The safety and feasibility were compared between three groups based on the distance from the lower edge of the tumor to the anus. Table4shows the results. Close distance from the lower edge of the tumor to the anus means long operation time, high intraoperative blood loss, and high incidence...
aMicro-needle capillary biopsy capsule robot based on soft Sarrus linkage concept. Left: three-dimensional model design. Right: actual deformation of the robot under magnetic force.bBiopsy capsule robot with scraper assembly. Top left: conceptual design of WCE robot with biopsy module. Bottom left:...