A wireless power transfer system based on the weakly inductive coupling makes it possible to provide the endoscope microrobot (EMR) with infinite power. To facilitate the patients' inspection with the EMR system, the diameter of the transmitting coil is enlarged to 69 cm. Due to the large transmitting range, a high quality factor of the Litz-wire transmitting coil is a necessity to ensure the intensity of magnetic field generated efficiently. Thus, this paper builds an analytical model of the transmitting coil, and then, optimizes the parameters of the coil by enlarging the quality factor. The lumped model of the transmitting coil includes three parameters: ac resistance, self-inductance, and stray capacitance. Based on the exact two-dimension solution, the accurate analytical expression of ac resistance is derived. Several transmitting coils of different specifications are utilized to verify this analytical expression, being in good agreements with the measured results except the coils with a large number of strands. Then, the quality factor of transmitting coils can be well predicted with the available analytical expressions of self- inductance and stray capacitance. Owing to the exact estimation of quality factor, the appropriate coil turns of the transmitting coil is set to 18-40 within the restrictions of transmitting circuit and human tissue issues. To supply enough energy for the next generation of the EMR equipped with a Ø9.5×10.1 mm receiving coil, the coil turns of the transmitting coil is optimally set to 28, which can transfer a maximum power of 750 mW with the remarkable delivering efficiency of 3.55%.

This paper presents a wireless power transfer system integrated with an active locomotion and biopsy module in an endoscopic capsule for colon inspection. The capsule, which can move automatically, is designed for non-invasive biopsy and visual inspection of the intestine. To supply enough power for multiple functions and ensure safety for the human body, the efficiency of the current power transmission system needs to be improved. To take full advantage of the volume in the capsule body, a novel structure of receiving coils wound on a multi-core of MnZn ferrite hollow cylinder was used; with this new core, the efficiency increased to more than 7.98%. Up to 1.4 W of dc power can be delivered to the capsule as it travels along the gastrointestinal tract. Three micro motors were integrated for pumping, anchoring, locomotion and biopsy. A user interface and RF communication enables the operator to drive the capsule in an intuitive manner. To gauge the efficacy of the wireless power supply in a simulated real-world application, the biopsy and locomotion capabilities of the device were successfully tested in a slippery, soft tube and gut environment in vitro.

Instruments for GI diagnostics are increasingly moving toward robotic capsule endoscopes because of their locomotion capabilities. This paper presents a wirelessly powered robotic capsule endoscope that can actively move in the small bowel exploiting the expanding-extending principle. After analyzing the demands of the locomotion, a novel radial motion mechanism with a large expanding/retracting radial ratio was designed, as was an axial motion mechanism with a compact structure. A control system with a special position detector to let the micro-motors avoiding stall state was developed to enhance the stability of the mechanism and reduce the robot's power requirements. The wireless power system enabled the robot to inspect the full length of the intestinal tract. The assembled micro-robot was 14 mm in diameter and 45 mm in length. The maximum anchoring diameter was 32 mm, and the axial telescopic length was 9.5 mm. The test results proved the feasibility of the robot.

Abstract-An analytical expression of AC resistance of a single-layer air-core Helmholtz coil is presented. Proximity effects between both bundles and strands of litz-wire as well as skin effect are considered. To obtain an accurate analytical expression of proximity effect on bundle level and strand level, a precise distribution of magnetic field is discussed. The analytical expression of AC resistance and quality factor is verified with the experimental results, and the theoretical predictions are in agreement with the measured results.

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