Design, analysis and experiments of a spatial universal rotating magnetic field system for capsule robot

Design and implementation of positioning and control systems for capsule endoscopes

“…This sensor output signal was then compared with the corresponding voltage value of the desired magnet position. Based on (10) and (12), the matrices elements of the state equation and the operation coil current were determined at x 0 = 25 mm as follows: C1 = 1569.6, C2 = − 69.7 and i 0 = 0.14 A. In control design of linearised systems, the trajectory of desired input should be initialised with the value that is closed to the equilibrium value.…”

“…Zhang et al [12,13] fabricated a new swimming spiral capsule with an inserted small magnet. The presented capsule prototype can be translated and oriented by a three-dimensional (3D) Helmholtz coil pair system.…”

Magnetically guided capsule endoscopy

“…Newer propulsion results in ex vivo porcine large intestine were published in cooperation with Olympus Medical Corp. (2007). 140 Zhang et al 141,142 have also demonstrated a swimming spiral capsule with orientation and translational control driven by a 3D Helmholtz coil pair system. The blind prototype (12.5 9 25 mm 2 ) was tested in a fluid-filled spiraling pipe and in an ex vivo porcine large intestine.…”

A Novel tele-operation controller for wireless microrobots in-pipe with hybrid motion

“…The propulsive force and torque was provided by rotation magnetic field and could be changed as (10) and (11) 27 :…”

“…As the size limitation of the microrobot, the actuation part including the power source is difficult to integrate into the microrobot. Therefore, several actuation mechanisms have been developed and used to propel the microrobot from a remote site, which are used for providing locomotion in the pipe such as piezoelectric elements 4,5 , air cylinders 6 , electrorheological fluids 7 , shape memory alloys 8,9 , electromagnetic motors [10][11][12][13][14] , and globular magnetic actuator capable of locomotion in a pipe by combination of mechanical vibration and electromagnetic force 15,16 . Honda developed a new kind of wireless swimming robot with a tail fin which can swim in one direction 17 .…”