Ingestable Robots

Presented by:
Rakesh C N
IVth Sem MCA
 Introduction
 Ingestible Robot that can unfold itself from as
swallowed capsule and, steered by external magnetic
fields, crawl across the stomach wall to remove a
swallowed button battery or patch a wound.
 Researchers at MIT, The University of Sheffield, and
the Tokyo Institute of Technology have demonstrated
the Idea of Origami Robots in experiments involving
a simulation of the human esophagus (throat to
Stomach).
 One research institution that is advancing robotic
medical implementation is the Computer
Science and Artificial.
What it is able to do..?

 Remove Foreign Objects.

 Deliver Medicine to the designated Location.

 Patch the Wound.

 Perform instant Operations using Micro-Scissor.

 Predict the upcoming Disease.

 STOMACH SIMULATOR
• Physical environment for testing the performance
of our robotic system,comprised of an artificial
esophagus and a silicone stomach that featurea
biologically comparable stiffness and folded
lining inside
• Artificial organs provide a nonperishable,realistic,
cost-effective environment for iterative tests of
thestructure and function of the robot.
• The stomach is a muscular and hollow organ of
thedigestive system, responsible for breaking
down food.
• The time lapse of tissue wall
damage,taken from the opposite
side of where the battery
wasplaced.
• After a few minutes, air bubbles
were observed at theinterface
between the battery and the tissue
due to an electriccurrent flow.
• In 30 minutes, degradation of the
tissue wasobserved from the
opposite side of the tissue. FIG: Damage on a meat wall caused by a button battery.
• In 60 minutes,a hole of 12 mm (a) Time lapseimages, (b) battery and the created wound,
diameter was created clearly and (c) the hole.
displaying the danger of
accidental ingestion.
 Design
 We developed two types of origami robots, which we willfurther refer to as the
battery remover and the drug deliverer,respectively, for the treatment of stomach
inflammation.
 Theorigami designs were chosen to fold the robot such that theycan be embedded
in ice capsules which can be swallowed,carried to the stomach and dissolved.
 The robots are controlled by an electromagnetic actuation system developed inour
group.

Robot architecture
In the first phase, the remover removes a
battery from theinflammation spot to prevent
further damage of the stomachwall while the
robot is in a capsule shape. The
remover,featuring a minimum supporting
structure, is folded in anelliptic cylinder
package and frozen.
Ice capsule transportation
Ice capsule transportation has various advantages overother
approaches such as encapsulation by gelatin or sugar.
First, it is safe and reduces friction while sliding through theesophagus
by peristalsis.
Second, it disappears quickly andcompletely in vivo by melting once it
reaches the stomach.
Third, it is easilyproduced.

Material selection
The robot’s body needs to be composed of biocompabitle and
biodegradable materials. The deliverer’s body is made of 5 different layers.
They are Polyolefinstructural layer(BD), Organic structurallayer,
Drugincluding layer, and actuation layer for self-folding adhered by
silicone adhesive layers.
 Walking motion control for the
Deliverer The walking motion is
designed based on stick-slip motion on
ground. The robot acts underwater and
thus experiences effects from moving in
a low Reynolds numberenvironment.
 EXPERIMENTAL RESULTS
we show proof of concept results for robot deployment via capsule melting, removing a
button batteryand patching a wound in the artificial stomach.
 (a) An ice capsule was put into water at room temperature.
Deliverer deployed in about 3 minutes and was controlled
forwalking motion.
(b) Battery removal experiment. The ice capsule containing
remover thrown manually into the stomach was controlled
remotely andconnected to the button battery. The ice capsule
successfully dislocated the battery from the site.
(c) Wound patching experiment. The thrown ice
capsulecontaining deliverer melted in about 3 minutes,
transformed into deliverer, and subsequently moved onto
the wound.
ADVANTAGES AND DISADVANTAGES

ADVANTAGES
• Easily swallowed
• Moves smoothly by external magnetic field
• Has tiny flippers to swim around in stomach fluid
• Can be used to deliver medicines to specific part of the body
• It has faster procedure
• No longer need magnets for control

DISADVANTAGES
• Can not carry large objects
• Foreign objects could not stuck
• It cause allergies
• It cause tearing
 Conclusion
 MIT says that every year in the US there are more than 3,500 reports of
swallowed batteries. If left in the stomach or esophagus these can burn the
tissue. The researchers suggest that the origami meat robot could be deployed
in these scenarios to find the magnet, pulling it free from the tissue and guiding
it toward the colon for evacuation.

 In recent decades, advancements in engineering and artificial intelligence have

allowed scientists to equip robots with the tools needed to perform medical
procedures.

 The design is very much a work-in-progress, but its creators think it offers a
promising model for the future.
 References:-

[1] S. Miyashita, S. Guitron, M. Ludersdorfer, C. Sung, and D. Rus,“An

untethered miniature origami robot that self-folds, walks, swims,and degrades,”
in IEEE International Conference on Robotics andAutomation (ICRA), Seattle,
USA, June 2015, pp.
[2] M. Nokata, S. Kitamura, T. Nakagi, T. Inubushi, and S. Morikawa,“Capsule
type medical robot with magnetic drive in abdominal cavity,”in IEEE RAS &
EMBS International Conference on BiomedicalRobotics and Biomechatronics
(BioRob), 2008, pp.