Magnetic controlled navigation system for endoscopic micro robot

Abstract

A novel magnetic controlled navigation system is proposed for controlling endoscopic micro robot's locomotion and location in the gastrointestinal tract. The proposed approach exploits permanent magnet and mechanical movement to generate quasi-static magnetic field instead of AC alternating magnetic field, and thus can be applied to the noninvasive exploration of gastrointestinal tract with minimum level of harm to human body. The proposed 5-axis system has a patient support, a magnet assembly with two permanent magnet positioned oppositely, and a magnet support. By driving the five coupling axes, the magnetic navigation system is capable of steering the endoscopic micro robot through the gastrointestinal tract in any direction in 2D space. Experiments in simulated intestinal tract are conducted to demonstrate controlled translation, rotation, and rototranslation of the micro robot. The proposed technique has great potential of enabling the application of controlled magnetic navigation in the field of gastrointestinal endoscopy.