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Design, fabrication and control of a magnetic capsule-robot for the human esophagus

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Abstract

Much research on the development of a robotic capsule and micro robot for the diagnosis of gastrointestinal diseases has been carried out. The powering of these micro systems is becoming very challenging as the implementation of such systems is limited due to the existence of on-board power supplies. This paper presents a micro robotic system based on magnetic principles. The goal is to build a system in which a capsule-robot can be manipulated wirelessly inside an enclosed environment such as human’s body. A prototype of capsule-robot is built and tested, that can be remotely operated with three DOF in an enclosed environment by transferring magnetic energy and electromagnetic waves. A magnetic drive unit generates magnetic energy for the manipulation. Experimental results show the capsule-robot is manipulated and moved through a desired trajectory in a viscous fluid. The capsule-robot can be potentially used for endoscopy and colonoscopy.

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Acknowledgments

The authors gratefully acknowledge the Canada Foundation for Innovation (CFI) and the Natural Science and Engineering Research Council of Canada (NSERC) for financial support.

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Authors and Affiliations

  1. Mechanical and Mechatronics Engineering Department, University of Waterloo, 200 University Avenue, Waterloo, ON, N2L 3G1, Canada

    Saman Hosseini, Moein Mehrtash & Mir Behrad Khamesee

Authors
  1. Saman Hosseini
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  2. Moein Mehrtash
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  3. Mir Behrad Khamesee
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Corresponding author

Correspondence to Mir Behrad Khamesee.

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Hosseini, S., Mehrtash, M. & Khamesee, M.B. Design, fabrication and control of a magnetic capsule-robot for the human esophagus. Microsyst Technol 17, 1145–1152 (2011). https://doi.org/10.1007/s00542-011-1231-0

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  • DOI: https://doi.org/10.1007/s00542-011-1231-0

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