A magnetic internal mechanism for precise orientation of the camera in wireless endoluminal applications

Background and study aims: The use of magnetic fields to control operative devices has been recently described in endoluminal and transluminal surgical applications. The exponential decrease of magnetic field strength with distance has major implications for precision of the remote control. We aimed to assess the feasibility and functionality of a novel wireless miniaturized mechanism, based on magnetic forces, for precise orientation of the camera. Materials and methods: A remotely controllable endoscopic capsule was developed as proof of concept. Two intracapsular moveable permanent magnets allow fine positioning, and an externally applied magnetic field permits gross movement and stabilization. Performance was assessed in ex vivo and in vivo bench tests, using porcine upper and lower gastrointestinal tracts. Results: Fine control of capsule navigation and rotation was achieved in all tests with an external magnet held steadily about 15 cm from the capsule. The camera could be rotated in steps of 1.8°. This was confirmed by ex vivo tests; the mechanism could adjust the capsule view at 40 different locations in a gastrointestinal tract phantom model. Full 360° viewing was possible in the gastric cavity, while the maximal steering in the colonwas 45° in total. In vivo, a similar performance was verified, where the mechanism was successfully operated every 5 cm for 40 cm in the colon, visually sweeping from side to side of the lumen; 360° views were obtained in the gastric fundus and body, while antrally the luminal walls prevented full rotation. Conclusions: We report the feasibility and effectiveness of the combined use of external static magnetic fields and internal actuation to move small permanent intracapsular magnets to achieve wirelessly controllable and precise camera steering. The concept is applicable to capsule endoscopy as to other instrumentation for laparoscopic, endoluminal, or transluminal procedures

Aerospace Medicine and Biology: A continuing bibliography with indexes (supplement 141)

This special bibliography lists 267 reports, articles, and other documents introduced into the NASA scientific and technical information system in April 1975

Connected healthcare: Improving patient care using digital health technologies

Now more than ever, traditional healthcare models are being overhauled with digital technologies of Healthcare 4.0 being increasingly adopted. Worldwide, digital devices are improving every stage of the patient care pathway. For one, sensors are being used to monitor patient metrics 24/7, permitting swift diagnosis and interventions. At the treatment stage, 3D printers are currently being investigated for the concept of personalised medicine by allowing patients access to on-demand, customisable therapeutics. Robots are also being explored for treatment, by empowering precision surgery or targeted drug delivery. Within medical logistics, drones are being leveraged to deliver critical treatments to remote areas, collect samples, and even provide emergency aid. To enable seamless integration within healthcare, the Internet of Things technology is being exploited to form closed-loop systems that remotely communicate with one another. This review outlines the most promising healthcare technologies and devices, their strengths, drawbacks, and scopes for clinical adoption

Aerospace medicine and biology. A continuing bibliography (supplement 231)

This bibliography lists 284 reports, articles, and other documents introduced into the NASA scientific and technical information system in March 1982

A compact targeted drug delivery mechanism for a next generation wireless capsule endoscope

This paper reports a novel medication release and delivery mechanism as part of a next generation wireless capsule endoscope (WCE) for targeted drug delivery. This subsystem occupies a volume of only 17.9mm3 for the purpose of delivering a 1 ml payload to a target site of interest in the small intestinal tract. An in-depth analysis of the method employed to release and deliver the medication is described and a series of experiments is presented which validates the drug delivery system. The results show that a variable pitch conical compression spring manufactured from stainless steel can deliver 0.59 N when it is fully compressed and that this would be sufficient force to deliver the onboard medication

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 143

This supplement to Aerospace Medicine and Biology (NASA SP-7011) lists 251 reports, articles and other documents announced during June 1975 in Scientific and Technical Aerospace Reports (STAR) or in International Aerospace Abstracts (IAA). The first issue of the bibliography was published in July 1964; since that time, monthly supplements have been issued. In its subject coverage, Aerospace Medicine and Biology concentrates on the biological, physiological, and environmental effects to which man is subjected during and following simulated or actual flight in the earth's atmosphere or in interplanetary space. References describing similar effects of biological organisms of lower order are also included. Such related topics as sanitary problems, pharmacology, toxicology, safety and survival, life support systems, exobiology, and personnel factors receive appropriate attention. In general, emphasis is placed on applied research, but references to fundamental studies and theoretical principles related to experimental development also qualify for inclusion

Real-Time Sensory Information for Remote Supervision of Autonomous Agricultural Machines

