Hongwei Li1, Guozheng Yan, Guanying Ma. 1. 820 Institute, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China. lhw2003_yan@sjtu.edu.cn
Abstract
BACKGROUND: Conventional endoscopes have the disadvantages of causing pain to patients because of their large dimensions and allowing incomplete inspection because of their limited power. METHODS: An active inchworm-like endoscopic robot has been designed, which is based on electromagnetic localization and synthesis of magnetic field strength vectors. RESULTS: The efficiency of wireless power transmission can be kept above 0.9% when the power-receiving coil is at arbitrary position and orientation. The position error of localization is < 10 mm and the average error of orientation angle is 2 degrees. When the robot moves through part of the porcine colon, images are transmitted outwards continuously at a speed of 30 fps and the temperature rise of the colon is < 1 degrees C. By simulation, the electromagnetic exposures to the human body are lower than international standards. CONCLUSIONS: The endoscopic robot is a promising tool for use by doctors, although further experiments and improvements need to be done.
BACKGROUND: Conventional endoscopes have the disadvantages of causing pain to patients because of their large dimensions and allowing incomplete inspection because of their limited power. METHODS: An active inchworm-like endoscopic robot has been designed, which is based on electromagnetic localization and synthesis of magnetic field strength vectors. RESULTS: The efficiency of wireless power transmission can be kept above 0.9% when the power-receiving coil is at arbitrary position and orientation. The position error of localization is < 10 mm and the average error of orientation angle is 2 degrees. When the robot moves through part of the porcine colon, images are transmitted outwards continuously at a speed of 30 fps and the temperature rise of the colon is < 1 degrees C. By simulation, the electromagnetic exposures to the human body are lower than international standards. CONCLUSIONS: The endoscopic robot is a promising tool for use by doctors, although further experiments and improvements need to be done.
Authors: Evin Gultepe; Jatinder S Randhawa; Sachin Kadam; Sumitaka Yamanaka; Florin M Selaru; Eun J Shin; Anthony N Kalloo; David H Gracias Journal: Adv Mater Date: 2012-10-09 Impact factor: 30.849