Magnetic Surgical Instruments for Robotic Abdominal Surgery.

This review looks at the implementation of magnetic-based approaches in surgical instruments for abdominal surgeries. As abdominal surgical techniques advance toward minimizing surgical trauma, surgical instruments are enhanced to support such an objective through the exploration of magnetic-based systems. With this design approach, surgical devices are given the capabilities to be fully inserted intraabdominally to achieve access to all abdominal quadrants, without the conventional rigid link connection with the external unit. The variety of intraabdominal surgical devices are anchored, guided, and actuated by external units, with power and torque transmitted across the abdominal wall through magnetic linkage. This addresses many constraints encountered by conventional laparoscopic tools, such as loss of triangulation, fulcrum effect, and loss/lack of dexterity for surgical tasks. Design requirements of clinical considerations to aid the successful development of magnetic surgical instruments, are also discussed

A System-on-Chip solution for a low power active capsule endoscope with therapeutic capabilities for clip application in the gastrointestinal tract

This paper addresses the circuit implementation challenges resulting from the integration of a therapeutic clip in a magnetically maneuverable wireless capsule intended for colonoscopy. To deal with the size constraints typical of a capsule endoscope, an Application Specific Integrated Circuit (ASIC) has been designed specifically to habilitate the release of the therapeutic clip. The ASIC is a complete System on Chip (SoC) that incorporates a circuit for the low power release of the clip, thus overcoming the limitations of the power supply system. With a size of 14mm2, the ASIC can be incorporated in practically any capsule endoscope, consuming only an idle-state power of 1.5mW

Emerging Optical Methods for Endoscopic Barrett’s Surveillance

Barrett’s oesophagus is an acquired metaplastic condition that predisposes patients to the development of oesophageal adenocarcinoma, prompting the use of surveillance regimes to detect early malignancy for endoscopic therapy with curative intent. The currently accepted surveillance regime uses white light endoscopy together with random biopsies, but suffers poor sensitivity and discards information from numerous light-tissue interactions that could be exploited to probe structural, functional and molecular changes in the tissue. Advanced optical methods are now emerging that are exquisitely sensitive to these changes and hold significant potential to improve surveillance of Barrett’s oesophagus if they can be applied endoscopically. The next decade will see some of these exciting new methods applied to Barrett’s surveillance in new device architectures for the first time, potentially leading to a longawaited improvement of the standard of care

Design Considerations of a Sub-50 {\mu}W Receiver Front-end for Implantable Devices in MedRadio Band

Emerging health-monitor applications, such as information transmission through multi-channel neural implants, image and video communication from inside the body etc., calls for ultra-low active power (<50${\mu}$W) high data-rate, energy-scalable, highly energy-efficient (pJ/bit) radios. Previous literature has strongly focused on low average power duty-cycled radios or low power but low-date radios. In this paper, we investigate power performance trade-off of each front-end component in a conventional radio including active matching, down-conversion and RF/IF amplification and prioritize them based on highest performance/energy metric. The analysis reveals 50${\Omega}$ active matching and RF gain is prohibitive for 50${\mu}$W power-budget. A mixer-first architecture with an N-path mixer and a self-biased inverter based baseband LNA, designed in TSMC 65nm technology show that sub 50${\mu}$W performance can be achieved up to 10Mbps (< 5pJ/b) with OOK modulation.Comment: Accepted to appear on International Conference on VLSI Design 2018 (VLSID

Systematic Design of edical Capsule Robots

Medical capsule robots that navigate inside the body as diagnostic and interventional tools are an emerging and challenging research area within medical CPSs. These robots must provide locomotion, sensing, actuation, and communication within severe size, power, and computational constraints. This paper presents the first effort for an open architecture, platform design, software infrastructure, and a supporting modular design environment for medical capsule robots to further this research area

A roadmap for the clinical implementation of optical-imaging biomarkers

Clinical workflows for the non-invasive detection and characterization of disease states could benefit from optical-imaging biomarkers. In this Perspective, we discuss opportunities and challenges towards the clinical implementation of optical-imaging biomarkers for the early detection of cancer by analysing two case studies: the assessment of skin lesions in primary care, and the surveillance of patients with Barrett’s oesophagus in specialist care. We stress the importance of technical and biological validations and clinical-utility assessments, and the need to address implementation bottlenecks. In addition, we define a translational roadmap for the widespread clinical implementation of optical imaging-technologies

Hybrid 6-DoFs magnetic localization for robotic capsule endoscopes compatible with high-grade magnetic field navigation

This paper proposes a hybrid 6-DoFs localization system for endoscopic magnetic capsules, compatible with external high-grade permanent magnetic locomotion. The proposed localization system, which is able to provide an accurate estimation of the endoscopic capsule pose, finds application in the robotic endoscopy field to provide efficient closed-loop navigation of a magnetically-driven tethered capsule. It takes advantage of two optimization steps based on a triangulation approach, i.e. (1) mathematical approximations of the magnetic field, and (2) minimization of the magnetic field mean square deviation. The proposed localization system was tested in two different in-vitro scenarios for mimicking the clinical cases that a magnetic capsule would encounter during tele-operated magnetic navigation. The development phase was preceded by an in-depth work-space analysis to lay the groundwork for the localization design and implementation. Results of the hybrid 6-DoFs localization system show a significant accuracy in accordance with the state-of-the-art, i.e. &lt; 5 mm and &lt; 5° in position and orientation, but introducing benefits in expanding the work-space by increasing the number of electromagnets on the operating table as an independent solution with respect to the external magnetic locomotion source

Characterization of path loss and absorption for a wireless radio frequency link between an in-body endoscopy capsule and a receiver outside the body

Physical-layer characterization is important for design of in-to-out body communication for wireless body area networks (WBANs). This paper numerically investigates the path loss and absorption of an in-to-out body radio frequency (RF) wireless link between an endoscopy capsule and a receiver outside the body using a 3D electromagnetic solver. A spiral antenna in the endoscopy capsule is tuned to operate in the Medical Implant Communication Service (MICS) band at 402 MHz, accounting for the properties of the human body. The influence of misalignment, rotation of the capsule, and three different human models are investigated. Semi-empirical path loss models for various homogeneous tissues and 3D realistic human body models are provided for manufacturers to evaluate the performance of in-body to out-body WBAN systems. The specific absorption rate (SAR) in homogeneous and heterogeneous body models is characterized and compliance is investigated