Wireless Active Capsule Endoscope: State-of-the-Art and Challenges - Biomechatronics in Medicine and Healthcare - page 195

Figure 13.9 Working principle of Olympus magnetic guidance system. (Reproduced from
Sendoh et al. (2003).)
Carpi et al. (2006); Carpi et al. (2007) carried out a series of experiments on the
magnetic manoeuvring of endoscopic capsules. They fabricated magnetic shells
made of a silicone elastomer mixed with magnetic particles to cover the central
portion of the capsule ( Fig. 13.10 ). The shells were capable of interacting with
an imposed external magnetic field. Preliminary tests demonstrated translations,
rotations and roto-translations of the capsule/shell complex onto pieces of bovine
tissues and inside a human-sized plastic phantom as well. The external actuation
system was a commercial system, Stereotaxis Niobe TM System Stereotaxis, which
is for intrabody magnetic navigation of interventional catheters (Carpi et al. 2009).
G. Kosa Kosa et al. (2008) proposed a swimming capsule endoscope using
MRI's magnetic fields for both propulsion and wireless energy delivery. Alternat-
ing current in the coils, which was contained in a swimming tail, acting on the
Figure 13.10 Elastic shell and capsule/shell complex. 1-capsule, 2-magnetic shell. (Repro-
duced from Carpi et al. (2006).)