VECTOR

Versatile Endoscopic Capsule for gastrointestinal TumOr Recognition and therapy

BioRobotics Institute Role: 
Lead



Project Lifetime
Jan 2006 to Aug 2011

Funding Institutions: 

FP6-EU

 
Summary: 

The VECTOR project aims at investigating and developing a miniaturised robotic pill for advanced diagnostics and therapy in the human digestive tract. The main technological objective of the VECTOR project is to develop a wireless, robotic, real time mobile pill which would allow capsule endoscopy to be performed in a totally controlled manner, giving the doctor the ability to steer the capsule towards interesting pathological areas combined with a real time visual feedback.

What we do: 

A promising approach to wireless capsule endoscopy that takes advantage of active magnetic locomotion in the gastrointestinal tract combined with an accurate driving by an anthropomorphic robotic arm was developed by the surgical robotics group within the research field. The platform combines the benefits of permanent magnets in terms of magnetic field strength together with the accurate and reliable control of the magnet through a robotic arm, demonstrating to be a reliable solution to move and steer a capsule for diagnostic endoscopy. In order to actively monitor the endoscopic capsule and to efficiently perform diagnostic medical procedures, feedback control based on inertial sensing was implemented to be combined with a real time visual feedback. A custom vision system able to fit into an endoscopic pill, with low power consumption and capable of a real time data stream up to 20 fps was designed and developed. The capsule was tested during in-vivo trials. Tests have confirmed the expected results: the capsule, supplied with a 30 mAh battery was working for 20 minutes at the expected frame rate. The overall system was shown to be a portable, reliable solution to move and steer a capsular device in the operating theatre.


Partners: 

FP6-EU 

Media - pictures: 

 

 
 
Publications: 

G. Ciuti, N. Pateromichelakis, M. Sfakiotakis, P. Valdastri, A. Menciassi, D. P. Tsakiris, P. Dario. (2012). A wireless module for vibratory motor control and inertial sensing in capsule endoscopy, Sensors and Actuators A: Physical, in press, available on-line.

M. Salerno, G. Ciuti, G. Lucarini, R. Rizzo, P. Valdastri, A. Menciassi, A. Landi, P. Dario. (2012). A discrete-time localization method for capsule endoscopy based on on-board magnetic sensing, Measurement Science and Technology. Vol 23;p. 015701.

P. Valdastri, G. Ciuti, A. Verbeni, A. Menciassi, P. Dario, A. Arezzo, M. Morino. (2012). Magnetic air capsule robotic system: Proof of concept of a novel approach for painless colonoscopy, Surgical Endoscopy. Vol. 26, N. 5, pp. 1238-1246.

C. Cavallotti, P. Merlino, M. Vatteroni, P. Valdastri, A. Abramo, A. Menciassi, P. Dario, (2011). An FPGA-based flexible demo-board for endoscopic capsule design optimization, Sensors and Actuators A: Physical. Vol. 172, No. 1, pp. 301-307.

G. Ciuti, M. Salerno, G. Lucarini, P. Valdastri, A. Arezzo, A. Menciassi, M. Morino, P. Dario (2011). A Comparative Evaluation of Control Interfaces for a Robotic-Aided Endoscopic Capsule Platform. IEEE transactions on robotics, ISSN: 1552-3098

G. Ciuti, A. Menciassi, P. Dario (2011). Capsule endoscopy: from current achievements to open challenges. IEEE reviews in biomedical engineering, vol. 4; p. 59-72, ISSN: 1937-3333.

M. Vatteroni, P. Valdastri, A. Sartori, A. Menciassi, P. Dario. (2011). Linear-logarithmic CMOS pixel with tunable dynamic range, IEEE Transactions on Electron Devices. Vol. 58, No. 4, pp. 1108-1115.

R. Carta, G. Tortora, J. Thoné, B. Lenaerts, P. Valdastri, A. Menciassi, R. Puers, P. Dario. (2010). Wireless powering for a self-propelled and steerable endoscopic capsule for stomach inspection, Biosensors and Bioelectronics, 2009, Vol. 25, No. 4, pp. 845-851.

G. Ciuti, R. Donlin, P. Valdastri, A. Arezzo, A. Menciassi, M. Morino, P. Dario. (2010). Robotic versus manual control in magnetic steering of an endoscopic capsule, Endoscopy. Vol. 42, pp. 148-152.

