Feasibility proof of a legged locomotion capsule for the GI tract.
BACKGROUND
A colonoscopy and a gastroscopy are the most important screening measures for malignant diseases in the GI tract. One of the main limitations is the lack of patient adherence to come in for a flexible endoscopy, especially in asymptomatic conditions.


OBJECTIVE
The feasibility proof of a new generation of endoscopic capsules based on a novel propelling mechanism that features electromechanical legs.


METHODS
Teleoperated endoscopic 8-legged capsule.


METHODS
Scuola Superiore Sant'Anna, Pisa, Italy, and novineon Healthcare Technology Partners GmbH, Tübingen, Germany.


METHODS
Successful locomotion in a lower-GI tract (LGI) phantom model and in a porcine colon.


RESULTS
The testing session was organized into repetitive ex vivo trials and in vivo tests. The repetitive tests were performed for collecting reproducible data in various small series of individual experiments in standardized conditions, thus defining the best locomotion parameters. In vivo tests were performed in a porcine colon: the capsule, inserted transanally, traveled upward in the oral direction for 15 cm in about 5 minutes, against peristalsis.


CONCLUSIONS
The current version of the capsule travels curves by bouncing back from the wall and following step by step the direction of the curved bowel. Steering mechanisms are not yet implemented.


CONCLUSIONS
This study shows the systematic development and medical assessment of an imaging capsule with self-propelling abilities. A full colonic passage was successfully demonstrated in the ex vivo phantom model. A net movement in in vivo tests has been achieved, thus giving a feasibility proof of the legged locomotion as a possible solution to the problem of self-locomoting endoscopic devices in the LGI.
Quirini
Marco
M
CRIM Lab, Scuola Superiore Sant'Anna, Pontedera, Italy.
Menciassi
Arianna
A
Scapellato
Sergio
S
Dario
Paolo
P
Rieber
Fabian
F
Ho
Chi-Nghia
CN
Schostek
Sebastian
S
Schurr
Marc Oliver
MO
D000818:Animals; D032701:Biomimetics; D053705:Capsule Endoscopes; D053704:Capsule Endoscopy / Q000379:methods*; D003113:Colonoscopy / Q000379:methods*; D004867:Equipment Design; D005240:Feasibility Studies; D005769:Gastrointestinal Motility; D041981:Gastrointestinal Tract; D005773:Gastroscopy / Q000379:methods*; D023421:Models, Animal; D010528:Peristalsis / Q000502:physiology*; D019047:Phantoms, Imaging; D012680:Sensitivity and Specificity; D013552:Swine; D014741:Video Recording