Intelligent magnetic manipulation for gastrointestinal ultrasound.

Science Robotics
Joseph C NortonPietro Valdastri

Abstract

Diagnostic endoscopy in the gastrointestinal tract has remained largely unchanged for decades and is limited to the visualization of the tissue surface, the collection of biopsy samples for diagnoses, and minor interventions such as clipping or tissue removal. In this work, we present the autonomous servoing of a magnetic capsule robot for in-situ, subsurface diagnostics of microanatomy. We investigated and showed the feasibility of closed-loop magnetic control using digitized microultrasound (μUS) feedback; this is crucial for obtaining robust imaging in an unknown and unconstrained environment. We demonstrated the functionality of an autonomous servoing algorithm that uses μUS feedback, both on benchtop trials as well as in-vivo in a porcine model. We have validated this magnetic-μUS servoing in instances of autonomous linear probe motion and were able to locate markers in an agar phantom with 1.0 ± 0.9 mm position accuracy using a fusion of robot localization and μUS image information. This work demonstrates the feasibility of closed-loop robotic μUS imaging in the bowel without the need for either a rigid physical link between the transducer and extracorporeal tools or complex manual manipulation.

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Citations

Feb 14, 2020·Scientific Reports·Mahdi IlamiHamid Marvi
Jun 4, 2020·Journal of Clinical Medicine·Gastone CiutiAnastasios Koulaouzidis
Aug 3, 2020·Current Opinion in Gastroenterology·Barbara Seeliger, Lee L Swanström
May 18, 2020·Advanced Drug Delivery Reviews·Nikolaj Kofoed MandsbergSarvesh Kumar Srivastava
Oct 23, 2020·Nature Machine Intelligence·James W MartinPietro Valdastri
Jul 27, 2021·Frontiers in Robotics and AI·Peter LloydPietro Valdastri
Aug 22, 2021·Nature Communications·Cheng ZhouJianfeng Zang
Aug 21, 2021·Advanced Drug Delivery Reviews·G Cummins

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