Design of a Pill-Sized 12-legged Endoscopic Capsule Robot

Quirini, M.; Webster, Robert J.; Menciassi, Arianna; Dario, P.

doi:10.1109/robot.2007.363592

Cited by 64 publications

(46 citation statements)

References 27 publications

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“…For commercial products and the capsule robot reported in ref. [3], the operating voltage of the load is about 3 V and its power is in the range of 18 and 300 mW, so R load is in the range of 30 and 500 Ω, which is used in the following analysis. Apart from the load, the received power in the RX unit is also dissipated by the RX coil's resistance r 2 and the RX circuits, so the receiver efficiency η receiver can be expressed as:…”

Section: Receiver Efficiencymentioning

confidence: 99%

“…Secondly, image information is not sufficient for the diagnosis of some diseases and thus additional modules are required to improve its accuracy [2]. Thirdly, it can only move along the GI tract with passive peristalsis and is not able to stop, turn or go back actively, so the observation and medical procedure on the pathological areas are limited [3]. These drawbacks are mainly due to the limited power of the battery inside.…”

Section: Introductionmentioning

confidence: 99%

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Efficiency analysis and optimization of wireless power transfer system for freely moving biomedical implants

Shao

Líu

Fang

2016

Sci. China Technol. Sci.

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In the wireless power transfer system for freely moving biomedical implants, the receiving unit was generally inefficient for the reason that its design parameters including the receiving coil's dimension and receiving circuits' topology were always determined by experiments. In order to build the relationship between these parameters and the total transfer efficiency, this paper developed a novel efficiency model based on the impedance model of the coil and the circuit model of the receiving circuits. According to the design constraints, the optimal design parameters in the worst case were derived. The results indicate that the combination of the two-layered receiving coil and half-bridge rectifier has more advantages in size, efficiency and safety, which is preferred in the receiving unit. Additionally, when the load resistance increases, the optimal turn number of the receiving coil basically keeps constant and the corresponding transmitting current and total efficiency decrease. For 100 Ω load, the transmitting current and total efficiency in the worst case were measured to be 5.30 A and 1.45% respectively, which are much better than the published results. In general, our work provides an efficient method to determine the design parameters of the wireless power transfer system for freely moving biomedical implants.wireless power transfer system, capsule endoscope, freely moving biomedical implants, receiving coil, coil optimization, efficiency Citation: Shao Q, Liu H, Fang X L. Efficiency analysis and optimization of wireless power transfer system for freely moving biomedical implants.

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Section: Receiver Efficiencymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Efficiency analysis and optimization of wireless power transfer system for freely moving biomedical implants

Shao

Líu

Fang

2016

Sci. China Technol. Sci.

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“…It is driven by friction between the inner intestinal tract wall and the robot shell. An eight-legged capsule robot [3,4] was designed and tested by M. Quirini. Its leg motion is driven by micro direct current motors.…”

Section: Introductionmentioning

confidence: 99%

A Study on Anchoring Ability of Three-Leg Micro Intestinal Robot

Wang¹,

Yan²

2012

ENG

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This paper proposes an anchoring and extending micro intestinal robot for medical inspection and surgery propose. The three-leg anchoring method is discussed in detail, and micro robot phantom model is used to test anchoring related parameters for mechanical design. A prototype is designed and fabricated base on the experiment results and is tested in in-vitro experiment. The prototype is locomotive in a pig small intestine under a diameter limitation.

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“…Nevertheless, due to the passive peristaltic propulsion traditional capsule rely on, some interesting spots of the GI tract may be missed by the diagnostic device. This motivates increasing efforts in providing advanced on-board actuation and sensing capabilities to endoscopic capsular systems [2]. Having more than one independent means of actuation on-board would also enable tissue sampling or camera steering capabilities.…”

Section: Introductionmentioning

confidence: 99%