEEE IEEE TRANSACTIONS ON ROBOTICS, VOL. 28, NO. 1, FEBRUARY 2012 183 Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope Sehyuk Yim, Student Member, IEEE, and Metin Sitti, Senior Member, IEEE Abstract—This paper proposes a magnetically actuated soft cap- Actuation and locomotion methods of current robotic cap- sule endoscope (MASCE) as a tetherless miniature mobile robot sule endoscopes are mostly determined by their target GI tract platform for diagnostic and therapeutic medical applications in- region to be operated. For close to 1-D tubular systems such side the stomach. Two embedded internal permanent magnets and a large external magnet are used to actuate the robot remotely. as the intestines, esophagus, legs [5], [6], and paddle-type [7] The proposed MASCE has three novel features. First, its outside of mechanisms are proposed by using on-board micromotors or body is made of soft elastomer-based compliant structures. Such off-board magnetic linear [8] or rotational [9] actuation meth- compliant structures can deform passively during the robot–tissue ods. In these studies, although on-board actuation using micro- contact interactions, which makes the device safer and less inva- motors enables more portable operations, limited power source sive. Next, it can be actively deformed in the axial direction by using external magnetic actuation, which provides an extra degree and limited space on such capsules make the external magnetic of freedom that enables various advanced functions such as axial actuation principle more attractive for long duration and less position control, drug releasing, drug injection, or biopsy. Finally, invasive operations. For the 3-D regions of the GI tract such it navigates in three dimensions by rolling on the stomach surface as the stomach, wall-to-wall locomotion methods [10], [11] in as a new surface locomotion method inside the stomach. Here, the a liquid-filled environment or sliding-type surface locomotion external attractive magnetic force is used to anchor the robot on a desired location, and the external magnetic torque is used to roll methods in an inflated stomach [12]–[15] are proposed using it to another location, which provides a stable, continuous, and mostly external magnetic actuation methods. In such magneti- controllable motion. The paper presents design and fabrication cally actuated capsule endoscopes (MACEs), external magnetic methods for the compliant structures of the robot with its axial fields are used to exert forces or torques on the internal magnet deformation and position control capability. Rolling-based surface of the capsule remotely to navigate the capsule in 3-D. locomotion of the robot using external magnetic torques is mod- eled, and its feasibility is tested and verified on a synthetic stomach Although there have been many promising studies on surface by using a magnetically actuated capsule endoscope proto- MACEs, there are still many open issues [4]. First, advanced type. diagnostic and therapeutic functional modules that are compat- Index Terms—Capsule endoscopy, magnetic actuation, medical ible to external magnetic actuation principle are not available robotics, miniature robotics, soft robotics. yet. Next, precise 3-D position control of the device on the tissue surface has yet to be addressed in detail. A robotic manipulator with a permanent magnet is used for this reason, but the lo- I. INTRODUCTION comotion can be discontinuous and unstable depending on the morphology and friction of the environment. Next, real-time CTIVE robotic capsule endoscopy has been a recent trend position detection or estimation of MACE that is compatible toward minimally invasive disease diagnosis and treat- A with continuous magnetic actuation is challenging. To navigate ment in the gastrointestinal (GI) tract [1]–[4]. Such robotic a MACE to a desired position, it is essential to maintain an ef- capsule endoscopes are not only passive imaging or sensing fective distance between external and internal magnets. Finally, devices, but they are also capable of conducting active diag- possible tissue damage because of the excessive magnetic attrac- nostic, therapeutic, or surgical functions. They mostly locomote tion (it is difficult to control the magnetic forces on the capsule actively [5]–[14], perform biopsy [16]–[18], or release or inject precisely by using external permanent magnet (EPM)-based ac- drugs into tissue lesions [19], [20]. tuation) and edges on the capsule could be a safety issue, which is not addressed in detail. All current MACEs are made of rigid outer surfaces, which might create very high stresses and poten- Manuscript received May 16, 2011; accepted July 27, 2011. Date of publi- tial damage on the tissues during magnetic actuation, and they cation August 30, 2011; date of current version February 9, 2012. This paper mostly use the EPM-based actuation method [10]–[15]. was recommended for publication by Associate Editor Y. Sun and Editor B. J. To address aforementioned issues for the case of 3-D stom- Nelson upon