Skip to main content
SpringerLink
Log in

A Wireless Power Transfer System Based on a Hybrid Transmitting Coil for Targeted Therapy Microrobots in the Intestine

  • Regular Paper
  • Published:
International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

A wireless power transfer system for targeted therapy microrobots has been received more attention recently. However, it usually fails to work due to weak coupling caused by misalignment in position and angle between the transmitting coil and the receiving coil. It will not be tolerated even if it occurs at certain angles. To address this issue, a three-dimensional hybrid transmitting coil, combining a fixed Helmholtz coil pair and an adjustable curved rectangular coil pair, is proposed. Based on the novel structure, the proposed hybrid transmitting coil could produce a three-dimensional magnetic field, realizing well coupled with the receiving coil embedded on the microrobot at any posture. To verify the efficiency and practical applicability of the transmitting coil proposed in this paper, we build the coil model via both analytical calculation and simulation analysis. Finally, the designed hybrid transmitting coil is also implemented in the wireless power transfer system with a receiving coil. The magnetic field distribution indicates that a large and uniform magnetic field could be obtained. The experimental results demonstrate that in the central zone of the transmitting coil, 300 × 200 mm, the magnetic field distribution is uniform, which can meet the requirements of the microrobot system working area. And the maximum output efficiency and power can be reached at 5% and 1001 mW, respectively. What's more, the proposed hybrid transmitting coil has solved the weak coupling problem due to misalignment in position and angle with which the electromagnetic energy decays quickly.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14

Similar content being viewed by others

References

  1. Wang, Y., Qi, M., Hao, Y., et al. (2019). The efficacy of prophylactic pancreatic stents against complications of post-endoscopic papillectomy or endoscopic ampullectomy: A systematic review and meta-analysis. Therapeutic Advances in Gastroenterology, 12, 1756284819855342.

    Article  Google Scholar 

  2. Holtmann, G. J., Huelsen, A., Shah, A., et al. (2021). Is a fundamental design change for gastrointestinal endoscopes required? Journal of Clinical Gastroenterology, 55(1), 21–24.

    Article  Google Scholar 

  3. Consolo, U., Bellini, P., & Lizio, G. (2018). Trans-nasal endoscopic marsupialization of a voluminous radicular cyst involving maxillary sinus and nasal cavity: A case report and a literature review on this surgical approach. Oral and Maxillofacial Surgery Cases, 4(3), 91–96.

    Article  Google Scholar 

  4. Kim, C., Sullivan, C., Hillstrom, A., et al. (2021). Intermittent embedding of wire into 3D prints for wireless power transfer. International Journal of Precision Engineering and Manufacturing, 22, 919–931.

    Article  Google Scholar 

  5. Min, J., Yang, Y., Wu, Z., et al. (2020). Robotics in the gut. Advanced Therapeutics, 3(4), 1900125.

    Article  Google Scholar 

  6. Sealock, R. J., Thrift, A. P., El-Serag, H. B., et al. (2018). Long-term follow up of patients with obscure gastrointestinal bleeding examined with video capsule endoscopy. Medicine, 97(29).

  7. Lay, H. S., Cummins, G., Cox, B. F., et al. (2018). In-vivo evaluation of micro ultrasound and thermometric capsule endoscopes. IEEE Transactions on Biomedical Engineering, 66(3), 632–639.

    Article  Google Scholar 

  8. Yang, Y. J. (2020). The future of capsule endoscopy: The role of artificial intelligence and other technical advancements. Clinical Endoscopy, 53(4), 387.

    Article  Google Scholar 

  9. Kjølhede, T., Ølholm, A. M., Kaalby, L., et al. (2021). Diagnostic accuracy of capsule endoscopy compared with colonoscopy for polyp detection: Systematic review and meta-analyses. Endoscopy, 53(07), 713–721.

    Article  Google Scholar 

  10. Han, D., Yan, G., Wang, Z., et al. (2020). The modelling, analysis, and experimental validation of a novel micro-robot for diagnosis of intestinal diseases. Micromachines, 11(10), 896.

    Article  Google Scholar 

  11. Rehan, M., Al-Bahadly, I., Thomas, D. G., & Avci, E. (2020). Capsule robot for gut microbiota sampling using shape memory alloy spring. International Journal of Medical Robotics Computer Assisted Surgery, 16(5), 1–14.

    Article  Google Scholar 

  12. Shi, Y., Yan, G., Zhu, B., et al. (2015). A portable wireless power transmission system for video capsule endoscopes. Bio-Medical Materials and Engineering, 26(s1), S1721–S1730.

