Development of Multiple Capsule Robots in Pipe

Abstract

Swallowable capsule robots which travel in body cavities to implement drug delivery, minimally invasive surgery, and diagnosis have provided great potential for medical applications. However, the space constraints of the internal environment and the size limitations of the robots are great challenges to practical application. To address the fundamental challenges of narrow body cavities, a different-frequency driven approach for multiple capsule robots with screw structure manipulated by external electromagnetic field is proposed in this paper. The multiple capsule robots are composed of driven permanent magnets, joint permanent magnets, and a screw body. The screw body generates a propulsive force in a fluidic environment. Moreover, robots can form new constructions via mutual docking and release. To provide manipulation guidelines for active locomotion, a dynamic model of axial propulsion and circumferential torque is established. The multiple start and step-out frequencies for multiple robots are defined theoretically. Moreover, the different-frequency driven approach based on geometrical parameters of screw structure and the overlap angles of magnetic polarities is proposed to drive multiple robots in an identical electromagnetic field. Finally, two capsule robots were prototyped and experiments in a narrow pipe were conducted to verify the different motions such as docking, release, and cooperative locomotion. The experimental results demonstrated the validity of the driven approach for multiple capsule robots in narrow body cavities.

Design and Analysis of a Wireless Power Transmitting System for Capsule Robot Using Two-Dimensional Combined Solenoid Coils

“…A capsule robot (CR) is a noninvasive device that can perform gastrointestinal treatment and comprehensive diagnosis by actively moving, which offers remarkable advantages over traditional endoscopes, such as less trauma, straightforward operation, and no pain for the patient [1][2][3][4]. Energy supply is a severe bottleneck restricting the CR development in the realistic scenario [5].…”

Remote Modular Electronics for Wireless Magnetic Devices

“…[ 18 , 19 ] Magnetic robots have also been studied for group tasks, such as assembly, but most of the work at milli/centimeter and smaller scales do not focus on enhancing the electrical capacity beyond individual modules, and enhancement of electrical operations by groups are mostly seen in magnetic modules of larger scales, where the energy storage is a relatively less significant problem or in cases where electrical power is provided by external wires. [ 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 ] For example, it has been demonstrated that small magnetic modules can serve as connection conductors for an existing electronic circuit or they can be used in the placement of components for intra‐modular or module‐to‐substrate assembly. [ 37 , 38 , 39 ] Nevertheless, the question of obtaining long‐duration powers and functionalities exceeding single module capacities for the completed electronic circuits still remains when the completed circuits are desired to be wireless and mobile.…”

Comparison of the Uniformity and Efficiency of the Square and Circular Helmholtz Coils for Wireless Power Transmission System

“…Gastrointestinal micro-robot is currently a hotspot in the field of the endoscope medical equipment [1][2][3][4]. It can actively moves in gastrointestinal tract and performs comprehensive diagnosis [5].…”