ArticleMicromachines2020
A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch.
Article in Micromachines, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 17 papers.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
17 citing papers in PubMed, 53 citations in OpenAlex.
- Gradient-Field-Based Force-Driven Control of a Mudskipper-Inspired Magnetic Microrobot for Intestinal Applications.Micromachines · 2026Article
- A Magnetically Controlled Capsule Robot with Biopsy Capability for Intestinal Applications.Sensors (Basel, Switzerland) · 2025Article
- A Multifunctional Capsule-like Puncture Biopsy Robot for the Gastrointestinal System.Micromachines · 2025Article
- Capsule robots for the monitoring, diagnosis, and treatment of intestinal diseases.Materials today. Bio · 2024Review
- Robotic wireless capsule endoscopy: recent advances and upcoming technologies.Nature communications · 2024Review
- A Survey of Recent Developments in Magnetic Microrobots for Micro-/Nano-Manipulation.Micromachines · 2024Review
- Magnetically Driven Biopsy Capsule Robot with Spring Mechanism.Micromachines · 2024Article
- Review
- Experimental investigations of the human oesophagus: anisotropic properties of the embalmed mucosa-submucosa layer under large deformation.Biomechanics and modeling in mechanobiology · 2022Article
- Experimental Research on a Capsule Robot with Spring-Connected Legs.Micromachines · 2022Article
- Article
- A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils.Micromachines · 2022Article
- Active Stabilization of Interventional Tasks Utilizing a Magnetically Manipulated Endoscope.Frontiers in robotics and AI · 2022Article
- Automated Bowel Polyp Detection Based on Actively Controlled Capsule Endoscopy: Feasibility Study.Diagnostics (Basel, Switzerland) · 2021Article
- Orthogonal Optimal Design of Multiple Parameters of a Magnetically Controlled Capsule Robot.Micromachines · 2021Article
- Localization and Actuation for MNPs Based on Magnetic Field-Free Point: Feasibility of Movable Electromagnetic Actuations.Micromachines · 2020Article
- Untethered shape-changing devices in the gastrointestinal tract.Expert opinion on drug deliveryReview
Corrections and comments
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Authors and funding
10 authors at 2 institutions in 1 country.
Funding
Abstract
Capsule endoscopes (CEs) have emerged as an advanced diagnostic technology for gastrointestinal diseases in recent decades. However, with regard to robotic motions, they require active movability and multi-functionalities for extensive, untethered, and precise clinical utilization. Herein, we present a novel wireless biopsy CE employing active five degree-of-freedom locomotion and a biopsy needle punching mechanism for the histological analysis of the intestinal tract. A medical biopsy punch is attached to a screw mechanism, which can be magnetically actuated to extrude and retract the biopsy tool, for tissue extraction. The external magnetic field from an electromagnetic actuation (EMA) system is utilized to actuate the screw mechanism and harvest biopsy tissue; therefore, the proposed system consumes no onboard energy of the CE. This design enables observation of the biopsy process through the capsule's camera. A prototype with a diameter of 12 mm and length of 30 mm was fabricated with a medical biopsy punch having a diameter of 1.5 mm. Its performance was verified through numerical analysis, as well as in-vitro and ex-vivo experiments on porcine intestine. The CE could be moved to target lesions and obtain sufficient tissue samples for histological examination. The proposed biopsy CE mechanism utilizing punch biopsy and its wireless extraction-retraction technique can advance untethered intestinal endoscopic capsule technology at clinical sites.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.