    Article  Google Scholar 

  13. Zhiwei, J., Guozheng, Y., & Bingquan, Z. (2014). Portable wireless power transmission system for video capsule endoscopy. Journal of Medical Engineering & Technology, 38(7), 351–358.

    Article  Google Scholar 

  14. Ye, C., Wang, J., Fang, Q. (2019). A small wireless power transfer system for the capsule endoscopy. In 2019 IEEE international conference on integrated circuits, technologies and applications (ICTA) (pp. 166–167). IEEE.

  15. Han D, Yan G, Kuang S, et al. Preliminary Study on a Three-coil Wireless Power Transfer System for Endoscope Micro-robot of Intestinal Diagnosis: Design, Optimization and Validation. Journal of Electrical Engineering & Technology, 2022: 1–12.

  16. Ryu, M., Kim, J. D., Chin, H. U., et al. (2007). Three-dimensional power receiver for in vivo robotic capsules. Medical & Biological Engineering & Computing, 45(10), 997–1002.

    Article  Google Scholar 

  17. Gao, J., Yan, G., Shi, Y., et al. (2019). Analysis of connection way of a three-dimensional receiving coil onboard a capsule robot for wireless power transmission. Progress in Electromagnetics Research, 78, 39–48.

    Article  Google Scholar 

  18. Carta, R., Sfakiotakis, M., Pateromichelakis, N., et al. (2011). A multi-coil inductive powering system for an endoscopic capsule with vibratory actuation. Sensors and Actuators A: Physical, 172(1), 253–258.

    Article  Google Scholar 

  19. Basar, M. R., Ahmad, M. Y., Cho, J., et al. (2016). Stable and high-efficiency wireless power transfer system for robotic capsule using a modified Helmholtz coil. IEEE Transactions on Industrial Electronics, 64(2), 1113–1122.

    Article  Google Scholar 

  20. Wang, K., Yan, G., Ma, G., et al. (2009). An earthworm-like robotic endoscope system for human intestine: Design, analysis, and experiment. Annals of biomedical engineering, 37(1), 210–221.

    Article  Google Scholar 

  21. Ke, Q., Luo, W., Yan, G., et al. (2015). Analytical model and optimized design of power transmitting coil for inductively coupled endoscope robot. IEEE Transactions on Biomedical Engineering, 63(4), 694–706.

    Article  Google Scholar 

  22. Ji, Z., Zhang, Z., Zhu, Q. (2019). An adjustable wireless power transfer design for capsule endoscopes. In 2019 IEEE 5th International Conference on Computer and Communications (ICCC) (pp. 933–937). IEEE.

  23. Xin, W., Yan, G., & Wang, W. (2010). Study of a wireless power transmission system for an active capsule endoscope. The International Journal of Medical Robotics and Computer Assisted Surgery, 6(1), 113–122.

    Article  Google Scholar 

  24. Peng, Y., Zhang, L., Li, Z., et al. (2022). Influences of wire diameters on output power in electromagnetic energy harvester. International Journal of Precision Engineering and Manufacturing-Green Technology, 1–12.

Download references

Acknowledgements

This research was funded by the National Natural Science Foundation of China (NSFC) (Grant Nos. 62103263; 81971767) and the Shanghai Science and Technology Support Project (Grant No. 19142203800), Science and Technology Innovation Bases of Shanghai (Grant No. 19DZ2255200), and the Natural Science Foundation of Shanghai (Grant No. 21ZR1429900).

Author information

Authors and Affiliations

  1. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Ding Han, Guozheng Yan, Zhiwu Wang & Pingping Jiang

  2. Shanghai Engineering Research Center of Intelligent Addiction Treatment and Rehabilitation, Shanghai, China

    Ding Han, Guozheng Yan, Zhiwu Wang & Pingping Jiang

  3. Environmental Science and Mathematics and Computer Science, Argonne National Laboratory, Illinois, USA

    Lin Yan

Authors
  1. Ding Han
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Guozheng Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zhiwu Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Pingping Jiang
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Lin Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ding Han.

Ethics declarations

Competing interests

The authors declare no competing interests.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Han, D., Yan, G., Wang, Z. et al. A Wireless Power Transfer System Based on a Hybrid Transmitting Coil for Targeted Therapy Microrobots in the Intestine. Int. J. Precis. Eng. Manuf. 24, 977–986 (2023). https://doi.org/10.1007/s12541-023-00805-8

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12541-023-00805-8

Keywords

Search

Navigation