Soft hybrid intrinsically motile robot for wireless small bowel enteroscopy

Area of Science:

• Medical Devices
• Robotics
• Gastroenterology

Background:

• Small bowel (SB) disorder diagnosis and treatment were historically challenging.
• Wireless capsule endoscopy (WCE) revolutionized SB investigation but has limitations like immotility and capsule retention.
• Current WCEs are rigid, large, and can cause complications such as incomplete examinations or impaction.

Purpose of the Study:

• To introduce an initial prototype, P1, designed to overcome the limitations of current WCEs.
• To demonstrate the active locomotion mechanism of P1, enabling controlled movement within the small intestine.
• To assess the potential for clinical translation of this novel SB enteroscopy device.

Main Methods:

• Development of P1, a thinner, longer capsule prototype with intrinsic active locomotion via vibrating silicon legs.
• Design of vibrating legs for controlled clockwise circular motion, translating to linear locomotion within the gastrointestinal tract.
• In vitro testing of P1's transit speed in a PVC tube and a slippery nylon sleeve to simulate SB conditions.

Main Results:

• P1's vibrating legs generate controlled locomotion on slippery mucosal surfaces.
• In vitro transit speed in a PVC tube was 15.6 mm/s, while in a slippery nylon sleeve, it averaged 5.9 mm/s, suitable for endoscopy.
• The device's circular motion ensures stability during transit, crucial for imaging and lesion targeting.

Conclusions:

• The P1 hybrid soft robot prototype demonstrates promising potential for clinical translation in SB enteroscopy.
• Active locomotion addresses key limitations of current WCE, potentially improving diagnostic accuracy and patient outcomes.
• Further research and development are warranted for eventual clinical application of this advanced enteroscopy tool.