Intelligent Wireless Capsule Endoscopy for the Diagnosis of Gastrointestinal Diseases.

Through a wireless capsule endoscope (WCE) fitted with a miniature camera (about an inch), this study aims to examine the role of wireless capsule endoscopy (WCE) in the diagnosis, monitoring, and evaluation of GI (gastrointestinal) disorders. In a wearable belt recorder, a capsule travels through the digestive tract and takes pictures. It attempts to find tiny components that can be used to enhance the WCE. To accomplish this, we followed the steps below: Researching current capsule endoscopy through databases, designing and simulating the device using computers, implanting the system and finding tiny components compatible with capsule size, testing the system and eliminating noise and other problems, and analyzing the results. In the present study, it was shown that a spherical WCE shaper and a smaller WCE with a size of 13.5 diameter, a high resolution, and a high frame rate (8-32 fps) could help patients with pains due to the traditional capsules and provide more accurate pictures as well as prolong the battery life. In addition, the capsule can also be used to reconstruct 3D images. Simulation experiments showed that spherical endoscopic devices are more advantageous than commercial capsule-shaped endoscopic devices for wireless applications. We found that the sphere's velocity through the fluid was greater than the capsule's.

Surgical robotic arm control for tissue ablation.

In the technology driven era, robot assisted surgery is gradually emerging as a revolutionized surgical procedure over traditional laparoscopic method. Despite the concerns about robotic surgery for minimally invasive surgical procedures, robotized surgical arms have been used in many hospitals. Certain surgical procedures require removal of a segment of an organ or body part like excision biopsy, linear thin layer of soft tissue, triangular mass, and tangential excision in burn management, where shaving-off at an angle of the tissue layer to be removed. For such minimally invasive procedures, we have designed a surgical arm governed by a rotary flexible joint. The surgical arm has a medical grade scalpel in its one end and the other end is connected to a D.C. servo motor. The motion of the surgical arm is controlled by the newly designed non-integer order controller. We have experimentally demonstrated the functioning of the surgical arm by ablating the tissue in-vitro. Our surgical robotic arm is cost effective, high precision and free from potential human errors.

Brain tissue phantoms for optical near infrared imaging.

In this study, solid, stable, and cost-effective optical phantoms of scalp-skull, white matter and grey matter are developed by inverse method. To begin with, to obtain a range of optical parameters, absorption and reduced scattering coefficients (mu(a) and mu(s)', respectively), 20 homogeneous phantoms were made of paraffin wax by using optically contrast black and highly scattering white colouring materials in different combination. By comparing the measured reflectance values for each phantom got from the four channel reflectometer with that obtained from steady-state diffusion equation, the values of mu(a) and mu(s)' were determined. Next, phantoms which exhibit specific optical properties of scalp-skull, white and grey matter are developed iteratively by comparing actual reflectance measurements got by adjusting the colour concentration with the predicted reflectance values from the diffusion equation. This is done as follows: to obtain mu(a) of 0.04 mm(-1) for scalp-skull, 9.5 mg of black dye per 100 ml of wax added since more attenuation of light occurs in bone tissue. To obtain a mu(s)' 6.0 mm(-1) for white matter in brain tissue, 190 mg of white dye per 100 ml of wax was used to facilitate more scatter of light. The colour concentrations of phantoms were then adjusted to obtain the predetermined values of optical parameters for scalp-skull, grey and white matter.