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Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers.

ABSTRACT: This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (?-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the ?-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling ?-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy.

SUBMITTER: Yim S 

PROVIDER: S-EPMC4023810 | biostudies-other | 2014 Feb

REPOSITORIES: biostudies-other

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Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers.

Yim Sehyuk S   Gultepe Evin E   Gracias David H DH   Sitti Metin M  

IEEE transactions on bio-medical engineering 20140201 2

This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (μ-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the μ-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarch  ...[more]