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

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.