Microsystem Technologies

, Volume 17, Issue 5–7, pp 1145–1152 | Cite as

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

  • Saman Hosseini
  • Moein Mehrtash
  • Mir Behrad KhameseeEmail author
Technical Paper


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.


Drug Release Permanent Magnet External Magnetic Field Current Ratio Human Esophagus 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



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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Copyright information

© Springer-Verlag 2011

Authors and Affiliations

  • Saman Hosseini
    • 1
  • Moein Mehrtash
    • 1
  • Mir Behrad Khamesee
    • 1
    Email author
  1. 1.Mechanical and Mechatronics Engineering DepartmentUniversity of WaterlooWaterlooCanada

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