To implement safety measures and to increase effectiveness of navigation in gastrointestinal endoscopy, we have integrated a dense array of MEMS tactile sensors in a magnetically-driven robotic endoscopic capsule. With traditional endoscopic probes, the force applied to the gastrointestinal wall cannot be directly measured and controlled. The presented sensorized capsule will allow implementing strategies for preventing tissue damages and thus pain, discomfort or even perforation during colonoscopy. The sensors embedded onto the here presented capsule will allow for online force readout and a closed-loop force control for real-time safety strategy has been implemented. Moreover, fine force readout will enhance capsule navigation, allowing optimization of the contact condition and thus diminishing friction with the endoluminal wall. The presented system will be tested in the future to prove capabilities as tactile tool for remote palpation, providing the physician with texture and stiffness information during endoscopic procedure.

Robotic endoscopic capsule for closed-loop force-based control and safety strategies

Caliò R.;Camboni D.;Ortega J.;Oddo C. M.;Carrozza M. C.;Menciassi A.;Ciuti G.;Dario P.
2017-01-01

Abstract

To implement safety measures and to increase effectiveness of navigation in gastrointestinal endoscopy, we have integrated a dense array of MEMS tactile sensors in a magnetically-driven robotic endoscopic capsule. With traditional endoscopic probes, the force applied to the gastrointestinal wall cannot be directly measured and controlled. The presented sensorized capsule will allow implementing strategies for preventing tissue damages and thus pain, discomfort or even perforation during colonoscopy. The sensors embedded onto the here presented capsule will allow for online force readout and a closed-loop force control for real-time safety strategy has been implemented. Moreover, fine force readout will enhance capsule navigation, allowing optimization of the contact condition and thus diminishing friction with the endoluminal wall. The presented system will be tested in the future to prove capabilities as tactile tool for remote palpation, providing the physician with texture and stiffness information during endoscopic procedure.
2017
978-153863194-2
File in questo prodotto:
File Dimensione Formato  
4973551 final paper.pdf

solo utenti autorizzati

Tipologia: Documento in Pre-print/Submitted manuscript
Licenza: Non pubblico
Dimensione 459.77 kB
Formato Adobe PDF
459.77 kB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11382/521071
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
social impact