Design and Control of A Magnetically-actuated Ultrasound Capsule Endoscope

Endoscopic ultrasound (EUS) has the ability to image tissue in and beyond the wall of the gastrointestinal (GI) tract, assisting in the early diagnosis of cancer and other diseases. However, the clinical EUS could be uncomfortable for the patient during the operation; moreover, the small bowel is generally hard to image which is beyond the scope of normal endoscopy. This study proposes the concept of a magnetically-actuated ultrasound capsule endoscope (MUSCE), which has small dimensions and active locomotion. Firstly, the MUSCE consisted of a magnetic-acoustic head and a soft tether is designed. Then, the magnetic actuation principle for self-propelling is analyzed. Next, the overall system which includes the magnetic drive platform and the US imaging platform is introduced. Finally, the effectiveness of the MUSCE is validated by locomotion and imaging tests. The designed MUSCE demonstrates the feasibility of imaging in small bowel with mitigated discomfort, providing a potential solution for clinical applications.