Active capsule endoscope robot: current status and future perspectives

Background: China is a big country with a vast territory, in which gastropathy has become a common high-incidence disease in daily life. Gastroscopy is an important means of diagnosis of gastropathy, but the use of a gastroscope causes a lot of pain to patients. A cable-free, non-invasive and painless diagnosis and treatment tool, an active capsule endoscope robot, can solve this problem very well. Capsule robot has become a new development hotspot. Objective: The study aims to provide an overview of the active endoscope capsule robot and introduce its classification, characteristics and development. Method: This paper summarizes various scientific research achievements of the active endoscope capsule robot. The structural characteristics, advantages and disadvantages of various active endoscope capsule robots are introduced. Results: The active endoscope capsule robot has been analyzed and compared to other models. Its typical characteristics have been summarized. The main problems in its development are analyzed, its development trend is prospected, and the research status and future of active endoscope capsule robot are discussed. Conclusion: The active capsule robot is classified into two categories: bionic and non-bionic. The analysis shows that the capsule robot is an effective and safe initiative and has a very broad application prospect for various gastrointestinal tests compared to gastroscope, and helps alleviate the pain of patients.

Automated Bowel Polyp Detection Based on Actively Controlled Capsule Endoscopy: Feasibility Study

This paper presents an active locomotion capsule endoscope system with 5D position sensing and real-time automated polyp detection for small-bowel and colon applications. An electromagnetic actuation system (EMA) consisting of stationary electromagnets is utilized to remotely control a magnetic capsule endoscope with multi-degree-of-freedom locomotion. For position sensing, an electronic system using a magnetic sensor array is built to track the position and orientation of the magnetic capsule during movement. The system is integrated with a deep learning model, named YOLOv3, which can automatically identify colorectal polyps in real-time with an average precision of 85%. The feasibility of the proposed method concerning active locomotion and localization is validated and demonstrated through in vitro experiments in a phantom duodenum. This study provides a high-potential solution for automatic diagnostics of the bowel and colon using an active locomotion capsule endoscope, which can be applied for a clinical site in the future.

Safety, efficacy, and maneuverability of a self-propelled capsule endoscope for observation of the human gastrointestinal tract

Background and study aims We developed a self-propelled capsule endoscope that can be controlled from outside the body with real-time observation. To improve the device, we conducted a clinical trial of total gastrointestinal capsule endoscopy in healthy subjects to ascertain whether our first-generation, self-propelled capsule endoscope was safe and effective for observing the entire human gastrointestinal tract. Patients and methods After adequate gastrointestinal pretreatment, five healthy subjects were instructed to swallow a self-propelling capsule endoscope and the safety of a complete gastrointestinal capsule endoscopy with this device was assessed. We also investigated basic problems associated with complete gastrointestinal capsule endoscopy. Results No adverse effects of the magnetic field were identified in any of the subjects. No mucosal damage was noted in any of the subjects with the use of our first-generation, self-propelling capsule endoscope. We found that it took longer than expected to observe the stomach; the view was compromised by the swallowed saliva. The pylorus was extremely difficult to navigate, and the endoscope’s fin sometimes got caught in the folds of the small intestine and colon. Conclusions To resolve the problems associated with the existing self-propelling capsule endoscope, it may be necessary to not only improve the capsule endoscopes, but also to control the environment within the gastrointestinal tract with medications and other means. Our results could guide other researchers in developing capsule endoscopes controllable from outside the body, thus allowing real-time observation.

Modular Capsules with Assembly and Separation Mechanism: Proof of Concept

As wireless capsule endoscope (WCE) technology has advanced, various studies were published on WCEs with functional modules for the diagnosis and treatment of problems in the digestive system. However, when additional functional modules are added the physical size of the WCEs will increase, making them more difficult for patients to comfortably swallow. Moreover, there are limitations when it comes to adding multi-functional modules to the WCEs due to the size of the digestive tract itself. This article introduces a controllable modular capsule endoscope driven by an electromagnetic actuation (EMA) system. The modular capsules are divided into a driving capsule and a functional capsule. Capsules with different functions are swallowed in sequence and then recombination, transportation and separation functions are carried out under the control of the EMA system while in the stomach, this approach solves the size limitation issues faced by multi-functional capsule endoscopes. The recombination and separation functions make use of a characteristic of soft magnetic materials so that their magnetization direction can be changed easily. These functions are made possible by the addition of a soft magnet to the capsule together with the precise control of magnetic fields provided by the EMA system.