Preliminary Study of a Legged Capsule Robot Actuated Wirelessly by Magnetic Torque

Sun, Zhen-Jun; Ye, Bo; Qiu, Yang; Cheng, Xingwang; Zhang, Honghai; Liu, Sheng

doi:10.1109/tmag.2014.2309933

Cited by 33 publications

(26 citation statements)

References 21 publications

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“…Eq. (1) is commonly used as an analytical model to estimate the magnetic torque imparted to IPMs in prototypes of WCE to actuate a variety of mechanisms [8,11,12,27]. Since is proportional to the magnitude of (i.e., | |), an improvement in | | will increase the magnitude of the transmitted torque.…”

Section: Analytical Modelsmentioning

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%

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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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Section: Analytical Modelsmentioning

confidence: 99%

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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“…3. Cylindrical magnets are commonly used in medical applications [10][11][12][13][14][15]. Arc-shaped magnets have shown promising results in the transmission of high density torques [20,21].…”

Section: Clinical Procedurementioning

confidence: 99%

“…For example, cylindrical magnets have been used to control the trajectory of a CE [10], to deploy legs to provide the locomotion of a CE [11,12], to perform biopsy procedures [13,14], and also to achieve wireless insufflation [15]. In addition, cylindrical magnets have been also used to release a drug from a chamber in a prototype of WCE [3].…”

Section: Introductionmentioning

confidence: 99%

“…In all those studies [3,[10][11][12][13][14][15], the maximum operating distance is 150 mm which is not large enough for a realistic WCE application. In order to overcome this problem, we propose a magnetomechanical system made of an array of multiple permanent magnets, which enhances the magnetic field when the operating distance is increased to a more realistic distance of 240 mm.…”

Section: Introductionmentioning

confidence: 99%

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A Magnetically Actuated Drug Delivery System for Robotic Endoscopic Capsules

Munoz

Alici

2015

Journal of Medical Devices

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There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board components are still drawbacks of such systems. In this paper, we propose an innovative magnetic system that consists of an array of magnets, which activates a DDS, based on an overly miniaturized slider-crank mechanism. We use analytical models to compare the magnetic fields generated by cylindrical and arc-shaped magnets. Our experimental results, which are in agreement with the analytical results, show that an optimally configured array of the magnets enhances the magnetic field and also the driving magnetic torque and subsequently, it imposes a high enough force on the piston of the DDS to expel a required dose of a drug out of a reservoir. We conclude that the proposed magnetic field optimization method is effective in establishing an active DDS that is designed to deliver drug profiles with accurate control of the release rate, release amount, and number of doses. There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board components are still drawbacks of such systems. In this paper, we propose an innovative magnetic system that consists of an array of magnets, which activates a DDS, based on an overly miniaturized slider-crank mechanism. We use analytical models to compare the magnetic fields generated by cylindrical and arc-shaped magnets. Our experimental results, which are in agreement with the analytical results, show that an optimally configured array of the magnets enhances the magnetic field and also the driving magnetic torque and subsequently, it imposes a high enough force on the piston of the DDS to expel a required dose of a drug out of a reservoir. We conclude that the proposed magnetic field optimization method is effective in establishing an active DDS that is designed to deliver drug profiles with accurate control of the release rate, release amount, and number of doses.

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