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.

Free manipulation system for nanorobot cluster based on complicated multi-coil electromagnetic actuator

Chemotherapy is an important method in the field of cancer treatment and often follows surgery and/or radiotherapy to remove as many tumor cells as possible. In particular, among the chemotherapy methods, treatment using electromagnetic-based actuation systems is considered an effective method owing to the remote control of nanorobots. The existing electromagnetic-based actuation systems, however, have certain disadvantages such as the lack of degrees of freedom and the difficulty of manipulating large numbers of nanorobots (i.e., nanorobot clusters). Herein, we report that nanorobot clusters can be manipulated with high degrees of freedom through a simple parameter alpha that easily controls the gradient of the magnetic field of a multi-coil electromagnetic actuation system. The simulation results show that the gradient of the magnetic field is controlled using an introduced parameter, alpha, and the corresponding velocity is also controlled. Not only the velocity of the nanorobot cluster but also the unrestricted spatial control is enabled in two- and three-dimensions. We believe this study highlights an efficient method of electromagnetic control for cluster-based drug delivery.

Locomotion and disaggregation control of paramagnetic nanoclusters using wireless electromagnetic fields for enhanced targeted drug delivery

Magnetic nanorobots (MNRs) based on paramagnetic nanoparticles/nanoclusters for the targeted therapeutics of anticancer drugs have been highlighted for their efficiency potential. Controlling the locomotion of the MNRs is a key challenge for effective delivery to the target legions. Here, we present a method for controlling paramagnetic nanoclusters through enhanced tumbling and disaggregation motions with a combination of rotating field and gradient field generated by external electromagnets. The mechanism is carried out via an electromagnetic actuation system capable of generating MNR motions with five degrees of freedom in a spherical workspace without singularity. The nanocluster swarm structures can successfully pass through channels to the target region where they can disaggregate. The results show significantly faster response and higher targeting rate by using rotating magnetic and gradient fields. The mean velocities of the enhanced tumbling motion are twice those of the conventional tumbling motion and approximately 130% higher than the gradient pulling motion. The effects of each fundamental factor on the locomotion are investigated for further MNR applications. The locomotion speed of the MNR could be predicted by the proposed mathematical model and agrees well with experimental results. The high access rate and disaggregation performance insights the potentials for targeted drug delivery application.

Photodynamic Therapy Using Endoscopy Capsule Robot

Among the photosensitizers used in Photodynamic therapy (PDT) technique for cancer treatment, it is found out that the Methylene blue and glycoconjugates chlorine are the best ones for this purpose. In this paper, it is suggested to use Active Capsule Wireless Endoscopy Robot instead of the traditional endoscope. The capsule has many valuable features. It uses LEDs as a source of light in the PDT to kill the colon cancer cells. So, the doctor can make use of the advantage of applying the LED light locally at the tumor which was previously injected by the photosensitizers, the light activates these photosensitizers and a photochemical reaction starts that makes the colon cancer cells die. The light with effective wavelength and power density, energy level and controlled LED light intensity will be applied. Active locomotion capsule endoscopy with an electromagnetic actuation system that can achieve a 3-D locomotion and guidance within the digestive system. The paper also discussed how to manage the required power in the capsule for all parts, LEDs, camera, transceiver, and locomotion.

Pushing of Magnetic Microdroplet Using Electromagnetic Actuation System

Treatment of certain diseases requires the administration of drugs at specific areas of tissues and/or organs to increase therapy effectiveness and avoid side effects that may harm the rest of the body. Drug targeting is a research field that uses various techniques to administrate therapies at specific areas of the body, including magnetic systems able to drive nano “vehicles”, as well as magnetically labeled molecules, in human body fluids and tissues. Most available actuation systems can only attract magnetic elements in a relatively small workspace, limiting drug target applications to superficial tissues, and leaving no alternative cases where deep targeting is necessary. In this paper, we propose an electromagnetic actuation system able to push and deflect magnetic particles at distance of ~10 cm, enabling the manipulation of magnetic nano- and microparticles, as well as administration of drugs in tissues, which are not eligible for localized drug targeting with state-of-the-art systems. Laboratory experiments and modeling were conducted to prove the effectiveness of the proposed system. By further implementing our device, areas of the human body that previously were impossible to treat with magnetically labeled materials such as drugs, cells, and small molecules can now be accessible using the described system.