A capsule robot powered by wireless power transmission: Design of its receiving coil

Abstract Wireless power transmission based on near field inductive coupling is a promising solution to power a freely moving capsule robot for a long duration. Existing multi-dimensional receiving coils are normally solid cylinders, which increase the total length of the capsule robot. We propose using a hollow-cylinder like three-dimensional receiving coil to avoid increasing the length and to improve space utilization. This receiving coil consists of a circular coil, two pairs of planar coils, and a hollow-cylinder like ferrite core. Taking into consideration human safety and the limited available space in the capsule robot, the number of turns and the wire diameter of the receiving coil, as well as the transmission frequency, have been optimized. This receiving coil could output electric power ranging from 206 mW to 1130 mW; integrated to an inchworm-like capsule robot, it could successfully power the robot to travel through the ex-vivo intestinal tract and capture satisfactory intestinal videos for diagnosis.

[1]  Robert Puers,et al.  Inductive powering of a freely moving system , 2005 .

[2]  Marian K. Kazimierczuk,et al.  High-Frequency Magnetic Components , 2009 .

[3]  Cheng-Long Chuang,et al.  Magnetic Control System Targeted for Capsule Endoscopic Operations in the Stomach—Design, Fabrication, and in vitro and ex vivo Evaluations , 2012, IEEE Transactions on Biomedical Engineering.

[4]  Charles R. Sullivan.  Optimal choice for number of strands in a litz-wire transformer winding , 1997 .

[5]  P. L. Dowell,et al.  Effects of eddy currents in transformer windings , 1966 .

[6]  Yan Guozheng,et al.  Efficiency optimization of wireless power transmission systems for active capsule endoscopes. , 2011, Physiological measurement.

[7]  Yann Le Bihan,et al.  Study on the transformer equivalent circuit of eddy current nondestructive evaluation , 2003 .

[8]  Dimitris P. Tsakiris,et al.  A multi-coil inductive powering system for an endoscopic capsule with vibratory actuation , 2011 .

[9]  Guozheng Yan,et al.  A wireless capsule robot with spiral legs for human intestine , 2014, The international journal of medical robotics + computer assisted surgery : MRCAS.

[10]  Metin Sitti,et al.  Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope , 2012, IEEE Transactions on Robotics.

[11]  Zhi Yang,et al.  Inductor Modeling in Wireless Links for Implantable Electronics , 2007, IEEE Transactions on Magnetics.

[12]  Guozheng Yan,et al.  The optimization of wireless power transmission: design and realization , 2012, The international journal of medical robotics + computer assisted surgery : MRCAS.

[13]  Robert Puers,et al.  An inductive power link for a wireless endoscope. , 2007, Biosensors & bioelectronics.

[14]  Arianna Menciassi,et al.  Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems , 2007, Biomedical microdevices.

[15]  Guozheng Yan,et al.  Wireless powered capsule endoscopy for colon diagnosis and treatment. , 2013, Physiological measurement.

[16]  Mansun Chan,et al.  Modeling of Mutual Coupling Between Planar Inductors in Wireless Power Applications , 2014, IEEE Transactions on Power Electronics.

[17]  G.S. Dimitrakakis,et al.  High-Frequency Copper Losses in Magnetic Components With Layered Windings , 2009, IEEE Transactions on Magnetics.

[18]  Guozheng Yan,et al.  A video wireless capsule endoscopy system powered wirelessly: design, analysis and experiment , 2011 .

[19]  E. Yoon,et al.  Active locomotion of a paddling-based capsule endoscope in an in vitro and in vivo experiment (with videos). , 2010, Gastrointestinal endoscopy.

[20]  A Menciassi,et al.  Wireless powering for a self-propelled and steerable endoscopic capsule for stomach inspection. , 2009, Biosensors & bioelectronics.

[21]  Jong Dae Kim,et al.  Three-dimensional power receiver for in vivo robotic capsules , 2007, Medical & Biological Engineering & Computing.

[22]  R. Weersma,et al.  Diagnostic yield of small bowel capsule endoscopy depends on the small bowel transit time. , 2012, World journal of gastroenterology.

[23]  Robert Puers,et al.  A wireless power supply system for robotic capsular endoscopes , 2010 .

[24]  P. Dario,et al.  Capsule Endoscopy: From Current Achievements to Open Challenges , 2011, IEEE Reviews in Biomedical Engineering.

[25]  G. Yan,et al.  Study of a wireless power transmission system for an active capsule endoscope , 2010, The international journal of medical robotics + computer assisted surgery : MRCAS.

[26]  R. Weersma,et al.  Risk factors for incomplete small-bowel capsule endoscopy. , 2009, Gastrointestinal endoscopy.

[27]  Paolo Dario,et al.  A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments , 2009, IEEE Transactions on Robotics.

[28]  Kenji Shiba,et al.  Design and Development of Low-Loss Transformer for Powering Small Implantable Medical Devices , 2010, IEEE Transactions on Biomedical Circuits and Systems.

[29]  Qin Yu,et al.  RF equivalent circuit modeling of ferrite-core inductors and characterization of core materials , 2002 .

[30]  F. Lee,et al.  Proximity effects in coils for high frequency power applications , 1992 .

[31]  Peter M. Asbeck,et al.  An Analytical Model for Inductively Coupled Implantable Biomedical Devices With Ferrite Rods , 2009, IEEE Transactions on Biomedical Circuits and Systems.