In vivo validation of Wireless Power Transfer System for Magnetically Controlled Robotic Capsule Endoscopy
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , , , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866911341815529472 |
|---|---|
| author | Catania, Alessandro Bertozzi, Michele Greenidge, Nikita J. Calme, Benjamin Bandini, Gabriele Sbrana, Christian Cecchi, Roberto Buffi, Alice Macucci, Massimo Strangio, Sebastiano Valdastri, Pietro Iannaccone, Giuseppe |
| author_facet | Catania, Alessandro Bertozzi, Michele Greenidge, Nikita J. Calme, Benjamin Bandini, Gabriele Sbrana, Christian Cecchi, Roberto Buffi, Alice Macucci, Massimo Strangio, Sebastiano Valdastri, Pietro Iannaccone, Giuseppe |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_12850 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | In vivo validation of Wireless Power Transfer System for Magnetically Controlled Robotic Capsule Endoscopy Catania, Alessandro Bertozzi, Michele Greenidge, Nikita J. Calme, Benjamin Bandini, Gabriele Sbrana, Christian Cecchi, Roberto Buffi, Alice Macucci, Massimo Strangio, Sebastiano Valdastri, Pietro Iannaccone, Giuseppe Robotics Systems and Control Medical Physics 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. |
| title | In vivo validation of Wireless Power Transfer System for Magnetically Controlled Robotic Capsule Endoscopy |
| topic | Robotics Systems and Control Medical Physics |
| url | https://arxiv.org/abs/2503.12850 |