High Position Accuracy and 5 Degree Freedom Magnetic Driven Capsule Robot

The development and popularization of various medical robots provide an approach for minimally invasive interventional diagnosis and treatment. Here we present a square coil platform with more uniformed magnetic field, higher flexibility for control and easy to assemble. In order to realize the motion control of capsule robot in vivo, a permanent magnet has been put in the capsule robot, by adjusting the space magnetic field through the external electromagnetic coil system, the capsule robot could be controlled in 3-D with 5 degree of freedom, comparing with traditional circular coils used in most magnetic control systems. According to the modeling and simulation, the coil construction mode is designed and the system parameters have been confirmed. According to the experimental results, the magnetic control system is not only convenient to install and save space, but also can effectively control the movement of capsule robot in the simulated gastric environment, such as fixed-point scanning, linear point movement and so on. Meanwhile, a simple test by using somatosensory operation has been conducted. Overall, the motion accuracy of the capsule robot is less than 0.84 mm, which still has a lot of room for improvement; the fixed-point scanning orientation control can reach to 10 degree.