Preliminary study of an intestinal bio-robot system based on nerve stimulation

摘要

BACKGROUND: Wireless capsule endoscopes for diagnosis and treatment in the gastrointestinal tract face the common problem of active actuation. To tackle this difficulty, a non-invasive intestinal bio-robot system with active actuation based on nerve stimulation was developed. METHODS: This intestinal inspection system utilized a natural organism--the mud eel--to serve as the locomotion mechanism, and it was controlled by a LabVIEW-programmed pulse generator. The exterior control unit was able to actively drive and remotely control the navigation and site-specific anchoring of the organism. RESULTS: Through in vitro stimulation experiments, a method of controlling the organism's forward motion was obtained: when the organism was stimulated at the tail, it moved forward at a relatively fast speed and with high repeatability. The stimulator parameters were as follows: amplitude 1.85 μA, frequency 2 Hz, pulse duration 500 μs. CONCLUSIONS: Since this is a preliminary study, considerable work remains to be done. However, the results could provide a solid theoretical basis for further research toward producing a practical intestinal bio-robot for the diagnosis and treatment of the gastrointestinal tract.