evaluation of the reviewers’ comments. S. Yim is with the Department of Mechanical Engineering, Carnegie Mellon ach applications of MACEs, this study proposes a MASCE, as University, Pittsburgh, PA 15213 USA (e-mail: [email protected]). shown in Fig. 1, which has three novel features compared with M. Sitti is with the Department of Mechanical Engineering and the Robotics the literature. First, its outside body is made of soft elastomer- Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA (e-mail: sitti@ cmu.edu). based compliant structures. Such compliant structures can de- This paper has supplementary downloadable material available at form passively during the robot–tissue contact interactions, http://ieeexplore.ieee.org. which makes the device safer and less invasive. Next, it can Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. be actively deformed in an axial direction by using external Digital Object Identifier 10.1109/TRO.2011.2163861 magnetic actuation, which provides an extra degree of freedom 1552-3098/$26.00 © 2011 IEEE 184 IEEE TRANSACTIONS ON ROBOTICS, VOL. 28, NO. 1, FEBRUARY 2012 surface of a stomach, the patient bed, on which the patient is mounted and tethered, would be rotated by a secondary motor (D). In the new stomach orientation, the capsule would navi- gate and perform the real-time diagnostic functions. After the endoscopy, the capsule would be excreted through intestines by passive peristalsis. III. DESIGN OF THE MAGNETICALLY ACTUATED SOFT CAPSULE ENDOSCOPE A. Design Features Fig. 1. Proposed magnetically actuated soft capsule endoscope (MASCE). (a) MASCE with a US quarter, where its specifications are given in Table I. Fig. 3 shows the schematic of the components of the MASCE. (b) Fully compressed capsule while it is anchored on the synthetic stomach A camera module is implanted in the upper head. Two internal surface. (c) Its shape-deformation demonstration when compressed. permanent magnets are embedded inside both ends to allow magnetic actuation and shape deformation. The space between that enables various advanced functions such as axial position two internal magnets is used for a diagnostic or therapeutic control, drug releasing, drug injection, or biopsy. Finally, it function. For example, an encapsulated liquid drug chamber navigates in 3-D by rolling on the stomach surface as a new can be located here for controlled drug releasing. surface locomotion method inside the stomach. Here, the ex- MASCE has three main design features that allow magneti- ternal attractive magnetic force is used to anchor the robot on cally actuated shape deformation and recovery: a desired location, and the external magnetic torque is used to 1) Sarrus Linkage: The outer compliant structure of roll it to another location, which provides a stable, continu- MASCE is based on a Sarrus linkage [22], [23]. The deforma- ous, and controllable motion. As different from the preliminary tion mechanism is shown in Fig. 4(a). With axial compression, study of MASCE [21], this paper includes improved models the side linkages fold and the structure becomes fully com- and prototypes with more detailed and extensive simulation and pressed. A finite elements analysis of this mechanism is shown experimental results and their discussions. in Fig. 4(b). The bright areas mean areas folded by a compres- As the outline of the paper, Section II describes the over- sive force and play the role of a hinge. This simple mechanism all medical application scenario of MASCE. In Section III, is appropriate for MASCE because its initial shape is similar to the capsule’s outer compliant mechanism design and its axial a typical capsule and its deformation amount can be controlled deformation design, characterization, and estimation schemes by the external magnetic field gradient in the axial direction. are presented. In Section IV, the magnetic actuation scheme As the safety performance parameter, maximum compressive is introduced, and the proposed rolling-based surface locomo- stress of the MASCE on the tissue surface should be minimized tion method is modeled and simulated. Finally, in Section V, a much below to the pain level, which is 5 kPa [4]. The shape of MASCE platform with an external magnetic actuation system the fully compressed MASCE with deployed side linkages is and a synthetic stomach model is built and tested to evaluate close to a sphere with a contact area that increases from 78.5 and characterize the rolling locomotion and axial deformation to 320 mm2 , which reduces the stress on the tissue around four performance of the soft capsule experimentally. times when compared with its nondeformed shape. 2) Circular Flexure Hinge: MASCE has to recover its ini- II. SYSTEM OVERVIEW tial shape if the compressive preload force because of the exter- nal magnetic field is removed. For the passive shape recovery Fig. 2 shows the overall medical application scenario of the process, the folded areas of MASCE were designed as flexure MASCE inside the stomach.
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