Computerized three dimensional mapping and robotic maneuvering through the human large intestine trajectory with magnetic capsule endoscopy using reference tracking control

Introduction: Passive video capsule endoscopy is adequate for standard small-bowel examinations but cannot be properly used in larger cavity organs, such as stomach and large intestine. Mirocam Navy is a magnetic capsule system can be controlled by an outer magnetic unit which allows to maneuver the capsule inside the human intestinal tract. The aim of our present study was to improve and to automate the robotic maneuvering mechanism of the magnetic capsule, so that it could be moved to its appointed position and tilted by a given angle in our experimental colonic model. Methods: First we developed a three dimensional realistic plastic model of the human colon, produced with a 3D printer from data obtained from a CT colonography. This 3D printed plastic model of the large intestine was used in a robotics environment as a trajectory for the capsule to be led along by an automated algorithm. Prior to the examination a human operator is needed to attend capsule movements with the magnetic control device. Besides this, the main difficulty is the reduced accuracy, both in time and in position, which is due to manual control and data transmission, and therefore can result in a partial or complete lack of visibility of certain areas. Results: The actual capabilities were assessed with preliminary motion control tests on a conventional video capsule inside a human-sized plastic phantom. In our experiment the whole intestinal tract is monitored during a given trajectory, further on the capsule is expected to be able to examine selected regions in more detail, if needed. After the preliminary tests, which were accomplished in the developed system, it could be demonstrated that the system was capable of, as well as able to carry out certain commands including rotation by an arbitrary angle, linear movements and also the combination of these. Conclusions: Robotic control for magnetic steering of a Mirocam Navy capsule endoscope was demonstrated to be more precise and reliable than manual operation. Validation of the proposed robotic controlling system opens the way for automation of capsule endoscopy as is capable of following a previously determined three dimensional trajectory.