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Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures
Abstract
SUMMARY: This paper describes a novel approach to capsular endoscopy that takes advantage of active magnetic locomotion in the gastrointestinal tract guided by an anthropomorphic robotic arm. Simulations were performed to select the design parameters allowing an effective and reliable magnetic link between the robot end-effector (endowed with a permanent magnet) and the capsular device (endowed with small permanent magnets). In order to actively monitor the robotic endoluminal system and to efficiently perform diagnostic and surgical medical procedures, a feedback control based on inertial sensing was also implemented. The proposed platform demonstrated to be a reliable solution to move and steer a capsular device in a slightly insufflated gastrointestinal lumen.
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Citations
Cited by
Magnetic Soft Materials and Robots
Kim, Y., & Zhao, X. (2022) · Chemical Reviews · doi:10.1021/acs.chemrev.1c00481 · Cited by 873
Capsule Endoscopy: From Current Achievements to Open Challenges
Ciuti, G., Menciassi, A., & Dario, P. (2011) · IEEE Reviews in Biomedical Engineering · doi:10.1109/rbme.2011.2171182 · Cited by 466
Self-citationMedical Robotics and Computer-Integrated Surgery
Taylor, R. H., Menciassi, A., Fichtinger, G., Fiorini, P., & Dario, P. (2016) · Springer Handbooks · doi:10.1007/978-3-319-32552-1_63 · Cited by 325
Self-citationA review of magnet systems for targeted drug delivery
Liu, Y.-L., Chen, D., Shang, P., & Yin, D.-C. (2019) · Journal of Controlled Release · doi:10.1016/j.jconrel.2019.03.031 · Cited by 298
Metadata
- Authors
- Ciuti, G., Valdastri, P., Menciassi, A., & Dario, P.
- Venue
- Robotica
- Publisher
- Cambridge University Press (CUP)
- Published
- 2009-10-26
- Volume
- 28
- Issue
- 2
- Pages
- 199-207
- ISSN
- 0263-5747 (ISSN-L)
- 1469-8668
- OpenAlex
- W2148828700
- Cited by
- 306
- References
- 0
- FWCI
- 9.51
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures. https://app.cochat.ai/papers/10.1017/s0263574709990361
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- Ciuti, G., Valdastri, P., Menciassi, A., & Dario, P. (2010). Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures. Robotica. https://doi.org/10.1017/s0263574709990361
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
