NDLI: Capsule type medical robot with magnetic drive in abdominal cavity

Content Provider	IEEE Xplore Digital Library
Author	Nokata, M. Kitamura, S. Nakagi, T. Inubushi, T. Morikawa, S.
Copyright Year	2008
Description	Author affiliation: Shiga Univ. of Med. Sci., Ootsu (Inubushi, T.; Morikawa, S.) \|\| Dept. of Robot., Ritsumeikan Univ., Kusatsu (Nokata, M.; Kitamura, S.; Nakagi, T.)
Abstract	This paper describes the development of a medical robot that remains in the abdominal cavity in order to monitor sites of medical interest, and discusses robot travel operations and specifications. A long and narrow piece of ferromagnetic material was placed inside the robot, after which an external magnetic field was used to set the robot in motion. We developed a prototype robot, and conducted experiments in order to verify our proposed concept and the drive principles of the robot. In vivo experiments in a rabbit model showed that solenoids produced sufficient magnetic force to enable the robot to travel through the abdominal cavity, verifying the motion principles. The appropriate shape of the robot was confirmed in the experiments, and the friction between the robot and the organs and the abdominal wall was measured. Using a modified prototype of the robot, we conducted clinical experiments in the rabbit model in which a surgeon operated the XYZ axis stages in order to adjust the position of the subject for the experiment and moved the robot to the liver. Robot travel from the insertion point to the liver was verified on X-rays. The long travel distance of the robot was enabled by its improved shape and through the use of accurate magnetic field imaging.
Starting Page	348
Ending Page	353
File Size	713153
Page Count	6
File Format	PDF
ISBN	9781424428823
DOI	10.1109/BIOROB.2008.4762835
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-10-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Rabbits Medical robotics Shape measurement Prototypes Liver Magnetic fields Biomedical monitoring Robots Abdomen Biomedical imaging
Content Type	Text
Resource Type	Article

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