Five-degree-of-freedom manipulation of an untethered magnetic device in fluid           using a single permanent magnet with application in stomach capsule           endoscopy

Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air-and fluid-filled lumina and cavities in the body for minimally invasive medicine.

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“…86,87,88 Their 6-DOF robot arm had a motor-rotatable permanent magnet as an end-effector [ Fig. 4(b)].…”

Section: B1 Magnetically Guided Capsule Gastroscopymentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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“…The permanent magnetic systems are suitable for in vivo tasks, for which the applied organisms are too big for an electromagnetic system. For example, Mahoney et al used a rotating permanent magnet mounted on a robotic arm to actuate an untethered magnetic device for the application in stomach capsule endoscopy [71]. The magnetic magnitude of a permanent magnet is stronger than electromagnets, but attenuates quickly with the distance.…”

Section: Rotating Permanent Magnetic Systemsmentioning

confidence: 99%

Magnetic Actuation Based Motion Control for Microrobots: An Overview

Yan

et al. 2015

Micromachines

174

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Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from micro-manipulation, in vitro tasks (e.g., operation of microscale biological substances) to in vivo applications (e.g., targeted drug delivery; brachytherapy; hyperthermia, etc.), due to their small-scale dimensions and accessibility to tiny and complex environments. Researchers have used different magnetic actuation systems allowing custom-designed workspace and multiple degrees of freedom (DoF) to actuate microrobots with various motion control methods from open-loop pre-programmed control to closed-loop path-following control. This article provides an overview of the magnetic actuation systems and the magnetic actuation-based control methods for microrobots. An overall benchmark on the magnetic actuation system and control method is also discussed according to the applications of microrobots.

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“…By following the above procedure, we find: Brmax=51. 9 [mT], and xoptimal =[37.9,100 0 ,27]. Therefore, r 2opt =37.9 mm, ∆θ opt =100 0 , r1 *∆θopt=52.4 mm, and ∆z opt =27 mm.…”

Section: Optimization Of the Arc-shaped Permanent Magnetsmentioning

confidence: 99%

“…For example, a ring-shaped IPM to control the trajectory of a CE was used in [8,9], ring-shaped IPMs to deploy legs as a locomotion system for a CE were used in [10,11], cylindrical IPMs for biopsy purposes were used in [2,6] and two spherical IPMs to achieve wireless insufflation were employed in [7]. Furthermore, two cylindrical IPMs to release drug from a chamber in a prototype of CE were reported in [12,13].…”

Section: Introductionmentioning

confidence: 99%

Size Optimization of a Magnetic System for Drug Delivery With Capsule Robots

Munoz

Alici

et al. 2016

IEEE Trans. Magn.

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In this paper, we present a methodology for the size optimization of an external magnetic system made of arcshaped permanent magnets (ASMs). This magnetic system is able to remotely actuate a drug-release module embedded in a prototype of a capsule robot. The optimization of the magnetic system is carried out by using an accurate analytical model that is valid for any arbitrary dimensions of the ASMs. By using this analytical model, we perform parametric studies and conduct a statistical analysis [analysis of variance (ANOVA)] to investigate efficient ways to distribute the volume of the ASMs so that the dimensions and volume of the magnetic system are minimized while optimal flux densities and magnetic torques are obtained to actuate the drug delivery system (DDS). The ANOVA results, at 5% significance level, indicate that changes in the angular width followed by changes in the length of the ASMs have the highest impact on the magnetic linkage. Furthermore, our experimental results, which are in agreement with the analytical results, show that the size optimization of the magnetic system is effective for the actuation of the DDS in capsule robots. In this paper, we present a methodology for the size optimization of an external magnetic system made of arc-shaped permanent magnets (ASMs). This magnetic system is able to remotely actuate a drug release module embedded in a prototype of capsule robot. The optimization of the magnetic system is carried out by using an accurate analytical model that is valid for any arbitrary dimensions of the ASMs. By using this analytical model, we perform parametric studies and conduct a statistical analysis (ANOVA) to investigate efficient ways to distribute the volume of the ASMs so that the dimensions and volume of the magnetic system are minimized while optimal flux densities and magnetic torques are obtained to actuate the drug delivery system (DDS). The ANOVA results, at 5% significance level, indicate that changes in the angular width followed by changes in the length of the ASMs have the highest impact on the magnetic linkage. Furthermore, our experimental results, which are in agreement with the analytical results, show that the size optimization of the magnetic system is effective for the actuation of the DDS in capsule robots.Index Terms-Capsule robot, drug delivery, magnetic actuation, permanent magnets.

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Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy

Cited by 196 publications

References 53 publications

Magnetically guided capsule endoscopy

Magnetically guided capsule endoscopy

Magnetic Actuation Based Motion Control for Microrobots: An Overview

Size Optimization of a Magnetic System for Drug Delivery With Capsule Robots

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