A magnetic internal mechanism for precise orientation
of the camera in wireless endoluminal applications
Authors P. Valdastri1, C. Quaglia1, E. Buselli1, A. Arezzo2, N. Di Lorenzo3, M. Morino2, A. Menciassi1, P. Dario1
Institutions 1 Center for Research in Microengineering (CRIM Lab), Scuola Superiore Sant’Anna, Pontedera, Italy
2 Centre for Minimally Invasive Surgery, University of Torino, Italy
3 Department of Surgery, University of Tor Vergata, Rome, Italy
submitted 5 November 2009
accepted after revision
3 March 2010
Bibliography
DOI http://dx.doi.org/
10.1055/s-0029-1244170
Endoscopy 2010; 42:
481–486 © Georg Thieme
Verlag KG Stuttgart · New York
ISSN 0013-726X
Corresponding author
P. Valdastri, PhD
CRIM Laboratory
Scuola Superiore Sant’Anna
viale R. Piaggio 34
56025 Pontedera
Italy
Fax: +39-0508-83497
pietro@sssup.it
Original article 481
Introduction
!
Although magnetic fields and their properties
have been well known for centuries, their use in
currently evolving surgical procedures is still lim-
ited, even if rapidly increasing. A promising field
of application is the external magnetic control of
diagnostic or surgical devices deployed inside the
patient’s body. In endoscopic procedures, this
would allow maximization of the number of tools
available with no effect on the number of access
ports. In particular, magnetic camera systems
can be introduced through natural orifices and
oriented by magnetic forces.
Several solutions describing this approach have
already been reported [1–5]. However, the static
magnet on the endoscopic or surgical device al-
ways has a fixed orientation. Thus, the position
and orientation of the device can only be con-
trolled by varying the external magnetic field. In
practice, this is obtained either by moving the ex-
ternal magnets, if permanent magnets have been
used for the external platform, or by adjusting the
magnetic field strength if coils have been used to
generate the magnetic field. This results in poor
and difficult control of the remote device because
of the exponential decrease of magnetic field
strength with distance. Control is further affected
by the unpredictable presence of different tissues
in between the external and the internal magnet-
ic sources, depending on the position of the de-
vice inside the human body. Finally, because of
the reliance on purely magnetic control, the re-
mote device is maneuveredwith respect to an en-
tirely external reference frame. In endoluminal
cavities, this usually means that the surrounding
collapsed tissues move with the device when the
external magnetic forces are applied; adjustabil-
Background and study aims: The use of magnetic
fields to control operative devices has been re-
cently described in endoluminal and transluminal
surgical applications. The exponential decrease of
magnetic field strength with distance has major
implications for precision of the remote control.
We aimed to assess the feasibility and functional-
ity of a novel wireless miniaturized mechanism,
based on magnetic forces, for precise orientation
of the camera.
Materials and methods: A remotely controllable
endoscopic capsule was developed as proof of
concept. Two intracapsular moveable permanent
magnets allow fine positioning, and an externally
applied magnetic field permits gross movement
and stabilization. Performance was assessed in ex
vivo and in vivo bench tests, using porcine upper
and lower gastrointestinal tracts.
Results: Fine control of capsule navigation and
rotation was achieved in all tests with an external
magnet held steadily about 15 cm from the cap-
sule. The camera could be rotated in steps of 1.8°.
This was confirmed by ex vivo tests; the mecha-
nism could adjust the capsule view at 40 different
locations in a gastrointestinal tract phantom
model. Full 360° viewing was possible in the gas-
tric cavity, while the maximal steering in the co-
lonwas 45° in total. In vivo, a similar performance
was verified, where the mechanism was success-
fully operated every 5 cm for 40 cm in the colon,
visually sweeping from side to side of the lumen;
360° views were obtained in the gastric fundus
and body, while antrally the luminal walls pre-
vented full rotation.
Conclusions: We report the feasibility and effec-
tiveness of the combined use of external static
magnetic fields and internal actuation to move
small permanent intracapsular magnets to
achieve wirelessly controllable and precise cam-
era steering. The concept is applicable to capsule
endoscopy as to other instrumentation for laparo-
scopic, endoluminal, or transluminal procedures.
Valdastri P et al. A magnetic internal mechanism for precise orientation… Endoscopy 2010; 42: 481–486
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ity of the intracapsular magnet would allowmovement of the de-
vice relative to the surrounding tissues, thus enabling effective
and reliable controlled motion.
In order to verify this principle, we developed a tethered endo-
scopic capsule equipped with one internal electromagnetic
motor that could rotate two permanent magnets, a real-time
wired vision module, a battery, and an electronic circuit for the
wireless control of the system. This device, the magnetic internal
mechanism (MIM) capsule, works with an external static mag-
netic field for both gross positioning and stabilization and fine
control. In the present study, the MIM capsule concept and re-
sults from ex vivo and in vivo validation trials are described for
the first time.
Materials and methods
!
The MIM capsule body (●" Fig. 1a) is cylindrical, with a diameter
of 15mm and a length of 48mm, and it incorporates one electro-
magnetic direct current brushless motor (Namiki Precision Jewel
Co., Tokyo, Japan), two small permanent magnets diametrically
magnetized (N52 NdFeB, Supermagnete, Uster, Switzerland), a
rechargeable battery (3.7 V, 20mAh, Plantraco, Saskatoon, Cana-
da) and an electronic circuit for wireless motor control. A wired
complementary metal-oxide-semiconductor (CMOS) camera
(MO-S588-3T-N, Misumi, Taipei, Taiwan) with four white light-
emitting diodes (LEDs) was used for the study because at present
there is no wireless real-time compact camera on the market.
Only the vision submodule is powered through thewired connec-
tion; the intracapsular battery provides energy for the wireless
motor and controllingmechanism. The external lens has a hydro-
phobic coating to prevent moisture accumulation. The overall
capsule weight is 14.4 g.
The external magnetic field is provided by a cylindrical perma-
nent magnet (N35 NdFeB, B&W Technology & Trade, China)
(●" Fig. 1b). It is 60mm in diameter, 70mm in length and 1.5 kg
in weight, and it is magnetized diametrically. The external mag-
net is fixed in a passive hydraulic arm, which is manually con-
trolled by themedical operator, similarly to an ultrasound device.
A braking system allows the arm to be fixed in a given position by
the user. The magnetic attraction force between the external and
the internal magnets at a distance of 15 cm is 0.5 N, roughly cor-
responding to 50 g, which is enough to lift the MIM capsule
against gravity.
Control software, running on a personal computer (PC), allows
remote control of the device and feedback on its status, for exam-
ple regarding battery level, wireless signal strength, etc. The user
can rotate the camera view stepwise by pressing buttons on the
PC keyboard, one for forward and one for backward motion.
Alternatively, the rotation angle and direction can be set using
the control software and an appropriate command is issued to
the camera device.
The internal orienting mechanism consists of a motor connected
to a worm gear. When the worm screw rotates, it transmits the
motion to a toothed gear. The small intracapsular magnets are
fixed to the toothed gear and rotate when the motor is activated.
real-time vision module
electromagnetic motor
battery and 
electronic circuit
a
permanent 
magnets
Fig. 1 a Components
of the magnetic inter-
nal mechanism (MIM)
capsule. b The MIM
capsule and the per-
manent magnet that
provides the external
magnetic field source.
magnetic internal mechanism
External magnet
B Magnetic field
N
15 cm
N
S
S
B
Fig. 2 The working principle of the magnetic internal mechanism (MIM)
capsule. When the motor is activated, the capsule rotates as the intracap-
sular magnets stay in the same position with respect to the external mag-
net.
Original article482
Valdastri P et al. A magnetic internal mechanism for precise orientation… Endoscopy 2010; 42: 481–486
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However, when the system is placed in an external magnetic
field, the magnets tend to maintain a precise alignment with re-
spect to the external magnet, based on the position of their own
north and south poles. If the magnetic force is enough to with-
stand the torque of the motor, then the motor and the entire cap-
sule rotates rather than the internal magnets which keep their
orientation with regard to the external magnet (●" Fig. 2). This
enables a fine adjustment of the camera relative to the surround-
ing tissue, without moving the external magnetic source.
●" Video 1 shows an example of operation of the MIM capsule
during bench testing, where the internal mechanism rotates the
capsule back and forth by 90°.
Lower and upper gastrointestinal phantom models
The main goal of ex vivo tests was to assess the reliability and
precision of movement provided by the MIM once the capsule
had been navigated magnetically to the target location. Quantita-
tive outcomes were the minimum angular increments through
which the camera could be rotated, the maximum steering angle
that could be obtained in the colon and in the gastric cavity, and
the possibility of achieving a 360° sweep in the stomach.
An upper gastrointestinal model with fresh porcine esophagus
and stomach inserts, and a lower gastrointestinal model
(●" Fig. 3a) with fresh porcine colon inserts attached along the
fixtures, were used to simulate ex vivo the anatomical geometry
of the digestive tract. Four pairs of red and black targets were
stitched in random positions along the upper digestive tract,
and the same number of targets was used for the lower gastroin-
testinal experiment. Each red target was placed on the opposite
side of the lumen to the corresponding black one. The external
permanent magnet was fixed to a hydraulic passive arm in order
to facilitate handling by the operator (●" Fig. 3b).
The capsule was inserted through either themouth or the anus of
the phantom and it was guided by means of the external magnet
to visualize the targets. A constant endoluminal slight insuffla-
tion, adequate for distension of the digestive tract, was applied.
After each pair of targets had been approached, the external mag-
net was kept in a fixed position and the internal mechanism was
activated through the control software in order to precisely steer
the field of view from the black to the red target and back again.
Two sessions, one for the colon and one for the stomach, were
carried out, with five trials for each target, for a total of 40 MIM
activations.
In vivo animal model
After completion of the phantom trials, the MIM was assessed in
an in vivo experimental session, with the aim of verifying the
vision enhancement capabilities of the adjustable mechanism.
The outcomes were confirmation of the capability of the MIM to
move the view from one side to the other in the colonic lumen
and to achieve a 360° panoramic view at three different locations
in the gastric cavity.
The feasibility study was done using two 30-kg female domestic
pigs. The experiments were carried out in an authorized labora-
tory, with the assistance and collaboration of a specially trained
medical team, in accordance with all ethical considerations and
the regulations related to animal experiments.
After intravenous sedation and bowel preparation using water
enemas, the capsule device was inserted into the colon through
the anus and advanced for 40 cm using external magnetic guid-
ance. The advance was observed frontally by means of a flexible
endoscope (Karl Storz, Tuttlingen, Germany) introduced through
a colotomy at about 50 cm from the anus and directed towards
the device. This also allowed moderate distension of the bowel.
During the advance of the device, the intracapsular mechanism
was activated every 5 cm in order to orient the vision module to-
wards the lateral walls of the lumen and to acquire a detailed
view of the mucosa. When the target location at 40 cm was
reached, the capsule was moved magnetically backwards to the
anus to be retrieved.
Fig. 3 a The lower gastrointestinal tract phantom set-up. b The phantom
set-up and the external magnet on the hydraulic arm.
Video 1
Operation of the magnetic internal mechanism (MIM). When the intra-
capsular motor is activated, the entire capsule rotates as the intracapsular
magnets retain their alignment with the external magnetic field.
online content including video sequences viewable at:
www.thieme-connect.de/ejournals/abstract/endoscopy/
doi/10.1055/s-0029-1244170
Original article 483
Valdastri P et al. A magnetic internal mechanism for precise orientation… Endoscopy 2010; 42: 481–486
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Similarly the capsule was introduced into the stomach through a
duodenotomy, while a flexible endoscope was inserted through
the esophagus to achieve an optimal view and to provide suffi-
cient insufflation. The capsule was then moved around the gas-
tric cavity by external magnetic guidance and held in three differ-
ent regions of the stomach, i. e., the fundus, the body, and the
antrum. For each location, we tried to achieve a 360° panoramic
view by means of the intracapsular mechanism.
Results
!
Lower and upper gastrointestinal phantom models
When each target area had been reached by gross magnetic navi-
gation, the external magnet was fixed at 15 cm away the capsule.
In these conditions, the MIM capsule was able to scan, moving
from the black to the red target (●" Fig. 4) and vice versa, in mini-
mum angular rotation steps of 1.8°. A typical target located
20mm from the camera was visualized in 2-mm increments. Re-
garding the maximum achievable sweep angle, a 360° panoramic
field of view was obtained in the phantom stomach, whereas in
the colon the camera could be steered through no more than
45° in total due to collision with the lateral walls.
Visualization and illumination, even if not comparable with that
provided by standard flexible endoscopes, were sufficient for the
sake of our tests.
The telemetric link between the PC and the capsule was reliable
up to a distance of 3m. Battery lifetime, with continuous opera-
tion of the motor, was 25 minutes. The front lens did not need
cleaning thanks to the hydrophobic coating of the glass.
In vivo animal model
Under in vivo conditions all the MIM functions performed cor-
rectly, including the telemetric motor commands. Continuous
images were captured and the entire surface of both the stomach
and colorectal tract along which the capsule was advanced were
successfully visualized. Fine orientation was achieved with the
external magnet fixed 15 cm away from the animal skin. In all
eight MIM activations along the 40-cm path in the colon, we
were able to orient the camera from one side of the lumen to
the other and back again, confirming the visualization in 2-mm
steps. The trial in the colon was completed in 30 minutes and
the battery was able to power the MIM for the entire duration.
As regards the stomach trials, a 360-degree panoramic view
(●" Fig. 5a– c,●" Video 2) was achieved in the fundus and in the
body, while in the antrum complete revolution was blocked by
the gastric walls. An example of the image stream from the cap-
sule is shown in●" Video 3. The procedure time required to visu-
alize the whole stomach surface was approximately 10 minutes.
At the end of the entire trial, the capsule remained fully function-
al. Gross inspection of the animals after euthanasia revealed no
mucosal damage.
Fig. 5 Endoscopic
view of three different
positions of the mag-
netic internal mecha-
nism (MIM) device,
rotating about a point
during the in vivo ex-
periment in the gastric
cavity.
Fig. 4 View from the camera during lower gastro-
intestinal phantom trials.
Video 3
Video stream from the magnetic internal mechanism (MIM) on-board
camera during the in vivo experiment in the gastric cavity.
online content including video sequences viewable at:
www.thieme-connect.de/ejournals/abstract/endoscopy/
doi/10.1055/s-0029-1244170
Video 2
Endoscopic view of the magnetic internal mechanism (MIM) capsule
rotating about a point during the in vivo experiment in the gastric cavity.
online content including video sequences viewable at:
www.thieme-connect.de/ejournals/abstract/endoscopy/
doi/10.1055/s-0029-1244170
Original article484
Valdastri P et al. A magnetic internal mechanism for precise orientation… Endoscopy 2010; 42: 481–486
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Discussion
!
In this study we introduce a novel concept for steering the video
capsule camera, based on the combined use of an external static
magnetic field and on-board actuation to move intracapsular
permanent magnets. Since the distance between the external
and internal magnets is kept constant during the operation, it is
possible to achieve precise and reliable orientation of an endo-
luminal wireless device.
Transabdominal magnetic anchoring and guidance systems
(MAGS) for minimally invasive surgery were first described in a
laparoscopic setting by Cadeddu’s group [1], and more recent
application to natural orifice transluminal endoscopic surgery
(NOTES) has been reported by the same group [2]. The use of
magnetic fields has been tested under NOTES conditions by other
groups to enable liver retraction during cholecystectomy as well
as to stabilize a mesh for implantation during abdominal hernia
repair [3]. Cuschieri’s team used a ferromagnetic glue for gastric
mucosa retraction in endoscopic surgery [4]. From the technical
standpoint, the most advanced system to exploit magnetic fixa-
tion and positioning for laparoscopic and NOTES procedures is
the peritoneum-mounted imaging robot as reported by Oleyni-
kov’s group [5]. This wired device contains a camera, an illumina-
tion system, an electromagnetic motor, and two permanent mag-
nets located in fixed positions at the two ends of the device. A
magnetic handle on the patient’s abdomen is used to attract the
magnets embedded in the robot. The handle can be moved across
the exterior of the abdomen in order to position and pan the
imaging device. The embedded motor is used to remotely tilt the
camera to arbitrary angles. A similar solution is reported by
Allen’s group [6], consisting of a 11-mm monoscopic insertable
panning/tilting endoscopic imaging device. A magnetically guid-
ed intra-abdominal camera for single-incision laparoscopic sur-
gery (SILS) was recently demonstrated in humans by Cadeddu et
al. [7].
Active capsule endoscopy is another field of research that is pres-
ently exploiting the combined use of external and intracapsular
magnets. In this case magnetic fields are used to stop and control
the capsule, and to steer it towards areas of interest for diagnostic
[8,9] and surgical [10] purposes. The efforts in this area by the
two main commercial players in capsule endoscopy worldwide,
namely Given Imaging [11] and Olympus [12], further attest to
the promise of this approach.
The current trend in diagnostic and surgical procedures is to
minimize the patient’s operative trauma by decreasing as far as
possible the number of external incisions while increasing the
technical capabilities of endoluminal and transluminal instru-
mentation. Therefore, given the poor controllability of magnetic
fields, the development of miniaturized mechanisms that allow
precise positioning and steering of the single device would im-
prove the outcomes of both standard and innovative procedures,
such as laparoscopy, NOTES, SILS, or capsule endoscopy. We en-
visaged that magnetic properties could be used not only for re-
traction and for fixation of the intra-abdominal tools, but also
for precise steering and rotation.
The novel feature of our prototype is the adjustable internal mag-
netic mechanism that allows fine control of steering and rotation.
Compared with the steering achieved by moving the external
magnetic field source, the mechanism presented here provides
higher precision because the distance between the external and
internal magnets is kept constant during the operation. As
demonstrated by our findings, the best results with the MIM
capsule are obtained in large cavities, such as the stomach or the
abdomen, where movement of the device is not hampered by
luminal walls. Nevertheless, even in a constrained environment,
the MIM capsule’s steering capabilities might be beneficial in en-
hancing diagnostic outcomes.
The MIM capsule design assumes a 15-cm distance between the
external and internal magnets. With morbidly obese patients,
such a value can easily be exceeded, and in such cases, a stronger
external magnet can be used, by applying the selection criteria
previously reported by our group [13].
It is worth mentioning that to be effective magnetic locomotion
requires slight insufflation of the lumen [14]. In the case of gas-
tric inspection, transparent liquid solutions can be used to
achieve luminal distension [15]. Another promising approach
using a wireless insufflation system for capsule endoscopy has
been proposed [16]. Concerning power consumption, since the
MIM is activated on demand by the user whenever steering of
the camera is desirable, the precise battery lifetime cannot be
predicted, but the user can take advantage of the battery level
monitoring provided by the control software.
While feasibility for diagnostic evaluation of the upper and lower
gastrointestinal tract was demonstrated, limitations to the devel-
opment so far require comment. First, further reduction in size is
desirable and this can be achieved by decreasing the size of the
actuation unit. This would allow the diameter to be less than
12mm, thus enabling introduction through a standard trocar for
abdominal operation. Further work on the visualization system
are also needed to improve image quality. This is substandard in
the current prototype; however the visualization system was not
the main focus of this work. Integration of a wireless camera is
also one of the next steps, in order to address capsule endoscopy
application and to achieve a completely wireless device. This ad-
ditional improvement will raise a significant issue regarding
power consumption. A possible solution for supplying all the in-
tracapsular subsystemswithin a reasonable volumemay bewire-
less power induction [17]. On the other hand, use of theMIM cap-
sule for laparoscopy, NOTES or SILS [13] would allow the pres-
ence of a tether. This wired connection could be used to power
the system and to control both the camera and the MIM subsys-
tems, thus solving any problem related to power consumption
and allowing a drastic reduction in size, since battery and wire-
less electronics would not be required anymore.
Another crucial issue is the remote control by magnetic fields for
navigation and coarse positioning. This problem may be addres-
sed by adopting a robotic solution [14,18,19].
Regarding the study protocol, the evaluation was done in ex vivo
and in vivo nonsurviving porcine models. While we believe that
all areas of the tracts explored were visualized, this was not
definitively proven. In addition, the study was not designed to
distinguish normal from abnormalmucosal findings. The obvious
constraint was the specific anatomy of the porcine colon, that
forced us to restrict the test to the distal area. Nevertheless we
believe that when the downscaled version of our prototype
might be available and a better external fine-control system de-
veloped and tested, further in vivo tests to prove feasibility and
utility of a similar tool might be of interest, in view of the con-
tinuing development of evermore active and less invasive tech-
nologies for diagnosis and cure of digestive tract disease.
Original article 485
Valdastri P et al. A magnetic internal mechanism for precise orientation… Endoscopy 2010; 42: 481–486
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Acknowledgments
!
The authors are grateful to Mr. N. Funaro for manufacturing the
prototypes and to Ekawahyu Susilo, Gastone Ciuti, and Carmen
Cavallotti for their valuable support during fabrication and test-
ing of the device.
This material is based in part upon work supported by the Euro-
pean Commission in the framework of the VECTOR (EU/IST-
2006-033970) and ARAKNES (EU/IST-2008-224-565) European
Projects.
Competing interests: None
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