Robot-Aided Magnetic Navigation System for Wireless Capsule Manipulation.

ABSTRACT: Magnetic navigation systems (MNSs) have been developed to use in the diagnosis of gastrointestinal problems. However, most conventional magnetic navigation systems are expensive and have structural problems because of their large weights and volumes. Therefore, this paper proposes C-Mag, a novel compact MNS composed of two electromagnets and a robotic arm. The two electromagnets generate a planar magnetic field, and the robotic arm rotates and translates the electromagnets to manipulate the magnetic capsule in a large 3-dimensional (3-D) space. The C-Mag design considers the payload of the robotic arm and the capacity of the power supply unit. Under these limited conditions, the C-Mag was optimized to generate the maximum magnetic field considering several major factors. Finally, the C-Mag

SUBMITTER: Im S 

PROVIDER: S-EPMC9964025 | biostudies-literature | 2023 Jan

REPOSITORIES: biostudies-literature