Global interface sensor/actuator platform

The main function of the GISA platform is to complement the VECTOR capsule by adding more functions than the included by the principal system (power, vision, telemetry and control units). Such functions are enabled by adding more sensors and actuators to the capsular endoscope and controlling their operation with the GISA platform. As there exist so many sensors and actuators in the market that could be used to enable different functions, the GISA platform has to be prepared to deal with different ranges of voltages, frequencies, etcetera. In order to give more detailed information about the GISA platform this section is divided in two parts: sensors interface and actuators interface.

2.1.1.1.

Sensors Interface

The sensors interface must be able to work with the proposed sensors of the capsule. Table 2.3 summarizes the sensors which can be found on the different endoscope systems available and envisaged in the VECTOR capsule. Classical endoscope systems use a vision system based on a CCD camera and an optical fibre to illuminate the working area. The endoscopic capsules developed by Wang [13] and Given Imaging [14] contain a vision system composed of a camera and LEDs to illuminate the area. The VECTOR capsule has a CMOS camera with an illuminating system, and a set of passive and active sensors. Passive sensors do not require actuation from the capsule, while active sensors require driving signals and control. The sensors different of the vision sensor are connected to the interface ASIC.

The aim of the GISA is to provide a platform to connect several sensors/actuators with different capabilities and for this reason the sensor interface has to deal with a wide range of input signals. To deal with this issue a programmable interface is proposed. The basic elements of the interface must provide the capability to measure currents and voltage signals from pA to uA and from uV to mV. This is obtained with a first stage, composed of an I2V converter, an analog filter and a programmable gain amplifier. The features of this first stage can be selected to provide different services to the user. These analog signals must be converted into digital values by using an A/D converter. Finally the digital value is transmitted to the CPU by the I2C bus.

2.1 Towards a microrobotic solution for diagnosis and therapy in the GI exploration

A large amount of biosensors can be found on the literature. A general overview of piezoelectric biosensors can be found on [15]. On table 2.4 it is summarized the most important features of some existing biosensors.

Table 2.2: Characteristics of the presented ASIC.

Characteristic Property External devices needed

Size 5.1 mm x 5.2 mm

Thickness 700 um

Num. of pins 84

Functions

Time Stamp

LED drivers 16 LEDs

Liquid lens driver

220 uH 300 nF Liquid lens BLDC driver 36 nF BLDC motor Master I2C 2 pull up resistors (1 kOhm) Communication unit

Table 2.3: Endoscope sensors

Endoscope element Sensors

Classic endoscope Camera Capsule endoscope Camera VECTOR capsule Camera

Temperature PH

Pressure

Spectroscopic diagnostics Ultrasound based diagnostics Biosensors

2.1.1.2.

Actuators Interface

Classical endoscope systems have a large amount of actuators which are used to remove biologic material to make an external biopsy or to eliminate tumorous biomaterial (TMT medical). Another kind of actuation elements used in classical endoscopes are elements to create space inside the bowel, such as balloon dilators. The commercial Given Imaging Capsule does not contain any kind of actuation mechanism [14]. The Wang endoscopic capsule [13] contains a micro-current stimulus driver to stimulate

2 The VECTOR capsule concept: System architecture

45

the muscle of the digestive tract to shrink and push the capsule forward. The VECTOR capsule contains a locomotion/space creation system which allows the capsule to move forward and backward and even stop the movement in the bowel. Tissue sampling and clipping actuators can also be incorporated. Table 2.5 summarizes the actuators which can be found on the different endoscope systems available and envisaged in the VECTOR capsule.

Some of the possible actuators of the capsule are grippers, syringes or scalpels. On table 2.6 some micro-grippers and their actuation signals are summarized. The actuators found in the literature require the use of a driving with high voltages and current. The limitations established by the technology chosen for the fabrication of the control electronics have to be considered in order to decide which type of actuator can be used in the capsule. For maximum simplicity, driving with square waveforms (on-off, PWM) at the full digital range of voltage (0-3.3V) is better.

Table 2.4: Biosensors on the Literature

Sensor Input signal Driving signal Interface Reference

Guided Cell Growth biosensor -700 uV – 100uV Pulses to contract muscle Amplification and filtering, ADC [16]

Bioterrorism Agents Resistance drop -10 k – 1.1 M -- Multimeter [17] Electrode Supported biosensor 0 – 20 nA -100 – 300 mV -- [18] Solid-state Urea Biosensor 0 – 180 mV Diferencial input [19] DNA-Polypyrrole Biosensor 0 - 300 uA 0 – 0.7 V -- [20] Amperometric biosensor 2.25 – 2.65 V (alter I2V) -650 – -800 mV I2V converter, amplifier, DAC [21] Interdigitated u- electrodes biosensor 0.05 – 0.5 pF AC signal response 100kHz – 0.1Hz Electrochemical Impedance Spectroscopy [22]

Glucose biosensor 0.4 – 1.6 uA 3 electrodes method Diferencial input [23] Phenylalanine biosensor 5 – 35 mV 3 electrodes method Impedance transform, amplification, ADC [24] Cell-Based Biosensor, Fluidic system 10.5 – 22.5 uV -- -- [25]

Biosensor array 10 pA – 10 uA AC signal 0.1Hz – 10 Hz Electrochemical Impedance spectroscopy [26] Electrochemical Biosensor Arrays 10 pA – 10 uA Sinusoidal: 1Hz – 1kHz 50mV AC 1.65 V DC Potentiometric or amperometric readout [27]

2.1 Towards a microrobotic solution for diagnosis and therapy in the GI exploration

Table 2.5: Endoscope actuators

Endoscope element Actuators

Classic endoscope Long oval cups with/without spike Serrated cups

Aligator grasper

Along rat tooth stent remover Rat tooth graspers

Tripod graspers Fork 1x2 graspers Achalasia balloon dilators Billiary dilators

Biopsy forceps Cytology brushe Filtration / Injection kit Helical Retrieval baskets Polipectomy shares Given Imaging Capsule No actuators

Capsule endoscope Micro-current Stimulus Driver VECTOR capsule Locomotion/space creation

Stopping

Tissue sampling and treatment

Table 2.6: Micro-Actuators on the Literature

Actuator Driving signal Feedback Reference

Micro-gripper for an Ultrasonic Manipulator

AC signal 20V Piezoresistor force sensors [28]

Parallel-plate electrostatic micro-gripper

50 – 100V Voltage measurement [29]

Piezoelectric micro-gripper 0 – 72 V Micro-force sensor [30] Piezoactuator AC signal 3kHz, 0

– 60 V

Piezoelectric sensor [31]

Shape Memory Alloy Gripper 0 – 700 mA -- [32]