Skip to main content Accessibility help

Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures

  • Gastone Ciuti (a1), Pietro Valdastri (a1), Arianna Menciassi (a1) (a2) and Paolo Dario (a1) (a2)

This paper describes a novel approach to capsular endoscopy that takes advantage of active magnetic locomotion in the gastrointestinal tract guided by an anthropomorphic robotic arm. Simulations were performed to select the design parameters allowing an effective and reliable magnetic link between the robot end-effector (endowed with a permanent magnet) and the capsular device (endowed with small permanent magnets). In order to actively monitor the robotic endoluminal system and to efficiently perform diagnostic and surgical medical procedures, a feedback control based on inertial sensing was also implemented. The proposed platform demonstrated to be a reliable solution to move and steer a capsular device in a slightly insufflated gastrointestinal lumen.

Corresponding author
*Corresponding author. E-mail:
Hide All
1. Reavis, K. M. and Melvin, W. S., “Advanced endoscopic technologies,” Surg. Endosc. 22, 15331546 (2008).
2. McGee, M. F., Rosen, M. J., Marks, J., Onders, R. P., Chak, A., Faulx, A., Chen, V. K. and Ponsky, J., “A primer on natural orifice transluminal endoscopic surgery: Building a new paradigm,” Surg. Innovation 13, 8693 (2006).
3. Iddan, G. J. and Swain, C. P., “History and development of capsule endoscopy,” Gastrointest. Endosc. 14, 19 (2004).
4. Iddan, G., Meron, G., Glukhoysky, A. and Swain, P., “Wireless capsule endoscopy,” Nature 405, 405417 (2000).
5. Moglia, A., Menciassi, A., Schurr, M. O. and Dario, P., “Wireless capsule endoscopy: From diagnostic devices to multipurpose robotic systems,” Biomed. Microdevices 9, 235243 (2007).
6. Moglia, A., Menciassia, A., Dario, P. and Cuschieri, A., “Clinical update: Endoscopy for small-bowel tumors”, The Lancet 370, 114116 (2007).
7. VECTOR European Project website. Available on: Last accessed August 2009.
8. Menciassi, A., Quirini, M. and Dario, P., “Microrobotics for future gastrointestinal endoscopy,” Minim. Invasive Therapy Allied Technol. 16, 91100 (2007).
9. Park, H., Park, S., Yoon, E., Kim, B., Park, J. and Park, S., “Paddling Based Microrobot for Capsule Endoscopes,” Proceedings of IEEE International Conference on Robotics and Automation, Rome, Italy (Apr. 2007) pp. 33773382.
10. Quirini, M., Scapellato, S., Menciassi, A., Dario, P., Rieber, F., Ho, C. N., Schostek, S. and Schurr, M. O., “Feasibility proof of a legged locomotion capsule for the GI tract,” Gastrointest. Endosc. 67, 11531158 (2008).
11. Quirini, M., Webster, R., Menciassi, A. and Dario, P., “Design of a Pillsized 12-Legged Endoscopic Capsule Robot,” Proceedings of IEEE International Conference on Robotics and Automation, Rome, Italy (Apr. 2007) pp. 18561862.
12. Sidhu, R., Sanders, D. S. and McAlindon, M. E., “Gastrointestinal capsule endoscopy: From tertiary centres to primary care,” Br. Med. J. 332, 528531 (2006).
13. Carpi, F., Galbiati, S. and Carpi, A., “Controlled navigation of endoscopic capsules: Concept and preliminary experimental investigations,” IEEE Trans. Biomed. Eng. 54, 20282036 (2007).
14. Volke, F., Keller, J., Schneider, A., Gerber, J., Reimann-Zawadzki, M., Rabinovitz, E., Mosse, C. A. and Swain, P., “In-vivo remote manipulation of modified capsule endoscopes using an external magnetic field,” Gastrointest. Endosc. 5, AB121AB122 (2008).
15. Olympus Endocapsule. Available on: Last accessed August 2009.
16. Wang, X. and Meng, M. Q. H., “A Magnetic Stereo Actuation Mechanism for Active Capsule Endoscope,” Proceedings of IEEE International Conference on Engineering in Medicine and Biology Society, Lyon, France (Sep. 2007) pp. 2811–2814.
17. Abbott, J. J., Ergeneman, O., Kummer, M. P., Hirt, A. M. and Nelson, B. J., “Modeling magnetic torque and force for controlled manipulation of soft-magnetic bodies,” IEEE Trans. Robot. 23, 12471252 (2007).
18. Tamaz, S., Gourdeau, R., Chanu, A., Mathieu, J. B. and Martel, S., “Real-time MRI-based control of a ferromagnetic core for endovascular navigation,” IEEE Trans. Biomed. Eng. 55, 18541863 (2008).
19. Stereotaxis website. Available on: Last accessed August 2009.
20. Agashe, J. S. and Arnold, D. P., “A study of scaling and geometry effects on the forces between cuboidal and cylindrical magnets using analytical force solution,” J. Phys. D: Appl. Phys. 41, 105001-1-9 (2008).
21. Manz, B., Benecke, M. and Volke, F., “A simple, small and low cost permanent magnet design to produce homogeneusmagnetic fields,” J. Magn. Reson. 192, 131138 (2008).
22. Glaser, R., Biophysics (Springer, Heidelberg, Germany, 2001).
23. NDI The Aurora Electromagnetic Measurement System. Available on: Last accessed August 2009.
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *



Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed