Development of a biologically inspired locomotion system for a capsule endoscope

Hosokawa, Daisuke; Ishikawa, Takuji; Morikawa, Hirohisa; Imai, Yohsuke; Yamaguchi, Takami

doi:10.1002/rcs.284

Cited by 31 publications

(17 citation statements)

References 15 publications

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“…In particular, for currents with special symmetry, Ampere's law in integral form offers an extraordinarily efficient means for finding the electromagnetic field. The axial electromagnetic field of the solenoid is obtained by Equation (2). Using the design parameters of the solenoid actuator such as inner diameter , outer diameter , number of coil turns , and length , Equation (2) Here, = / and represent the wounded coils per unit length and the distance of point from the center of the solenoid; = /2 + is the moving distance of the PM plunger inside the solenoid or the length of the air-gap.…”

Section: Theoretical Analysismentioning

confidence: 99%

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Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

Song

Lee

2015

Applied Sciences

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Abstract:We develop a solenoid actuator with a ferromagnetic plunger to generate both rectilinear and turning motions of a multi-segmented robot. Each segment of the miniaturized robot is actuated by a pair of solenoids, and in-phase and out-of-phase actuations of the solenoid pair cause the linear and turning motions. The theoretical analysis on the actuation force by the solenoid with the magnetic plunger is implemented based on the Biot-Savart law. The optimal design parameters of the solenoid are determined to actuate a segmented body. We manufacture the miniaturized robot consisting of two segments and a pair of solenoids. Experiments are performed to measure the linear and angular displacements of the two-segmented robot for various frictional conditions.

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Section: Theoretical Analysismentioning

confidence: 99%

“…The developments of the miniaturized segment robots or ambulatory micro-robots have been applied to medical endoscopes, rescue robots, hazardous environment exploration, and industrial inspection systems [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

Song

Lee

2015

Applied Sciences

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“…The capsule can move forward and backward due to the contracting and elongating of the capsule body by sequentially actuating and cooling down the SMA wire. An inchworm-like endoscopic capsule was also presented by Hosokawa et al [38], [39] applying SMA wire actuator. The mechanism of stretching and contracting the capsule body is practically the same as the above prototype capsule.…”

Section: A Fundamental Properties Of Locomotion Systemmentioning

confidence: 94%

“…Moreover, heating SMAs causes conspicuous changes in temperature (12 • C in 3 minutes [43]), which may damage the intestinal tissue. In terms of size, SMA and compression spring method [38] has a length 4 cm which exceeds the limit of 3 cm length as the desired length. In addition, the existence of the stoke of SMA springs limits the compactness of capsule endoscopies.…”

Section: A Fundamental Properties Of Locomotion Systemmentioning

confidence: 98%

A Review of Locomotion Systems for Capsule Endoscopy

Liu

Towfighian

Hila³

2015

IEEE Rev. Biomed. Eng.

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Wireless capsule endoscopy for gastrointestinal (GI) tract is a modern technology that has the potential to replace conventional endoscopy techniques. Capsule endoscopy is a pill-shaped device embedded with a camera, a coin battery, and a data transfer. Without a locomotion system, this capsule endoscopy can only passively travel inside the GI tract via natural peristalsis, thus causing several disadvantages such as inability to control and stop, and risk of capsule retention. Therefore, a locomotion system needs to be added to optimize the current capsule endoscopy. This review summarizes the state-of-the-art locomotion methods along with the desired locomotion features such as size, speed, power, and temperature and compares the properties of different methods. In addition, properties and motility mechanisms of the GI tract are described. The main purpose of this review is to understand the features of GI tract and diverse locomotion methods in order to create a future capsule endoscopy compatible with GI tract properties.

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“…Presently, two major schemes have been adopted to exploit feasible locomotion mechanisms for WCE. The internal approaches [6,7,8,9,10] place energy source, e.g., micro batteries, and locomotion modules on board, offering relatively precise movement control. The external approaches generally utilize an external magnetic field, to propel a capsule integrated with a magnetic part embedded along the GI tract.…”

Section: Introductionmentioning

confidence: 99%

Magnetic propulsion of a spiral-type endoscopic microrobot in a real small intestine

Zhou

Alici

Than

et al. 2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Abstract-This paper reports on the magnetic propulsion of a spiral-type endoscopic mircorobot in a real small intestine. Magnetic modeling was carried out to design and commission an external electromagnetic system, which wirelessly provides power to the robotic agent. The capsules with different spiral structures were magnetically propelled inside a segment of porcine small intestine. From the results, it is shown that the propulsive velocities of the tested capsules are in the range of 2.5 ~ 35 mm/s when rotating frequencies varying between 1 ~ 5 Hz are applied. Among all the capsules prepared for this study, the capsule No. 5, with one spiral and a helical angle of 20° and spiral height of 1 mm, shows the best performance. The effects of the spiral parameters, such as helical angle, number of spirals and spiral height, are evaluated by using the propulsion velocity and the slip ratio as the evaluation criteria.

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Development of a biologically inspired locomotion system for a capsule endoscope

Abstract: We believe that the prototype crawler provides a better understanding of the propulsion mechanism for use in the gastrointestinal tract.

Cited by 31 publications

References 15 publications

Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

Design of a Solenoid Actuator with a Magnetic Plunger for Miniaturized Segment Robots

A Review of Locomotion Systems for Capsule Endoscopy

Magnetic propulsion of a spiral-type endoscopic microrobot in a real small intestine

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