Design of a Magnetic Actuated Fully Insertable Robotic Camera System for Single-Incision Laparoscopic Surgery
作者： Xiaolong Liu , Gregory J. Mancini , Yong Guan , Jindong Tan
DOI: 10.1109/TMECH.2015.2506148
关键词:
摘要: This paper presents the design of a novel insertable robotic capsule camera system for single-incision laparoscopic surgery. features unified mechanism anchoring, navigating, and rotating fully by externally generated rotational magnetic field. The is inspired spherical motor concept where external stator generates anchoring field to control motion camera. body, which has no active locomotion onboard, capsulated in one-piece housing with two ring-shaped tail-end magnets one cylindrical central magnet embedded onboard as rotor. positioned outside an abdominal cavity consists both permanent electromagnetic coils generating reliable initial prototype results compact robot $\text{12.7}\;\text{mm}$ diameter $\text{68 mm}$ length. concepts are analyzed theoretically verified experimentally. experiments validate that proposed provides fixation capabilities under various testing conditions.
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