Soft Capsule Endoscope with Embedded Magnets for 3D Rolling Locomotion

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Solution Overview

Problem

Current magnetically actuated capsule endoscopes (MACEs) face challenges in 3D position control, tissue damage due to magnetic attraction, and lack of advanced diagnostic and therapeutic functions, particularly in the stomach region, where they are not compatible with external magnetic actuation principles and have discontinuous locomotion.

Innovation Solution

A magnetically actuated soft capsule endoscope (MASCE) with a soft elastomer-based compliant structure that can be actively deformed using external magnetic actuation, allowing for 3D rolling locomotion and advanced functions like drug release and biopsy, utilizing two internal permanent magnets and an external magnetic field for precise control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If rigid outer material is used in current MACEs, then structural strength is improved, but tissue damage increases due to high stresses during magnetic actuation

Engineering Contradiction:

Improvestructural strengthVSAvoidtissue damage

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The capsule outer shell is replaced with a soft elastomer material that is flexible and compliant, allowing the capsule to deform passively during robot-tissue contact interactions. This flexible structure reduces the high stresses on tissues that occur with rigid materials during magnetic actuation, while still providing sufficient structural integrity for the capsule to function as a contained robot vehicle.

Inventive Principle:

Principle #30Flexible shells and thin films

2Force

If permanent magnet-based actuation is used, then magnetic actuation capability is improved, but locomotion becomes discontinuous and unstable

Engineering Contradiction:

Improvemagnetic actuation capabilityVSAvoidlocomotion stability

Core Design Contradiction:

ForceVSStability of the object's composition

Solution Approach 1:

The capsule incorporates a deformable body that can actively change its shape in response to magnetic actuation. The soft elastomer structure allows dynamic deformation during rolling locomotion, enabling continuous and stable movement along the tissue surface while maintaining the magnetic actuation capability through embedded permanent magnets.

Inventive Principle:

Principle #15Dynamics

3Ease of operation

If external magnetic field is used for actuation, then remote control capability is improved, but precise 3D position control is not achieved

Engineering Contradiction:

Improveremote control capabilityVSAvoid3D position control precision

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The capsule integrates sensors that detect its position and orientation in real-time, providing feedback to the control system. This feedback mechanism enables precise 3D position control by allowing the external magnetic actuation system to adjust its commands based on the capsule's actual location, achieving accurate navigation while maintaining remote control capability.

Inventive Principle:

Principle #23Feedback

4Object-affected harmful factors

If soft elastomer structure is used, then tissue safety is improved, but structural rigidity decreases

Engineering Contradiction:

Improvetissue stressVSAvoidstructural rigidity

Core Design Contradiction:

Object-affected harmful factorsVSStrength

Solution Approach 1:

The capsule employs a composite structure combining soft elastomer material with embedded permanent magnets and internal support structures. The soft elastomer provides tissue compliance and stress reduction, while the embedded magnets and internal framework maintain sufficient structural rigidity for the capsule to function as a controllable robot vehicle capable of rolling locomotion and shape transformation.

Inventive Principle:

Principle #40Composite materials

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The MASCE provides a safer, more invasive method for navigating the stomach with stable and continuous motion, enabling precise 3D positioning and advanced therapeutic functions such as drug delivery and imaging, while minimizing tissue stress and damage.

Implementation Method 1

Two embedded internal permanent magnets and a large external magnet or electromagnetic coils are used to actuate the robot remotely

Methodology Applied

Scientific EffectMagnetic force: Magnetism

Implementation Method 2

Its outside body is made of soft elastomers-based compliant structures. Such compliant structures can deform passively during the robot-tissue contact interactions

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Data Source

PatentUS9445711B2System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment

Publication Date: 2016.09.20 CARNEGIE MELLON UNIV CENT FOR TECH TRANSFER & ENTERPRISE CREATION

AI summary

Present invention describes a swallowable device with a soft, compliant exterior, whose shape can be changed through the use of magnetic fields, and which can be locomoted in a rolling motion through magnetic control from the exterior of the patient. The present invention could be used for a variety of medical applications inside the GI tract including but not limited to drug delivery, biopsy, heat cauterization, pH sensing, biochemical sensing, micro-surgery, and active imaging.