Design and testing of a novel gastrointestinal microrobot

Wang, Wei; Yan, Guozheng; Ding, Han; Meng, Yu; Pu, Pengxian

doi:10.1007/s10544-019-0438-1

Cited by 10 publications

(6 citation statements)

References 29 publications

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“…On the other hand, d coil of the radial coil should be larger than this value. Therefore, the WPT system in 4,5 is not widely used in practice, although it is more efficient. The air core coil proposed in this paper exhibits low PTE, but by introducing the ferrite structure, the PTE is greatly improved and can provide the CR with sufficient power.…”

Section: Discussionmentioning

confidence: 99%

“…1,2 In comparison to the conventional capsule endoscope, the new multifunction CR offers numerous possibilities in the biomedical field, including active motion, expansion residency, biopsy, and drug release. [3][4][5] These advancements not only hold economic potential but also present challenges. One such challenge lies in the power supply, a common limitation for implantable devices.Integrating batteries into implantable devices, such as the CR, has been the traditional approach.…”

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confidence: 99%

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Wireless power transfer system for capsule robot designed by radial square transmitting coil pair with novel ferrite structure

Wen,

Yan,

Wang

et al. 2023

Robotics Computer Surgery

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BackgroundWireless power transmission for capsule robots has always posed challenges due to the unpredictable postures.MethodsA radial transmitting coil with a novel ferrite structure is proposed, which consists of two parts with the function of converging magnetic induction lines and reducing magnetic leakage. To improve the flux density, uniformity, and shielding effectiveness, the design parameters are discussed and optimized on the basis of analytical calculations and simulation analysis.ResultsThe proposed ferrite structure improves the power transfer efficiency from 2.78% to 5.21%. Additionally, the power transfer stability showed a slight improvement from 76.4% to 77.6%, while magnetic leakage was reduced by 84%. Finally, the human tissue safety is also discussed and verified.ConclusionsThe wireless power transfer system is shown to be feasible and safe.

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Section: Discussionmentioning

confidence: 99%

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confidence: 99%

Wireless power transfer system for capsule robot designed by radial square transmitting coil pair with novel ferrite structure

Wen,

Yan,

Wang

et al. 2023

Robotics Computer Surgery

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“…3 Therefore, the gastrointestinal capsule robot (CR), which features controllable locomotion and radial expansion, has become the focus of current research. [5][6][7][8][9][10] Different from CE in passive motion, the active CR integrates miniature actuators, cameras and other power consumption units, and therefore, it can consume several hundred milliwatts. Thus, how to provide stable and efficient power has always been a bottleneck to be broken through.…”

Section: Introductionmentioning

confidence: 99%

“…However, the problems of simple function and missing inspection are still unavoidable in the evaluation of gastrointestinal tract disease 3 . Therefore, the gastrointestinal capsule robot (CR), which features controllable locomotion and radial expansion, has become the focus of current research 5–10 …”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a wireless power transfer system for capsule robot using an optimised planar square spiral transmitting coil pair

Zhuang

Wang

Zhao

et al. 2022

Robotics Computer Surgery

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Background The wireless power transfer system (WPTS) is a promising way to continuously provide efficient and stable power for gastrointestinal capsule robots with active movement ability. Methods The proposed WPTS using an optimised planar square spiral transmitting coil pair with space‐saving structure can flexibly adjust the distance between the coils according to the patient's condition, and thus has better applicability. To improve power transfer efficiency and uniformity of the generated magnetic field, design parameters are discussed and optimised based on the analytical calculation and simulation analysis. Results The power demand can be guaranteed with spacing distance of 350–500 mm and the peak received power of 1124 mW with a remarkable transfer efficiency of 7.8% can be obtained when the spacing reaches the minimum. The human electromagnetic exposure safety in different situations is also discussed and verified. Conclusions The WPTS can provide power for capsule robots safely and efficiently.

