Vanderbilt University

The Brigham and Women's Hospital, Inc.

The University of Leeds

Keith L Obstein

Pietro Valdastri

Christian Di Natali

Marco Beccani

Piotr Robert Slawinski

Christopher C Thompson

Nabil Simaan

Robert M Westervelt

Nicolo Garbin

Alex Nemiroski

Gabrielmaria Scozzarro

Alexander Vartanian

Robert Caprara

William Jones

Erdem Erdemir

Addisu Z Taddese

Christopher Lyne

Douglas R Morgan

Federico Campisano

A steerable endoscope system includes a continuum manipulator, a plurality of syringes, and a steerable tip. The continuum manipulator includes a plurality of spaced discs and a plurality of backbones each extending through all discs. A bending movement of the continuum manipulator changes a varying linear displacement of each backbone. Each backbone is further coupled to a different one of the syringes such that the linear displacement of each backbone pushes or pulls a piston of the corresponding syringe by a varying amount. The steerable tip includes a plurality of bellows each pneumatically coupled to a different syringe such that movement of the piston of a syringe causes the corresponding bellow to inflate or deflate. Because the distal end of each bellow is fixedly coupled to the same end effector, variations in the amount of inflation or deflation on each bellow causes a bending of the steerable tip.

Steerable endoscope with continuum manipulator

Systems and methods are presented for localization of a capsule based on magnetic fields. The capsule is positioned in a magnetic field generated by a first magnet and an electromagnetic coil is operated to generate a sinusoidal magnetic field with a magnetic moment orthogonal to the magnetic moment of the first magnet. An average signal measurement calculated for each magnetic field sensor is defined as the magnetic field applied to the magnetic field sensor by the first magnet and used as an offset to determine the magnetic field applied by the electromagnetic coil. The pose of the capsule is then determined based at least in part on a combination of magnetic field signals applied by the electromagnetic coil to each of the magnetic field sensors.

Robotic capsule system with magnetic actuation and localization

Systems and methods are provided for controlling lateral movement of a medical capsule system. A capsule housing is configured to be inserted into an anatomical structure of a patient. The multichannel tether is coupled to a rear of the capsule and includes at least one liquid exhaust channel conveying liquid to the capsule housing. The plurality of liquid exhaust ports are positioned around an outer circumference of the capsule housing and each configured to controllably expel liquid laterally from the capsule housing at varying rates to affect lateral movement of the capsule housing.

Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings

Systems and methods are described for determining an orientation and position of a capsule inserted into the body of a patient. A magnetic field is applied to an area of the patient where the capsule is located. Sensor data, including inertial data from an inertial sensor and magnetic field data indicative of the applied magnetic field as detected by at least one magnetic field sensor, is wirelessly received from the capsule. An orientation angle of the capsule is determined based at least in part on the inertial data. The magnetic field data is compared to known characteristics of the applied magnetic field and a location of the capsule is determined based on the comparison.

Real-time pose and magnetic force detection for wireless magnetic capsule

A system and method for monitoring a physical parameter of a subject is provided. The system may include a casing with a sensor coupled to the casing. The sensor may be configured to detect a physical parameter of the subject. The physical parameter may include a chemical parameter of the subject. The system includes an endoscopic clip coupled to the casing and may include a wireless transmitter for transmitting a signal via a wireless medium. The signal encodes the physical parameter of the subject detected by the sensor and the wireless transmitter is electronically connected to the endoscopic clip. The system may further include a monitor configured to communicate with the wireless transmitter for receiving the signal encoding the physical parameter of the subject.

System and method for wireless biosensor monitoring

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Nashville, TN, United States of America

Keith L Obstein