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Active locomotion of wireless capsule endoscopes has the potential to improve the diagnostic yield of this painless technique for the diagnosis of gastrointestinal tract disease. In order to design effective locomotion mechanisms, a quantitative measure of the propelling force required to effectively move a capsule inside the gastrointestinal tract is(More)
In an open surgery, identification of precise margins for curative tissue resection is performed by manual palpation. This is not the case for minimally invasive and robotic procedures, where tactile feedback is either distorted or not available. In this paper, we introduce the concept of intraoperative wireless tissue palpation. The wireless palpation(More)
Magnetic coupling is one of the few physical phenomena capable of transmitting motion across a physical barrier. In gastrointestinal endoscopy, remote magnetic manipulation has the potential to make screening less invasive and more acceptable, thus saving lives by early diagnoses and treatment. Closed-loop control of the magnetic device position is crucial(More)
Palpating tissues and organs to identify hidden tumors or to detect buried vessels is not a viable option in laparoscopic surgery due to lack of force feedback. So far, research toward restoring tactile and kinesthetic sensations in minimally invasive surgery has focused on the distal sensing element or on the proximal rendering of haptic cues. In this work(More)
The purpose of this study is to validate a Jacobian-based iterative method for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-element solutions to the magnetic field problem and least-squares interpolations to obtain closed-form and fast estimates of the magnetic field. By defining a closed-form(More)
We propose local magnetic actuation (LMA) as an approach to robotic actuation for surgical instruments. An LMA actuation unit consists of a pair of diametrically magnetized single-dipole cylindrical magnets, working as magnetic gears across the abdominal wall. In this study, we developed a dynamic model for an LMA actuation unit by extending the theory(More)
h THE INCREASING AVAILABILITY of miniaturized components at rapidly decreasing prices is enabling exploration of new application fields in ways that researchers were only dreaming about a decade ago. In the medical field, miniaturization of electronics has enabled swallowable endoscopic capsules to acquire pictures of the small intestineVa region extremely(More)
Minimally invasive robotic surgery techniques are becoming popular thanks to their enhanced patient benefits, including shorter recovery time, better cosmetic results and reduced discomforts. Less invasive procedures would be achieved with the use of Medical Capsule Robots (MCRs). These devices are characterized by low power requirements and small(More)
—Medical devices like the Implantable Cardioverter Defibrillator (ICD) are life-critical systems. Malfunctions of the device can cause serious injury or death of the patient. In addition to rigorous testing and verification during the development process, new medical devices often go through clinical trials to evaluate their safety and performance on sample(More)
The lack of haptic feedback during Minimally Invasive Surgery (MIS) can be potentially dangerous, and has been a factor in preventing a wider application of MIS. A Wired Palpation Device (WPD), which is designed to provide the surgeon with soft tissue viscoelasticity information during MIS, can be an appealing solution to this challenge. As a novel device,(More)