Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.
Department of Mechanical and Industrial Engineering, Louisiana State University, Baton Rouge, Louisiana.
Soft Robot. 2020 Feb;7(1):10-21. doi: 10.1089/soro.2018.0171. Epub 2019 Sep 12.
Wireless capsule endoscopes have revolutionized diagnostic procedures in the gastrointestinal (GI) tract by minimizing discomfort and trauma. Biopsy procedures, which are often necessary for a confirmed diagnosis of an illness, have been incorporated recently into robotic capsule endoscopes to improve their diagnostic functionality beyond only imaging. However, capsule robots to date have only been able to acquire biopsy samples of superficial tissues of the GI tract, which could generate false-negative diagnostic results if the diseased tissue is under the surface of the GI tract. To improve their diagnostic accuracy for submucosal tumors/diseases, we propose a magnetically actuated soft robotic capsule robot, which takes biopsy samples in a deep tissue of a stomach using the fine-needle biopsy technique. We present the design, control, and human-machine interfacing methods for the fine-needle biopsy capsule robot. experiments in a porcine stomach show 85% yield for the biopsy of phantom tumors located underneath the first layers of the stomach wall.
无线胶囊内窥镜通过最大限度地减少不适和创伤，彻底改变了胃肠道（GI）诊断程序。最近，活检程序已被纳入机器人胶囊内窥镜中，以提高其诊断功能，不仅仅局限于成像。然而，迄今为止，胶囊机器人只能获取胃肠道浅层组织的活检样本，如果病变组织位于胃肠道表面以下，这可能会导致假阴性诊断结果。为了提高对黏膜下肿瘤/疾病的诊断准确性，我们提出了一种磁驱动的软机器人胶囊机器人，该机器人使用细针活检技术从胃的深部组织获取活检样本。我们为细针活检胶囊机器人介绍了设计、控制和人机交互方法。在猪胃中的实验表明，位于胃壁第一层下方的模拟肿瘤的活检成功率为 85%。