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“…[8] Indeed, integrating functionalities into ingestible, untethered robots with active locomotion capabilities can enable a broader range of surgical-free diagnostic and treatment strategies. [11][12][13][14][15] Earlier research has demonstrated a wide range of locomotion strategies for small-scale robots, including legged, [16,17] rolling, [18][19][20][21] peristaltic (i.e., earthworm-like), [22][23][24][25][26][27][28] undulatory, [29][30][31] crawling, [32][33][34][35][36][37][38][39][40][41][42][43] and other motions. [6,[44][45][46][47][48][49][50][51][52] Among the demonstrated mechanisms, magnetically controlled actuation is particularly promising because it does not require onboard power or control systems, [45] freeing critically needed space for additional functional integration.Recent advances have demonstrated the ability of mi...…”

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Ingestible Functional Magnetic Robot with Localized Flexibility (MR‐LF)

Greenwood

Cagle

Pulver

et al. 2022

Advanced Intelligent Systems

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The gastrointestinal (GI) tract plays a crucial role in the human body as a naturally evolved interface between the body and its environment. Ingestible electronics perform surgical-free screenings and diagnoses within the GI tract and have been proposed since 1957. [1][2][3][4] Recent advancements have demonstrated the ability to integrate ingestible electronics with sensing, actuation, and drug delivery capabilities, with several examples that have been FDA approved and are in clinical use. [5][6][7][8] For example, the pill-shaped PillCam provides access to areas of the GI tract that are challenging or infeasible via endoscopic procedures. [8] However, the size of an ingestible device is fundamentally constrained to enable swallowing (e.g., PillCam SB 3 has a diameter of 11.4 mm and a length of 26.2 mm) [9] and to mitigate the risks of unexpected retention (1.4% for conventional capsule endoscopes) [10] or intestinal obstruction that requires surgical interventions. The limitation in size constrains the possible functionalities that can be integrated into an ingestible system, especially since active components such as microelectronics are rigid and planar parts that have to be assembled into the system. For example, most ingestible electronics do not have the ability to be actively transported toward target regions of interest. [8] Indeed, integrating functionalities into ingestible, untethered robots with active locomotion capabilities can enable a broader range of surgical-free diagnostic and treatment strategies. [11][12][13][14][15] Earlier research has demonstrated a wide range of locomotion strategies for small-scale robots, including legged, [16,17] rolling, [18][19][20][21] peristaltic (i.e., earthworm-like), [22][23][24][25][26][27][28] undulatory, [29][30][31] crawling, [32][33][34][35][36][37][38][39][40][41][42][43] and other motions. [6,[44][45][46][47][48][49][50][51][52] Among the demonstrated mechanisms, magnetically controlled actuation is particularly promising because it does not require onboard power or control systems, [45] freeing critically needed space for additional functional integration.Recent advances have demonstrated the ability of miniature magnetic crawlers to actively transport cargo in complex and confined systems, such as the GI tract, by leveraging magnetic fields to induce locomotion. For instance, Zhao et al. demonstrated a magnetic origami robot that crawled by in-plane contraction [22] where the anisotropic friction on the robot's feet enabled forward locomotion that can be steered. Nevertheless, the need for anisotropic friction on the feet also precluded bidirectional locomotion in a confined space, such as in a lumen, where reversing direction by turning in place is challenging. Other recent works demonstrated entirely-soft crawlers with impressive multi-gait bending locomotion that could transport objects by gripping and direct attachment, [53][54][55] including cargos 20 times their mass

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Design and testing of a novel gastrointestinal microrobot

Cited by 10 publications

References 29 publications

Wireless power transfer system for capsule robot designed by radial square transmitting coil pair with novel ferrite structure

Wireless power transfer system for capsule robot designed by radial square transmitting coil pair with novel ferrite structure

Design and analysis of a wireless power transfer system for capsule robot using an optimised planar square spiral transmitting coil pair

Ingestible Functional Magnetic Robot with Localized Flexibility (MR‐LF)

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