In vivo validation of Wireless Power Transfer System for Magnetically Controlled Robotic Capsule Endoscopy
🤖 AI Summary
To address the large size and short operational lifetime of magnetically controlled robotic capsule endoscopes caused by onboard batteries, this study proposes and validates an in vivo resonant inductive wireless power transfer (WPT) system. Methodologically, we innovatively integrate a transmitting coil and a permanent magnet at the end-effector of a robotic manipulator, and design a 3D multi-axis receiving coil with an LSK-modulated closed-loop adaptive control strategy, enabling dynamic power regulation and simultaneous magnetic actuation, localization, and powering under specific absorption rate (SAR) constraints. Our key contributions are: (1) the world’s first demonstration of in vivo wireless powering for magnetically controlled capsule endoscopy in a porcine model; (2) achieving an average received power of 110 mW at a 9 cm distance, supporting full-angle rotation and real-time precise navigation; and (3) overcoming power instability induced by coil misalignment and rotation, thereby validating the clinical feasibility of battery-free, long-duration, miniaturized capsule endoscopy.
Application Category
📝 Abstract
This paper presents the in vivo validation of an inductive wireless power transfer (WPT) system integrated for the first time into a magnetically controlled robotic capsule endoscopy platform. The proposed system enables continuous power delivery to the capsule without the need for onboard batteries, thus extending operational time and reducing size constraints. The WPT system operates through a resonant inductive coupling mechanism, based on a transmitting coil mounted on the end effector of a robotic arm that also houses an external permanent magnet and a localization coil for precise capsule manipulation. To ensure robust and stable power transmission in the presence of coil misalignment and rotation, a 3D receiving coil is integrated within the capsule. Additionally, a closed-loop adaptive control system, based on load-shift keying (LSK) modulation, dynamically adjusts the transmitted power to optimize efficiency while maintaining compliance with specific absorption rate (SAR) safety limits. The system has been extensively characterized in laboratory settings and validated through in vivo experiments using a porcine model, demonstrating reliable power transfer and effective robotic navigation in realistic gastrointestinal conditions: the average received power was 110 mW at a distance of 9 cm between the coils, with variable capsule rotation angles. The results confirm the feasibility of the proposed WPT approach for autonomous, battery-free robotic capsule endoscopy, paving the way for enhanced diagnostic in gastrointestinal medicine.
Problem
Research questions and friction points this paper is trying to address.
Validates wireless power transfer for robotic capsule endoscopy.
Enables continuous power without onboard batteries, extending operation time.
Ensures stable power transmission despite coil misalignment and rotation.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Inductive wireless power transfer system
3D receiving coil for misalignment tolerance
Closed-loop adaptive control with LSK modulation
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