An active endoscopic robot based on wireless power transmission and electromagnetic localization

摘要

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.