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A magnetically actuated endoscopic capsule robot based on a rolling locomotion mechanism

Conference Paper


Abstract


  • This paper proposes a novel capsule endoscope

    design which employs a rolling locomotion to navigate within

    the gastrointestinal (GI) tract and reports our investigation on

    the viability of this locomotion concept. Capsule endoscopes

    used in a medical capacity today are passive devices, relying on

    natural bodily mechanisms and gravity to move the capsule.

    The development of a device with controllable locomotion and

    orientation is being developed by many institutions in order to

    provide medical practitioners with greater reliability in

    diagnosis and treatment of ailments in the digestive tract. The

    proposed capsule device in this paper has a spherical shell and

    features a free to rotate axially mounted permanent magnet

    armature in the centre. An external magnetic source can be

    used to both translate and rotate the capsule device. The design

    aims to reduce the frictional force acted on the capsule as well

    as simplify the maneuvering in vitro. A prototype device was

    fabricated using commercially available Nd-Fe-B magnets and

    acrylonitrile butadiene styrene (ABS) plastic using an additive

    manufacturing system. It was then tested both in dry and

    simulated intestine environments and the results compared to

    analytical data.

UOW Authors


Publication Date


  • 2013

Citation


  • Maul, L. R. & Alici, G. (2013). A magnetically actuated endoscopic capsule robot based on a rolling locomotion mechanism. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 50-55). United States: IEEE.

Scopus Eid


  • 2-s2.0-84883658234

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1242

Start Page


  • 50

End Page


  • 55

Place Of Publication


  • United States

Abstract


  • This paper proposes a novel capsule endoscope

    design which employs a rolling locomotion to navigate within

    the gastrointestinal (GI) tract and reports our investigation on

    the viability of this locomotion concept. Capsule endoscopes

    used in a medical capacity today are passive devices, relying on

    natural bodily mechanisms and gravity to move the capsule.

    The development of a device with controllable locomotion and

    orientation is being developed by many institutions in order to

    provide medical practitioners with greater reliability in

    diagnosis and treatment of ailments in the digestive tract. The

    proposed capsule device in this paper has a spherical shell and

    features a free to rotate axially mounted permanent magnet

    armature in the centre. An external magnetic source can be

    used to both translate and rotate the capsule device. The design

    aims to reduce the frictional force acted on the capsule as well

    as simplify the maneuvering in vitro. A prototype device was

    fabricated using commercially available Nd-Fe-B magnets and

    acrylonitrile butadiene styrene (ABS) plastic using an additive

    manufacturing system. It was then tested both in dry and

    simulated intestine environments and the results compared to

    analytical data.

UOW Authors


Publication Date


  • 2013

Citation


  • Maul, L. R. & Alici, G. (2013). A magnetically actuated endoscopic capsule robot based on a rolling locomotion mechanism. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 50-55). United States: IEEE.

Scopus Eid


  • 2-s2.0-84883658234

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1242

Start Page


  • 50

End Page


  • 55

Place Of Publication


  • United States