Modeling and Experimental Characterization of a Spiral-type Mircrorobot for Medical Use in Gastrointestinal Tract
In this paper, a spiral-type medical robot based on an endoscopic capsule was propelled in a fluidic and tubular environment using electromagnetic actuation. Both modeling and experimental approaches were used to characterize the propulsion for optimising the microrobot's profile and determining the operation conditions of the external magnetic system. The effects of the spiral parameters, including pitch, spiral height, number of spirals, are investigated. Based on the transmission-efficiency from rotation to translation as well as the balancing of the microrobot in practice, it is demonstrated that a capsule wounded with two spirals with a height of I mm and a pitch of 20 mm exhibits the best performance (2.5 mm/s) when it was magnetically propelled by a rotating magnetic field with a frequency of 2 Hz.