Wireless Powered Microrobot for Gastrointestinal Detection

This paper reports a novel wireless powered bionic microrobot, which is supposed to be used as an endoscope. The detection system is detailedly described, including microrobot structure, wireless power transmission system, RF communication and imaging module. Earthworm-like multi-segment squirm mechanism is designed and manufactured driven by dc motors. Double closed-loop control strategy ensures optimal power transmission efficiency and enhances reliability. Bi-direction RF transceiver is introduced with low power consumption and data rate of 50 kbps. High resolution miniature imaging system with wireless transmitter provides real-time monitoring. The prototype is 12 mm in diameter and 150 mm in length. In vitro experiments show that the microrobot is well compliant to soft slippery tissues.

[1]  Paolo Dario,et al.  An innovative locomotion principle for minirobots moving in the gastrointestinal tract , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[2]  Paolo Dario,et al.  Modeling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon , 2004, Int. J. Robotics Res..

[3]  P. Swain,et al.  Wireless capsule endoscopy: a comparison with push enteroscopy in patients with gastroscopy and colonoscopy negative gastrointestinal bleeding , 2003, Gut.

[4]  Tao Mei,et al.  Wireless robotic capsule endoscopy: state-of-the-art and challenges , 2004, Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788).

[5]  Yan Guozheng,et al.  Power transmission for gastrointestinal microsystems using inductive coupling. , 2007, Physiological measurement.

[6]  P. Dario,et al.  A Novel SMA-Based Actuator for a Legged Endoscopic Capsule , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[7]  P. Dario,et al.  Shape memory alloy clamping devices of a capsule for monitoring tasks in the gastrointestinal tract , 2005 .

[8]  Paolo Dario,et al.  Analysis and development of locomotion devices for the gastrointestinal tract , 2002, IEEE Transactions on Biomedical Engineering.

[9]  Paolo Dario,et al.  Modeling and Experiments on a Legged Microrobot Locomoting in a Tubular, Compliant and Slippery Environment , 2006 .

[10]  Paolo Dario,et al.  Clamping Tools of a Capsule for Monitoring the Gastrointestinal Tract Problem Analysis and Preliminary Technological Activity , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[11]  W.J. Heetderks,et al.  RF powering of millimeter- and submillimeter-sized neural prosthetic implants , 1988, IEEE Transactions on Biomedical Engineering.

[12]  P.K. Ajmera,et al.  Power delivery for remotely located microsystems , 2004, Region 5 Conference: Annual Technical and Leadership Workshop, 2004.

[13]  Byungkyu Kim,et al.  An earthworm-like micro robot using shape memory alloy actuator , 2006 .