The concept of the driverless tractor has been discussed in the scientific literature for decades and several tractor manufacturers now have prototypes being field-tested. Although farmers will not be required to be physically present on these machines, it is envisioned that they will remain a part of the human-automation system. The overall efficiency and safety to be attained by autonomous agricultural machines (AAMs) will be correlated with the effectiveness of information sharing between the AAM and the farmer through what might be aptly called an automation interface. In this supervisory scenario, the farmer would be able to both receive status information and send instructions. In essence, supervisory control of an AAM is similar to the current scenario where farmers physically present on their machines obtain status information from displays integrated into the machine and from general sensory information that is available due to their proximity to the operating machine. Therefore, there is reason to expect that real-time sensory information would be valuable to the farmer when remotely supervising an AAM through an automation interface. This chapter will provide an overview of recent research that has been conducted on the role of real-time sensory information to the task of remotely supervising an AAM

Design of a cybernetic hand for perception and action

Strong motivation for developing new prosthetic hand devices is provided by the fact that low functionality and controllability—in addition to poor cosmetic appearance—are the most important reasons why amputees do not regularly use their prosthetic hands. This paper presents the design of the CyberHand, a cybernetic anthropomorphic hand intended to provide amputees with functional hand replacement. Its design was bio-inspired in terms of its modular architecture, its physical appearance, kinematics, sensorization, and actuation, and its multilevel control system. Its underactuated mechanisms allow separate control of each digit as well as thumb–finger opposition and, accordingly, can generate a multitude of grasps. Its sensory system was designed to provide proprioceptive information as well as to emulate fundamental functional properties of human tactile mechanoreceptors of specific importance for grasp-and-hold tasks. The CyberHand control system presumes just a few efferent and afferent channels and was divided in two main layers: a high-level control that interprets the user’s intention (grasp selection and required force level) and can provide pertinent sensory feedback and a low-level control responsible for actuating specific grasps and applying the desired total force by taking advantage of the intelligent mechanics. The grasps made available by the high-level controller include those fundamental for activities of daily living: cylindrical, spherical, tridigital (tripod), and lateral grasps. The modular and flexible design of the CyberHand makes it suitable for incremental development of sensorization, interfacing, and control strategies and, as such, it will be a useful tool not only for clinical research but also for addressing neuroscientific hypotheses regarding sensorimotor control

Miniaturized Piezo Force Sensor for a Medical Catheter and Implantable Device

Real-time monitoring of intrabody pressures can benefit from the use of miniaturized force sensors during surgical interventions or for the recovery period thereafter. Herein, we present a force sensor made of poly(vinylidene fluoride)-co-trifluoroethylene (P(VDF-TrFE)) with a simple fabrication process that has been integrated into the tip of a medical catheter for intraluminal pressure monitoring, as well as into an implantable device with a power consumption of 180 μW obtained by the near-field communication (NFC) interface to monitor the arterial pulse at the subcutaneous level (≤1 cm). The pressure range supported by the sensor is below 40 kPa, with a signal responsivity of 0.63 μV/Pa and a mean lifetime expectancy of 400 000 loading cycles inside physiological conditions (12 kPa). The proposed sensor has been tested experimentally with synthetic anatomical models for the lungs (bronchoscopy) and subcutaneous tissue, as well as directly above the human carotid and radial arteries. Information about these pressure levels can provide insights about tissue homeostasis inside the body as fluid dynamics are altered in some health conditions affecting the hemodynamic and endocrine body systems, whereas for surgical interventions, precise control and estimation of the pressure exerted by a catheter over the internal walls are necessary to avoid endothelium injuries that lead to bleeding, liquid extravasation, or flow alteration associated with atheroma formation

Frontiers of robotic endoscopic capsules: a review

Digestive diseases are a major burden for society and healthcare systems, and with an aging population, the importance of their effective management will become critical. Healthcare systems worldwide already struggle to insure quality and affordability of healthcare delivery and this will be a significant challenge in the midterm future. Wireless capsule endoscopy (WCE), introduced in 2000 by Given Imaging Ltd., is an example of disruptive technology and represents an attractive alternative to traditional diagnostic techniques. WCE overcomes conventional endoscopy enabling inspection of the digestive system without discomfort or the need for sedation. Thus, it has the advantage of encouraging patients to undergo gastrointestinal (GI) tract examinations and of facilitating mass screening programmes. With the integration of further capabilities based on microrobotics, e.g. active locomotion and embedded therapeutic modules, WCE could become the key-technology for GI diagnosis and treatment. This review presents a research update on WCE and describes the state-of-the-art of current endoscopic devices with a focus on research-oriented robotic capsule endoscopes enabled by microsystem technologies. The article also presents a visionary perspective on WCE potential for screening, diagnostic and therapeutic endoscopic procedures