G. Ciuti, P. Valdastri, A. Menciassi, P. Dario (2010). Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures. Robotica, vol. 28; p. 199-207, ISSN: 0263-5747.

D. Covi, C. Cavallotti, M. Vatteroni, L. Clementel, P. Valdastri, A. Menciassi, P. Dario, A. Sartori. (2010). Miniaturized digital camera system for disposable endoscopic applications, Sensors and Actuators A: Physical. Vol. 162, No. 2, pp. 291-296.

P. Dario, A Menciassi. (2010). Robot Pills. Scientific American, vol. 303, 2; p. 62-65, ISSN: 0036-8733.

J. L. Toennies, G. Tortora, M. Simi, P. Valdastri, R. J. Webster III. (2010). Swallowable Medical Devices for Diagnosis and Surgery: The State of the Art. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. Vol. 224, No. 7, pp. 1397-1414.

P. Valdastri, C. Quaglia, E. Buselli, A. Arezzo, N. Di Lorenzo, M. Morino, A. Menciassi, P. Dario. (2010). A Magnetic Internal Mechanism for Camera Steering in Wireless Endoluminal Application, Endoscopy. Vol. 42, pp. 481-486.

M. Vatteroni, D. Covi, C. Cavallotti, P. Valdastri, A. Menciassi, P. Dario, A. Sartori. (2010). Smart optical CMOS sensor for endoluminal applications, Sensors and Actuators A: Physical. Vol. 162, No. 2, pp. 297-303.

E. Buselli, P. Valdastri, M. Quirini, A. Menciassi, P. Dario. (2009). Superelastic leg design optimization for an endoscopic capsule with active locomotion, Smart Materials and Structures. Vol. 18, 015001.

C. Cavallotti, M. Piccigallo, E. Susilo, P. Valdastri, A. Menciassi, P. Dario. (2009). An Integrated Vision System with Autofocus for Wireless Capsular Endoscopy, Sensors and Actuators A: Physical. Vol. 156, No. 1, pp. 72-78.

C. Quaglia, E. Buselli, R. J. Webster III, P. Valdastri, A. Menciassi, P. Dario. (2009). An Endoscopic Capsule Robot: A Meso-Scale Engineering Case Study, Journal of Micromechanics and Microengineering. Vol. 19, No. 10, 105007 (11pp).

E. Susilo, P. Valdastri, A. Menciassi, P. Dario. (2009). A Miniaturized Wireless Control Platform for Robotic Capsular Endoscopy Using Advanced Pseudokernel Approach, Sensors and Actuators A: Physical. Vol. 156, No. 1, pp. 49-58.

G. Tortora, P. Valdastri, E. Susilo, A. Menciassi, P. Dario, F. Rieber, M. O. Schurr. (2009). Propeller-based wireless device for active capsular endoscopy in the gastric district, Minimally Invasive Therapy & Allied Technologies. Vol. 18, No. 5, pp. 280-290.

P. Valdastri, R. J. Webster III, C. Quaglia, M. Quirini, A. Menciassi, P. Dario. (2009). A New Mechanism for Meso-Scale Legged Locomotion in Compliant Tubular Environments, IEEE Transactions on Robotics. Vol. 25, No. 5, pp. 1047-1057.

P. Valdastri, C. Quaglia, E. Susilo, A. Menciassi, P. Dario, C.N. Ho, G. Anhoeck, M.O. Schurr. (2008). Wireless Therapeutic Endoscopic Capsule: in-vivo Experiment, Endoscopy. Vol. 40, pp. 979-982.

P. Valdastri, A. Menciassi, P. Dario. (2008). Transmission Power Requirements for Novel ZigBee Implants in the Gastrointestinal Tract, IEEE Transactions on Biomedical Engineering. Vol. 55, No. 6, pp. 1705-1710.

C. Stefanini, A. Menciassi, P. Dario P. (2006). Modeling and experiments on a legged microrobot locomoting in a tubular, compliant and slippery environment. International Journal Of Robotics Research, vol. 25 (5-6); p. 551-560, ISSN: 0278-3649


Meet the team

Dr.  Cavallotti , Carmen




Alumni


Dr.  Ciuti , Gastone




Assistant Professor


Dr.  Tortora , Giuseppe




Post Doctoral Fellow


Dr.  Lucarini , Gioia




Post Doctoral Fellow