The adult large bowel: describing environment morphology for effective biomedical device development.

An understanding of the biological environment, and in particular the physical morphology, is crucial for those developing medical devices and software applications. It not only informs appropriate design inputs, but provides the opportunity to evaluate outputs via virtual or synthetic models before investing in costly clinical investigations. The large bowel is a pertinent example, having a major demand for effective technological solutions to clinical unmet needs.

Robotic Autonomy for Magnetic Endoscope Biopsy.

Magnetically actuated endoscopes are currently transitioning in to clinical use for procedures such as colonoscopy, presenting numerous benefits over their conventional counterparts. Intelligent and easy-to-use control strategies are an essential part of their clinical effectiveness due to the un-intuitive nature of magnetic field interaction. However, work on developing intelligent control for these devices has mainly been focused on general purpose endoscope navigation.

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation.

Early diagnosis of colorectal cancer significantly improves survival. However, over half of cases are diagnosed late due to demand exceeding the capacity for colonoscopy - the "gold standard" for screening. Colonoscopy is limited by the outdated design of conventional endoscopes, associated with high complexity of use, cost and pain.

Macro-Scale Tread Patterns for Traction in the Intestine.

Goal: Tread patterns are widely used to increase traction on different substrates, with the tread scale, geometry and material being tailored to the application. This work explores the efficacy of using macro-scale tread patterns for a medical application involving a colon substrate - renowned for its low friction characteristics.

Methods: Current literature was first summarized before an experimental approach was used, based on a custom test rig with ex vivo porcine colon, to assess different macro-scale tread patterns.

Adaptive Dynamic Control for Magnetically Actuated Medical Robots.

In the present work we discuss a novel dynamic control approach for magnetically actuated robots, by proposing an technique, robust towards parametric uncertainties and unknown bounded disturbances. The former generally arise due to partial knowledge of the robots' dynamic parameters, such as inertial factors, the latter are the outcome of unpredictable interaction with unstructured environments. In order to show the application of the proposed approach, we consider controlling the Magnetic Flexible Endoscope (MFE) which is composed of a soft-tethered Internal Permanent Magnet (IPM), actuated with a single External Permanent Magnet (EPM).

Intelligent magnetic manipulation for gastrointestinal ultrasound.

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 , 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.

Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach.

The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permanent magnet. Actuation is achieved by manipulating the external magnet with a serial manipulator, which in turn produces forces and torques on the internal magnetic capsule.